CN112596455B - Remote intelligent material piling and taking control method for coal conveying of power plant - Google Patents
Remote intelligent material piling and taking control method for coal conveying of power plant Download PDFInfo
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- CN112596455B CN112596455B CN202011345805.1A CN202011345805A CN112596455B CN 112596455 B CN112596455 B CN 112596455B CN 202011345805 A CN202011345805 A CN 202011345805A CN 112596455 B CN112596455 B CN 112596455B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/11—Plc I-O input output
- G05B2219/1103—Special, intelligent I-O processor, also plc can only access via processor
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Abstract
The invention discloses a remote intelligent material piling and taking control method for coal conveying of a power plant, which is characterized in that a three-dimensional dynamic laser scanner is used as a detection device, a target material pile of a storage yard is scanned in real time, real-time data obtained by scanning is subjected to three-dimensional modeling by using a three-dimensional image imaging modeling technology, and the data are displayed on a monitoring picture; meanwhile, through operation plan and operation task management, an operation plan is created according to coal yard coal pile real-time data, a background program analyzes the content of the operation plan and automatically converts the content into task instructions executable by a PLC; the running, pitching and rotating actions of the single machine are adjusted in time through an accurate positioning system and multiple safety protection measures, so that the automatic stacking and taking operation of the stacking and taking machine is controlled. The invention adjusts the running, pitching and rotating actions of the single machine in time on the premise of determining safety through an accurate positioning system and multiple safety protection measures, thereby controlling the stacker-reclaimer to carry out automatic stacking and reclaiming operations.
Description
Technical Field
The invention relates to a remote intelligent material piling and taking control method for coal conveying of a power plant.
Background
The existing power plant bucket wheel machine material piling and taking control generally has the problem that the electrical control can not maintain safe operation; has gradually affected the safe and stable operation and maintenance of the equipment, and needs to be improved.
Disclosure of Invention
The invention aims to provide a remote intelligent material piling and taking control method for coal conveying of a power plant, which is convenient to operate, safe and reliable.
The technical solution of the invention is as follows:
a remote intelligent material piling and taking control method for power plant coal conveying is characterized by comprising the following steps: the method comprises the following steps of utilizing a three-dimensional dynamic laser scanner as a detection device, carrying out real-time scanning on a target material pile of a storage yard, utilizing a three-dimensional image imaging modeling technology to carry out three-dimensional modeling on real-time data obtained by scanning, and displaying on a monitoring picture; meanwhile, through operation plan and operation task management, an operation plan is created according to coal yard coal pile real-time data, a background program analyzes the content of the operation plan and automatically converts the content into task instructions executable by a PLC; the running, pitching and rotating actions of a single machine are timely adjusted through an accurate positioning system and multiple safety protection measures on the premise of determining safety, so that automatic stacking and material taking operations of a stacking and material taking machine are controlled;
the method specifically comprises the following steps:
and (3) displaying the coal pile three-dimensional model: the coal pile three-dimensional imaging uses a laser scanner to scan the coal pile before and after the stacker-reclaimer operates, collects the outline of the coal material in real time, and generates three-dimensional point cloud data of the coal pile by combining the position and coordinate transformation of each operating mechanism; the three-dimensional point cloud data are transmitted to an image processing server through the Ethernet, and a three-dimensional simulation image processing module is integrated and calculated on the server; finally, generating a three-dimensional image of the coal pile and visually displaying the three-dimensional image to an operation picture of the remote intelligent material piling and taking control system;
and (3) operation plan management: the system is used for carrying out configuration management on the whole automatic material piling and taking operation plan and is divided into real-time plan information and historical plan information;
the real-time plan information page is used for creating a job plan, executing the job plan, canceling the job plan and inquiring the job plan; 1) creating an operation plan: clicking an adding plan button, and popping up an adding plan task window; sequentially inputting and selecting a storage bin, a bucket wheel machine, coal types, operation coal amount, a stacking/taking operation mode, a starting position, an ending position and an operation height range, clicking a 'confirm' button, successfully creating an operation plan, and displaying the operation plan in a real-time plan information list; after the job plan is successfully created, the background automatically calculates and converts the job plan into a job task; 2) and executing the operation plan: selecting a piece of plan information with a working state of 'non-execution' in a real-time plan information list, clicking an 'execution plan' button, popping up a prompt window, determining whether to execute the plan, clicking a 'determination' button, and automatically pushing the plan information to a 'material taking operation plan' column of a material taking operation page to be queued for execution; 3) and canceling the operation plan: selecting a piece of plan information with a working state of 'non-execution' in a real-time plan information list, clicking a 'cancel plan' button, popping up a prompt window, determining whether to cancel the plan, and clicking a 'confirm' button to successfully cancel the plan information system; 4) inquiring a real-time plan: the system supports inquiring real-time plan information according to inquiry conditions such as an operation number, a bucket wheel machine name, a plan state, stacking/taking materials and the like, after the inquiry conditions are input, an inquiry button is clicked, and data information meeting the inquiry conditions is displayed in a list; the query condition can be queried according to a single condition, or can be queried by combining a plurality of conditions;
the historical plan information page displays all the job plan information of the system, and can inquire the historical plan information according to specified inquiry conditions, wherein the supported inquiry conditions comprise: numbering, bucket wheel machine, status, stacking/reclaiming; the query condition can be queried according to a single condition, or can be queried by combining a plurality of conditions;
and (3) job task management: the task management is used for carrying out configuration management on the whole automatic material piling and taking operation task and is divided into real-time task information and historical task information; the real-time task information page is mainly used for inquiring real-time task information, supporting the inquiry of the real-time task information according to inquiry conditions such as an operation number, a bucket wheel machine name, a plan state, stacking/taking materials and the like, clicking an inquiry button after the inquiry conditions are input, and displaying data information meeting the inquiry conditions in a list; the query condition can be queried according to a single condition, or can be queried by combining a plurality of conditions; the historical task information page displays all job task information of the system, and can inquire the historical task information according to specified inquiry conditions, wherein the supported inquiry conditions comprise: numbering, bucket wheel machine, status, stacking/reclaiming; the query condition can be queried according to a single condition, or can be queried by combining a plurality of conditions;
intelligent stacking control: the overall processing flow control of the intelligent stacking operation is as follows:
(1) the method comprises the following steps that an operator creates a stacking plan on a system plan management-real-time plan information operation interface, and the contents comprise: storage yard, coal type, pile height, workload, start address and end address information;
(2) after receiving the stockpiling operation plan, the background main control program analyzes the operation content and automatically calculates reasonable operation parameters including specific operation parameter setting of each layer, automatically converts the operation plan into a control command which can be received by a PLC (programmable logic controller) and displays the control command on a picture;
(3) an operator confirms the stacking instruction on the automatic stacking operation picture, corrects the parameters on the picture if necessary and finally sends the parameters to the PLC;
(4) the PLC receives the stacking instruction and starts to perform preparation work before operation;
(5) the large machine reaches the initial address of the stacking operation, all mechanisms are ready, and the stacking operation is ready;
(6) starting a ground flow, and starting full-automatic stacking operation;
(7) intelligent stockpiling process control;
(8) finishing intelligent stacking;
in the step (3), the step of sending the stacking control command to the PLC process includes:
(a) the operator confirms the stacking control command displayed on the stacking picture and comprises information such as a starting address, an ending address, a stacking height and the workload, and the stacking task is issued to the PLC of the large machine after the operator confirms that the stacking control command is correct;
(b) if the stacking control instruction needs to be manually adjusted, the manual adjustment can be performed, a detailed parameter button is clicked on a stacking task parameter display column, an automatic stacking operation interface is entered, and corresponding parameters are directly modified;
the specific flow of the step (4) is as follows:
(a) after receiving the automatic stacking control command, the PLC controls the large machine to keep the pitch angle and the rotation angle to safe angles, and then walks to the stacking starting address;
(b) after the large machine is in place, the PLC adjusts the pitching angle and the rotating angle of the large machine according to the stacking control command;
the specific process of the step (6) is as follows:
(a) after the large crane is ready, an operation picture displays a stacking ready signal, a central control dispatcher firstly informs the ground flow to start, and the stacking operation starts;
(b) after blanking, an operator observes whether a blanking point is ideal or not through a video monitor, and if the blanking point is not problematic, automatic stacking is continued; if the blanking point is found to be not ideal, the blanking point is finely adjusted by modifying operation parameters or remotely operating a handle;
(c) continuously and automatically stacking;
the specific process of the step (7) is as follows:
automatically stacking the large crane, if the large crane reaches the designated stacking height but does not reach the stacking height set by the plan, pitching and lifting the cantilever of the large crane to a certain angle, and continuously stacking; if the stacking height reaches the stacking height set by the stacking plan, the machine is inching, the pitching angle is adjusted, and then the stacking is continued;
the specific process of the step (8) is as follows:
(a) when the stacking operation is carried out in the walking fixed-point mode, whether the crane backs to the set end point position or not is monitored in real time, and if the crane backs to the set end point position, the stacking operation is finished;
(b) when the stacking operation is carried out in the cantilever rotation fixed point mode, if the number of the current operation layers is larger than the total number of the layering layers, the stacking operation is finished;
the remote intelligent stacking operation interface mainly comprises: a coal yard information feedback area, a coal pile three-dimensional imaging preview area, a bucket wheel machine operation signal display area, a stacking operation plan list area and a stacking operation task list area;
coal yard information feedback area: the block is bounded by a track where a stacker-reclaimer is located, and the information of the coal stacks on two sides of the track in an actual coal yard is displayed graphically, so that specific information parameters of each coal stack can be extracted, wherein the specific information parameters comprise stored coal type information, stacking height, stacking amount and reclaiming marks;
a coal pile three-dimensional imaging preview area: the device is used for displaying preview information of the three-dimensional coal pile, and the three-dimensional coal pile can be rotated and zoomed at will;
bucket wheel machine operation signal display area: the real-time running state of stacker-reclaimer shows, including stacker-reclaimer lateral view model and top view model, two model display states include: forward/backward indication, pitch up/down indication, boom left/right swing indication, bucket wheel rotation indication;
stockpiling operation schedule area: displaying detailed information of the stacking plan waiting for execution, wherein if a certain piece of plan information is selected, clicking a 'cancel plan' button to cancel the plan information waiting for execution;
windrow task list area: displaying detailed information of the stacking operation task currently being executed, and if a certain piece of task information is selected, clicking a 'cancel task' button to cancel the execution of the task information; clicking a detailed parameter button, switching to a remote automatic stacking operation page, and displaying detailed stacking parameter information of each layer;
intelligent material taking control: the overall processing flow of the intelligent material taking operation is as follows:
(1) an operator creates a material taking operation plan on a system plan management-real-time plan information operation interface, and the contents comprise: storage yard, coal type, operation amount information;
(2) the background main control program analyzes the material taking plan content, automatically calculates the operation angle area of the material taking operation, enters a material taking guide parameter, generates a material taking task instruction after the calculation is finished, and displays the material taking task instruction on a material taking operation picture;
(3) the operator confirms the material taking control command, can make correction if necessary, and then sends the control command to the PLC;
(4) the PLC receives the control instruction and starts preparation work before material taking operation;
(5) when the large machine reaches a target address, all mechanisms on the large machine are ready, and the material taking operation is ready;
(6) starting a ground flow, and starting full-automatic material taking operation;
(7) controlling the intelligent material taking process;
(8) finishing intelligent material taking;
the specific flow of the step (3) is as follows:
(a) the operator confirms the material taking control instruction displayed on the stacking picture, which comprises an initial address, an end address, a stacking height and operation amount information, and issues a material taking task to the large-scale PLC after confirming that no error exists;
(b) if manual adjustment is needed to be carried out on the stacking control instruction, manual adjustment can be carried out, a detailed parameter button is clicked on a material taking task parameter display column, an automatic material taking operation interface is entered, and corresponding parameters are directly modified;
the specific flow of the step (4) is as follows:
(a) after receiving the automatic material taking control instruction, the PLC controls the large machine to keep the pitch angle and the rotation angle to safe angles, and then walks to a material taking starting address;
(b) after the large machine walks in place, the PLC adjusts the pitching angle and the rotating angle of the large machine according to the material taking control instruction;
the specific flow of the step (5) is as follows:
(a) the PLC controls the rotating bucket wheel to enter the material taking layer at the current position, and material taking begins. The background main control program monitors the change of the bucket wheel current through the PLC and grasps the instantaneous material taking flow;
(b) if the instantaneous material taking flow is overlarge, the main control program sends a command to the PLC to control the large machine to retreat properly;
the specific process of the step (7) is as follows:
(a) the background main control program monitors whether the material taking amount reaches the planned amount in real time in the automatic material taking process, if the material taking amount reaches the planned amount, the main control program automatically suspends material taking, and a prompt window pops up on an operation picture;
(b) the method comprises the steps that a background main control program monitors whether a large machine reaches a layer-changing address in real time in the automatic material taking process, if the large machine reaches the layer-changing address, the main control program automatically sends a layer-changing command to a PLC, the command comprises walking, pitching and rotating values of a next layer of entry point, the PLC receives the command and then controls the large machine to carry out layer-changing operation, and the large machine automatically cuts into the next layer of entry point to carry out automatic material taking after the layer changing is finished;
(c) the background main control program monitors whether the rotation angle value reaches the boundary in real time in the automatic material taking process, if the rotation angle value reaches the boundary, the main control program sends an inching command to the PLC, and material taking continues after inching is finished;
remote intelligent material taking operation interface mainly comprises: a coal yard information feedback area, a coal pile three-dimensional imaging preview area, a bucket wheel machine operation signal display area, a material taking operation plan list area and a material taking operation task list area;
coal yard information feedback area: the block is bounded by a track where a stacker-reclaimer is located, and the information of the coal stacks on two sides of the track in an actual coal yard is displayed graphically, so that specific information parameters of each coal stack can be extracted, wherein the specific information parameters comprise stored coal type information, stacking height, stacking amount and reclaiming marks;
a coal pile three-dimensional imaging preview area: the device is used for displaying preview information of the three-dimensional coal pile, and the three-dimensional coal pile can be rotated and zoomed at will;
bucket wheel machine operation signal display area: the real-time running state of stacker-reclaimer shows, stacker-reclaimer lateral view model and top view model, and two model display states include: forward/backward indication, pitch up/down indication, boom left/right swing indication, bucket wheel rotation indication;
material taking operation plan list area: displaying detailed information of the material taking plan waiting to be executed, and if a certain piece of plan information is selected, clicking a 'cancel plan' button to cancel the plan information waiting to be executed;
material taking operation task list area: and displaying detailed information of the material taking operation task currently being executed, and if a certain piece of task information is selected, clicking a 'cancel task' button to cancel the execution of the piece of task information. And clicking a detailed parameter button, switching to a remote automatic material taking operation page, and displaying detailed material taking parameter information of each layer.
The historical trend operation interface is mainly used for inquiring a trend curve of a specified data point in an inquiry time range according to the inquiry starting time and the inquiry ending time by adding the data point needing to be inquired.
The system also comprises alarm query, wherein the alarm query mainly realizes the functions of real-time alarm and historical alarm query of the system; the real-time alarm operation interface is mainly used for inquiring the real-time alarm information of the system according to the specified inquiry conditions, and the supported inquiry conditions comprise: the alarm level, the alarm type and whether the alarm is confirmed, and the query condition can be queried according to a single condition or a plurality of conditions; meanwhile, the page is used for alarm confirmation operation, any piece of alarm information can be selected, and the 'confirmation alarm' button is clicked, so that the piece of alarm information is successfully confirmed; or all the alarm information of the page can be selected, and the button of 'confirming the page' is clicked, so that all the alarm information of the page is successfully confirmed.
The system log operation control system also comprises a system log operation control, wherein an operation interface of the system log operation control system is mainly used for inquiring the record information of the system operation log according to specified inquiry conditions, and the supported inquiry conditions comprise: the operation user, the operation type, the start time and the end time, and the query condition can be queried according to a single condition or a combination of a plurality of conditions.
The invention adjusts the running, pitching and rotating actions of the single machine in time on the premise of determining safety through an accurate positioning system and multiple safety protection measures, thereby controlling the stacker-reclaimer to carry out automatic stacking and reclaiming operations. Convenient operation and safe operation.
Drawings
The invention is further illustrated by the following figures and examples.
FIG. 1 is a schematic diagram of the control system of the present invention.
Fig. 2 is a schematic diagram of the data flow of the system of the present invention.
FIG. 3 is a schematic diagram of laser scanning imaging of a coal pile.
Fig. 4 is a schematic diagram of a smart stacking total flow path.
FIG. 5 is a flow chart of creating a windrow plan.
FIG. 6 is a flow chart of generating control instructions for a stacking operation.
Fig. 7 is a flowchart for sending a stacking work control command to the PLC.
Fig. 8 is a stockpiling work preparation flow chart.
Fig. 9 is a flow chart for starting automatic stacking.
Fig. 10 is an automatic stacking process control flow diagram.
Fig. 11 is an automatic stacking ending flowchart.
Fig. 12 is a general intelligent take off flow chart.
Fig. 13 is a flow chart of creating a material extraction plan.
Fig. 14 is a flow chart of the generation of a reclaiming operation control instruction.
Fig. 15 is a flow chart of sending a reclaiming operation control command to the PLC.
Fig. 16 is a material extracting operation preparation flow chart.
Fig. 17 is a flow chart for starting automatic material extraction.
Fig. 18 is an automatic material extraction process control flow diagram.
Fig. 19 is an automatic take off end flow diagram.
Detailed Description
A remote intelligent material piling and taking control method for coal conveying of a power plant utilizes a three-dimensional dynamic laser scanner as a detection device, scans a target material pile of a storage yard in real time, utilizes a three-dimensional image imaging modeling technology to carry out three-dimensional modeling on real-time data obtained by scanning, and displays the real-time data on a monitoring picture; meanwhile, through operation plan and operation task management, an operation plan is created according to coal yard coal pile real-time data, a background program analyzes the content of the operation plan and automatically converts the content into task instructions executable by a PLC; the running, pitching and rotating actions of a single machine are timely adjusted through an accurate positioning system and multiple safety protection measures on the premise of determining safety, so that automatic stacking and material taking operations of a stacking and material taking machine are controlled;
the method specifically comprises the following steps:
and (3) displaying the coal pile three-dimensional model: the coal pile three-dimensional imaging uses a laser scanner to scan the coal pile before and after the stacker-reclaimer operates, collects the outline of the coal material in real time, and generates three-dimensional point cloud data of the coal pile by combining the position and coordinate transformation of each operating mechanism; the three-dimensional point cloud data are transmitted to an image processing server through the Ethernet, and a three-dimensional simulation image processing module is integrated and calculated on the server; finally, generating a three-dimensional image of the coal pile and visually displaying the three-dimensional image to an operation picture of the remote intelligent material piling and taking control system;
and (3) operation plan management: the system is used for carrying out configuration management on the whole automatic material piling and taking operation plan and is divided into real-time plan information and historical plan information;
the real-time plan information page is used for creating a job plan, executing the job plan, canceling the job plan and inquiring the job plan; 1) creating an operation plan: clicking an adding plan button, and popping up an adding plan task window; sequentially inputting and selecting a storage bin, a bucket wheel machine, coal types, operation coal amount, a stacking/taking operation mode, a starting position, an ending position and an operation height range, clicking a 'confirm' button, successfully creating an operation plan, and displaying the operation plan in a real-time plan information list; after the job plan is successfully created, the background automatically calculates and converts the job plan into a job task; 2) and executing the operation plan: selecting a piece of plan information with a working state of 'non-execution' in a real-time plan information list, clicking an 'execution plan' button, popping up a prompt window, determining whether to execute the plan, clicking a 'determination' button, and automatically pushing the plan information to a 'material taking operation plan' column of a material taking operation page to be queued for execution; 3) and canceling the operation plan: selecting a piece of plan information with a working state of 'non-execution' in a real-time plan information list, clicking a 'cancel plan' button, popping up a prompt window, determining whether to cancel the plan, and clicking a 'confirm' button to successfully cancel the plan information system; 4) inquiring a real-time plan: the system supports inquiring real-time plan information according to inquiry conditions such as an operation number, a bucket wheel machine name, a plan state, stacking/taking materials and the like, after the inquiry conditions are input, an inquiry button is clicked, and data information meeting the inquiry conditions is displayed in a list; the query condition can be queried according to a single condition, or can be queried by combining a plurality of conditions;
the historical plan information page displays all the job plan information of the system, and can inquire the historical plan information according to specified inquiry conditions, wherein the supported inquiry conditions comprise: numbering, bucket wheel machine, status, stacking/reclaiming; the query condition can be queried according to a single condition, or can be queried by combining a plurality of conditions;
and (3) job task management: the task management is used for carrying out configuration management on the whole automatic material piling and taking operation task and is divided into real-time task information and historical task information; the real-time task information page is mainly used for inquiring real-time task information, supporting the inquiry of the real-time task information according to inquiry conditions such as an operation number, a bucket wheel machine name, a plan state, stacking/taking materials and the like, clicking an inquiry button after the inquiry conditions are input, and displaying data information meeting the inquiry conditions in a list; the query condition can be queried according to a single condition, or can be queried by combining a plurality of conditions; the historical task information page displays all job task information of the system, and can inquire the historical task information according to specified inquiry conditions, wherein the supported inquiry conditions comprise: numbering, bucket wheel machine, status, stacking/reclaiming; the query condition can be queried according to a single condition, or can be queried by combining a plurality of conditions;
intelligent stacking control: the overall processing flow control of the intelligent stacking operation is as follows:
(1) the method comprises the following steps that an operator creates a stacking plan on a system plan management-real-time plan information operation interface, and the contents comprise: storage yard, coal type, pile height, workload, start address and end address information;
(2) after receiving the stockpiling operation plan, the background main control program analyzes the operation content and automatically calculates reasonable operation parameters including specific operation parameter setting of each layer, automatically converts the operation plan into a control command which can be received by a PLC (programmable logic controller) and displays the control command on a picture;
(3) an operator confirms the stacking instruction on the automatic stacking operation picture, corrects the parameters on the picture if necessary and finally sends the parameters to the PLC;
(4) the PLC receives the stacking instruction and starts to perform preparation work before operation;
(5) the large machine reaches the initial address of the stacking operation, all mechanisms are ready, and the stacking operation is ready;
(6) starting a ground flow, and starting full-automatic stacking operation;
(7) intelligent stockpiling process control;
(8) finishing intelligent stacking;
in the step (3), the step of sending the stacking control command to the PLC process includes:
(a) the operator confirms the stacking control command displayed on the stacking picture and comprises information such as a starting address, an ending address, a stacking height and the workload, and the stacking task is issued to the PLC of the large machine after the operator confirms that the stacking control command is correct;
(b) if the stacking control instruction needs to be manually adjusted, the manual adjustment can be performed, a detailed parameter button is clicked on a stacking task parameter display column, an automatic stacking operation interface is entered, and corresponding parameters are directly modified;
the specific flow of the step (4) is as follows:
(a) after receiving the automatic stacking control command, the PLC controls the large machine to keep the pitch angle and the rotation angle to safe angles, and then walks to the stacking starting address;
(b) after the large machine is in place, the PLC adjusts the pitching angle and the rotating angle of the large machine according to the stacking control command;
the specific process of the step (6) is as follows:
(a) after the large crane is ready, an operation picture displays a stacking ready signal, a central control dispatcher firstly informs the ground flow to start, and the stacking operation starts;
(b) after blanking, an operator observes whether a blanking point is ideal or not through a video monitor, and if the blanking point is not problematic, automatic stacking is continued; if the blanking point is found to be not ideal, the blanking point is finely adjusted by modifying operation parameters or remotely operating a handle;
(c) continuously and automatically stacking;
the specific process of the step (7) is as follows:
automatically stacking the large crane, if the large crane reaches the designated stacking height but does not reach the stacking height set by the plan, pitching and lifting the cantilever of the large crane to a certain angle, and continuously stacking; if the stacking height reaches the stacking height set by the stacking plan, the machine is inching, the pitching angle is adjusted, and then the stacking is continued;
the specific process of the step (8) is as follows:
(a) when the stacking operation is carried out in the walking fixed-point mode, whether the crane backs to the set end point position or not is monitored in real time, and if the crane backs to the set end point position, the stacking operation is finished;
(b) when the stacking operation is carried out in the cantilever rotation fixed point mode, if the number of the current operation layers is larger than the total number of the layering layers, the stacking operation is finished;
the remote intelligent stacking operation interface mainly comprises: a coal yard information feedback area, a coal pile three-dimensional imaging preview area, a bucket wheel machine operation signal display area, a stacking operation plan list area and a stacking operation task list area;
coal yard information feedback area: the block is bounded by a track where a stacker-reclaimer is located, and the information of the coal stacks on two sides of the track in an actual coal yard is displayed graphically, so that specific information parameters of each coal stack can be extracted, wherein the specific information parameters comprise stored coal type information, stacking height, stacking amount and reclaiming marks;
a coal pile three-dimensional imaging preview area: the device is used for displaying preview information of the three-dimensional coal pile, and the three-dimensional coal pile can be rotated and zoomed at will;
bucket wheel machine operation signal display area: the real-time running state of stacker-reclaimer shows, including stacker-reclaimer lateral view model and top view model, two model display states include: forward/backward indication, pitch up/down indication, boom left/right swing indication, bucket wheel rotation indication;
stockpiling operation schedule area: displaying detailed information of the stacking plan waiting for execution, wherein if a certain piece of plan information is selected, clicking a 'cancel plan' button to cancel the plan information waiting for execution;
windrow task list area: displaying detailed information of the stacking operation task currently being executed, and if a certain piece of task information is selected, clicking a 'cancel task' button to cancel the execution of the task information; clicking a detailed parameter button, switching to a remote automatic stacking operation page, and displaying detailed stacking parameter information of each layer;
intelligent material taking control: the overall processing flow of the intelligent material taking operation is as follows:
(1) an operator creates a material taking operation plan on a system plan management-real-time plan information operation interface, and the contents comprise: storage yard, coal type, operation amount information;
(2) the background main control program analyzes the material taking plan content, automatically calculates the operation angle area of the material taking operation, enters a material taking guide parameter, generates a material taking task instruction after the calculation is finished, and displays the material taking task instruction on a material taking operation picture;
(3) the operator confirms the material taking control command, can make correction if necessary, and then sends the control command to the PLC;
(4) the PLC receives the control instruction and starts preparation work before material taking operation;
(5) when the large machine reaches a target address, all mechanisms on the large machine are ready, and the material taking operation is ready;
(6) starting a ground flow, and starting full-automatic material taking operation;
(7) controlling the intelligent material taking process;
(8) finishing intelligent material taking;
the specific flow of the step (3) is as follows:
(a) the operator confirms the material taking control instruction displayed on the stacking picture, which comprises an initial address, an end address, a stacking height and operation amount information, and issues a material taking task to the large-scale PLC after confirming that no error exists;
(b) if manual adjustment is needed to be carried out on the stacking control instruction, manual adjustment can be carried out, a detailed parameter button is clicked on a material taking task parameter display column, an automatic material taking operation interface is entered, and corresponding parameters are directly modified;
the specific flow of the step (4) is as follows:
(a) after receiving the automatic material taking control instruction, the PLC controls the large machine to keep the pitch angle and the rotation angle to safe angles, and then walks to a material taking starting address;
(b) after the large machine walks in place, the PLC adjusts the pitching angle and the rotating angle of the large machine according to the material taking control instruction;
the specific flow of the step (5) is as follows:
(a) the PLC controls the rotating bucket wheel to enter the material taking layer at the current position, and material taking begins. The background main control program monitors the change of the bucket wheel current through the PLC and grasps the instantaneous material taking flow;
(b) if the instantaneous material taking flow is overlarge, the main control program sends a command to the PLC to control the large machine to retreat properly;
the specific process of the step (7) is as follows:
(a) the background main control program monitors whether the material taking amount reaches the planned amount in real time in the automatic material taking process, if the material taking amount reaches the planned amount, the main control program automatically suspends material taking, and a prompt window pops up on an operation picture;
(b) the method comprises the steps that a background main control program monitors whether a large machine reaches a layer-changing address in real time in the automatic material taking process, if the large machine reaches the layer-changing address, the main control program automatically sends a layer-changing command to a PLC, the command comprises walking, pitching and rotating values of a next layer of entry point, the PLC receives the command and then controls the large machine to carry out layer-changing operation, and the large machine automatically cuts into the next layer of entry point to carry out automatic material taking after the layer changing is finished;
(c) the background main control program monitors whether the rotation angle value reaches the boundary in real time in the automatic material taking process, if the rotation angle value reaches the boundary, the main control program sends an inching command to the PLC, and material taking continues after inching is finished;
remote intelligent material taking operation interface mainly comprises: a coal yard information feedback area, a coal pile three-dimensional imaging preview area, a bucket wheel machine operation signal display area, a material taking operation plan list area and a material taking operation task list area;
coal yard information feedback area: the block is bounded by a track where a stacker-reclaimer is located, and the information of the coal stacks on two sides of the track in an actual coal yard is displayed graphically, so that specific information parameters of each coal stack can be extracted, wherein the specific information parameters comprise stored coal type information, stacking height, stacking amount and reclaiming marks;
a coal pile three-dimensional imaging preview area: the device is used for displaying preview information of the three-dimensional coal pile, and the three-dimensional coal pile can be rotated and zoomed at will;
bucket wheel machine operation signal display area: the real-time running state of stacker-reclaimer shows, stacker-reclaimer lateral view model and top view model, and two model display states include: forward/backward indication, pitch up/down indication, boom left/right swing indication, bucket wheel rotation indication;
material taking operation plan list area: displaying detailed information of the material taking plan waiting to be executed, and if a certain piece of plan information is selected, clicking a 'cancel plan' button to cancel the plan information waiting to be executed;
material taking operation task list area: and displaying detailed information of the material taking operation task currently being executed, and if a certain piece of task information is selected, clicking a 'cancel task' button to cancel the execution of the piece of task information. And clicking a detailed parameter button, switching to a remote automatic material taking operation page, and displaying detailed material taking parameter information of each layer.
The historical trend operation interface is mainly used for inquiring a trend curve of a specified data point in an inquiry time range according to the inquiry starting time and the inquiry ending time by adding the data point needing to be inquired.
The system also comprises alarm query, wherein the alarm query mainly realizes the functions of real-time alarm and historical alarm query of the system; the real-time alarm operation interface is mainly used for inquiring the real-time alarm information of the system according to the specified inquiry conditions, and the supported inquiry conditions comprise: the alarm level, the alarm type and whether the alarm is confirmed, and the query condition can be queried according to a single condition or a plurality of conditions; meanwhile, the page is used for alarm confirmation operation, any piece of alarm information can be selected, and the 'confirmation alarm' button is clicked, so that the piece of alarm information is successfully confirmed; or all the alarm information of the page can be selected, and the button of 'confirming the page' is clicked, so that all the alarm information of the page is successfully confirmed.
The system log operation control system also comprises a system log operation control, wherein an operation interface of the system log operation control system is mainly used for inquiring the record information of the system operation log according to specified inquiry conditions, and the supported inquiry conditions comprise: the operation user, the operation type, the start time and the end time, and the query condition can be queried according to a single condition or a combination of a plurality of conditions.
Claims (4)
1. A remote intelligent material piling and taking control method for power plant coal conveying is characterized by comprising the following steps: the method comprises the following steps of utilizing a three-dimensional dynamic laser scanner as a detection device, carrying out real-time scanning on a target material pile of a storage yard, utilizing a three-dimensional image imaging modeling technology to carry out three-dimensional modeling on real-time data obtained by scanning, and displaying on a monitoring picture; meanwhile, through operation plan and operation task management, an operation plan is created according to coal yard coal pile real-time data, a background program analyzes the content of the operation plan and automatically converts the content into task instructions executable by a PLC; the accurate positioning system is used for adjusting the walking, pitching and rotating actions of the single machine in time, so that the stacker-reclaimer is controlled to perform automatic stacking and reclaiming operation;
the method specifically comprises the following steps:
and (3) displaying the coal pile three-dimensional model: the coal pile three-dimensional imaging uses a laser scanner to scan the coal pile before and after the stacker-reclaimer operates, collects the outline of the coal material in real time, and generates three-dimensional point cloud data of the coal pile by combining the position and coordinate transformation of each operating mechanism; the three-dimensional point cloud data are transmitted to an image processing server through the Ethernet, and a three-dimensional simulation image processing module is integrated and calculated on the server; finally, generating a three-dimensional image of the coal pile and visually displaying the three-dimensional image to an operation picture of the remote intelligent material piling and taking control system;
and (3) operation plan management: the system is used for carrying out configuration management on the whole automatic material piling and taking operation plan and is divided into real-time plan information and historical plan information;
the real-time plan information page is used for creating a job plan, executing the job plan, canceling the job plan and inquiring the job plan; 1) creating an operation plan: clicking an adding plan button, and popping up an adding plan task window; sequentially inputting and selecting a storage bin, a bucket wheel machine, coal types, operation coal amount, a stacking/taking operation mode, a starting position, an ending position and an operation height range, clicking a 'confirm' button, successfully creating an operation plan, and displaying the operation plan in a real-time plan information list; after the job plan is successfully created, the background automatically calculates and converts the job plan into a job task; 2) and executing the operation plan: selecting a piece of plan information with a working state of 'non-execution' in a real-time plan information list, clicking an 'execution plan' button, popping up a prompt window, determining whether to execute the plan, clicking a 'determination' button, and automatically pushing the plan information to a 'material taking operation plan' column of a material taking operation page to be queued for execution; 3) and canceling the operation plan: selecting a piece of plan information with a working state of 'non-execution' in a real-time plan information list, clicking a 'cancel plan' button, popping up a prompt window, determining whether to cancel the plan, and clicking a 'confirm' button to successfully cancel the plan information system; 4) inquiring a real-time plan: the system supports inquiring real-time plan information according to an operation number, a bucket wheel machine name, a plan state and a stacking/taking inquiry condition, after the inquiry condition is input, an 'inquiry' button is clicked, and data information meeting the inquiry condition is displayed in a list; the query condition can be queried according to a single condition, or can be queried by combining a plurality of conditions;
the historical plan information page displays all the job plan information of the system, and can inquire the historical plan information according to specified inquiry conditions, wherein the supported inquiry conditions comprise: numbering, bucket wheel machine, status, stacking/reclaiming; the query condition can be queried according to a single condition, or can be queried by combining a plurality of conditions;
and (3) job task management: the task management is used for carrying out configuration management on the whole automatic material piling and taking operation task and is divided into real-time task information and historical task information; the real-time task information page is mainly used for inquiring real-time task information, supporting the inquiry of the real-time task information according to an operation number, a bucket wheel machine name, a plan state and a stacking/taking inquiry condition, clicking an inquiry button after the inquiry condition is input, and displaying data information meeting the inquiry condition in a list; the query condition can be queried according to a single condition, or can be queried by combining a plurality of conditions; the historical task information page displays all job task information of the system, and can inquire the historical task information according to specified inquiry conditions, wherein the supported inquiry conditions comprise: numbering, bucket wheel machine, status, stacking/reclaiming; the query condition can be queried according to a single condition, or can be queried by combining a plurality of conditions;
intelligent stacking control: the overall processing flow control of the intelligent stacking operation is as follows:
(1) the method comprises the following steps that an operator creates a stacking plan on a system plan management-real-time plan information operation interface, and the contents comprise: storage yard, coal type, pile height, workload, start address and end address information;
(2) after receiving the stockpiling operation plan, the background main control program analyzes the operation content and automatically calculates reasonable operation parameters including specific operation parameter setting of each layer, automatically converts the operation plan into a control command which can be received by a PLC (programmable logic controller) and displays the control command on a picture;
(3) an operator confirms the stacking control instruction on the automatic stacking operation picture, corrects the parameters on the picture if necessary and finally sends the parameters to the PLC;
(4) the PLC receives the stacking instruction and starts to perform preparation work before operation;
(5) the large machine reaches the initial address of the stacking operation, all mechanisms are ready, and the stacking operation is ready;
(6) starting a ground flow, and starting full-automatic stacking operation;
(7) intelligent stockpiling process control;
(8) finishing intelligent stacking;
in the step (3), the step of sending the stacking control command to the PLC process includes:
(a) the operator confirms the stacking control command displayed on the automatic stacking operation picture and comprises a starting address, an ending address, a stacking height and work amount information, and after the operator confirms that the stacking control command is correct, the operator issues a stacking task to the PLC of the large machine;
(b) if the stacking control instruction needs to be manually adjusted, the manual adjustment can be performed, a detailed parameter button is clicked on a stacking task parameter display column, an automatic stacking operation interface is entered, and corresponding parameters are directly modified;
the specific flow of the step (4) is as follows:
(a) after receiving the automatic stacking control command, the PLC controls the large machine to keep the pitch angle and the rotation angle to safe angles, and then walks to the stacking starting address;
(b) after the large machine is in place, the PLC adjusts the pitching angle and the rotating angle of the large machine according to the stacking control command;
the specific process of the step (6) is as follows:
(a) after the large crane is ready, an operation picture displays a stacking ready signal, a central control dispatcher firstly informs the ground flow to start, and the stacking operation starts;
(b) after blanking, an operator observes whether a blanking point is ideal or not through a video monitor, and if the blanking point is not problematic, automatic stacking is continued; if the blanking point is found to be not ideal, the blanking point is finely adjusted by modifying operation parameters or remotely operating a handle;
(c) continuously and automatically stacking;
the specific process of the step (7) is as follows:
automatically stacking the large crane, if the large crane reaches the designated stacking height but does not reach the stacking height set by the plan, pitching and lifting the cantilever of the large crane to a certain angle, and continuously stacking; if the stacking height reaches the stacking height set by the stacking plan, the machine is inching, the pitching angle is adjusted, and then the stacking is continued;
the specific process of the step (8) is as follows:
(a) when the stacking operation is carried out in the walking fixed-point mode, whether the crane backs to the set end point position or not is monitored in real time, and if the crane backs to the set end point position, the stacking operation is finished;
(b) when the stacking operation is carried out in the cantilever rotation fixed point mode, if the number of the current operation layers is larger than the total number of the layering layers, the stacking operation is finished;
the remote intelligent stacking operation interface mainly comprises: a coal yard information feedback area, a coal pile three-dimensional imaging preview area, a bucket wheel machine operation signal display area, a stacking operation plan list area and a stacking operation task list area;
coal yard information feedback area: the block is bounded by a track where a stacker-reclaimer is located, and the information of the coal stacks on two sides of the track in an actual coal yard is displayed graphically, so that specific information parameters of each coal stack can be extracted, wherein the specific information parameters comprise stored coal type information, stacking height, stacking amount and reclaiming marks;
a coal pile three-dimensional imaging preview area: the device is used for displaying preview information of the three-dimensional coal pile, and the three-dimensional coal pile can be rotated and zoomed at will;
bucket wheel machine operation signal display area: the real-time running state of stacker-reclaimer shows, including stacker-reclaimer lateral view model and top view model, two model display states include: forward/backward indication, pitch up/down indication, boom left/right swing indication, bucket wheel rotation indication;
stockpiling operation schedule area: displaying detailed information of the stacking plan waiting for execution, wherein if a certain piece of plan information is selected, clicking a 'cancel plan' button to cancel the plan information waiting for execution;
windrow task list area: displaying detailed information of the stacking operation task currently being executed, and if a certain piece of task information is selected, clicking a 'cancel task' button to cancel the execution of the task information; clicking a detailed parameter button, switching to a remote automatic stacking operation page, and displaying detailed stacking parameter information of each layer;
intelligent material taking control: the overall processing flow of the intelligent material taking operation is as follows:
(1) an operator creates a material taking operation plan on a system plan management-real-time plan information operation interface, and the contents comprise: storage yard, coal type, operation amount information;
(2) the background main control program analyzes the material taking plan content, automatically calculates the operation angle area of the material taking operation, enters a material taking guide parameter, generates a material taking task instruction after the calculation is finished, and displays the material taking task instruction on a material taking operation picture;
(3) the operator confirms the material taking control command, can make correction if necessary, and then sends the control command to the PLC;
(4) the PLC receives the control instruction and starts preparation work before material taking operation;
(5) when the large machine reaches a target address, all mechanisms on the large machine are ready, and the material taking operation is ready;
(6) starting a ground flow, and starting full-automatic material taking operation;
(7) controlling the intelligent material taking process;
(8) finishing intelligent material taking;
the specific flow of the step (3) is as follows:
(a) the operator confirms the material taking control instruction displayed on the material taking operation picture, which comprises an initial address, an end address, a stacking height and operation amount information, and issues a material taking task to the large-scale PLC after confirming that no error exists;
(b) if the material taking control instruction needs to be manually adjusted, the material taking control instruction can be manually adjusted, a detailed parameter button is clicked on a material taking task parameter display column, an automatic material taking operation interface is entered, and corresponding parameters are directly modified;
the specific flow of the step (4) is as follows:
(a) after receiving the automatic material taking control instruction, the PLC controls the large machine to keep the pitch angle and the rotation angle to safe angles, and then walks to a material taking starting address;
(b) after the large machine walks in place, the PLC adjusts the pitching angle and the rotating angle of the large machine according to the material taking control instruction;
the specific flow of the step (5) is as follows:
(a) the PLC controls the rotating bucket wheel to enter a material taking layer at the current position, and material taking starts; the background main control program monitors the change of the bucket wheel current through the PLC and grasps the instantaneous material taking flow;
(b) if the instantaneous material taking flow is overlarge, the main control program sends a command to the PLC to control the large machine to retreat properly;
the specific process of the step (7) is as follows:
(a) the background main control program monitors whether the material taking amount reaches the planned amount in real time in the automatic material taking process, if the material taking amount reaches the planned amount, the main control program automatically suspends material taking, and a prompt window pops up on an operation picture;
(b) the method comprises the steps that a background main control program monitors whether a large machine reaches a layer-changing address in real time in the automatic material taking process, if the large machine reaches the layer-changing address, the main control program automatically sends a layer-changing command to a PLC, the command comprises walking, pitching and rotating values of a next layer of entry point, the PLC receives the command and then controls the large machine to carry out layer-changing operation, and the large machine automatically cuts into the next layer of entry point to carry out automatic material taking after the layer changing is finished;
(c) the background main control program monitors whether the rotation angle value reaches the boundary in real time in the automatic material taking process, if the rotation angle value reaches the boundary, the main control program sends an inching command to the PLC, and material taking continues after inching is finished;
remote intelligent material taking operation interface mainly comprises: a coal yard information feedback area, a coal pile three-dimensional imaging preview area, a bucket wheel machine operation signal display area, a material taking operation plan list area and a material taking operation task list area;
coal yard information feedback area: the block is bounded by a track where a stacker-reclaimer is located, and the information of the coal stacks on two sides of the track in an actual coal yard is displayed graphically, so that specific information parameters of each coal stack can be extracted, wherein the specific information parameters comprise stored coal type information, stacking height, stacking amount and reclaiming marks;
a coal pile three-dimensional imaging preview area: the device is used for displaying preview information of the three-dimensional coal pile, and the three-dimensional coal pile can be rotated and zoomed at will;
bucket wheel machine operation signal display area: the real-time running state of stacker-reclaimer shows, stacker-reclaimer lateral view model and top view model, and two model display states include: forward/backward indication, pitch up/down indication, boom left/right swing indication, bucket wheel rotation indication;
material taking operation plan list area: displaying detailed information of the material taking plan waiting to be executed, and if a certain piece of plan information is selected, clicking a 'cancel plan' button to cancel the plan information waiting to be executed;
material taking operation task list area: displaying detailed information of the material taking operation task currently being executed, and if a certain piece of task information is selected, clicking a 'cancel task' button to cancel the execution of the piece of task information; and clicking a detailed parameter button, switching to a remote automatic material taking operation page, and displaying detailed material taking parameter information of each layer.
2. The power plant coal transportation remote intelligent stacker-reclaimer control method as claimed in claim 1, wherein: the historical trend operation interface is mainly used for inquiring a trend curve of a specified data point in an inquiry time range according to the inquiry starting time and the inquiry ending time by adding the data point needing to be inquired.
3. The power plant coal transportation remote intelligent material piling and taking control method according to claim 1 or 2, which is characterized in that: the system also comprises alarm query, wherein the alarm query mainly realizes the functions of real-time alarm and historical alarm query of the system; the real-time alarm operation interface is mainly used for inquiring the real-time alarm information of the system according to the specified inquiry conditions, and the supported inquiry conditions comprise: the alarm level, the alarm type and whether the alarm is confirmed, and the query condition can be queried according to a single condition or a plurality of conditions; meanwhile, the page is used for alarm confirmation operation, any piece of alarm information can be selected, and the 'confirmation alarm' button is clicked, so that the piece of alarm information is successfully confirmed; or all the alarm information of the page can be selected, and the button of 'confirming the page' is clicked, so that all the alarm information of the page is successfully confirmed.
4. The power plant coal transportation remote intelligent material piling and taking control method according to claim 1 or 2, which is characterized in that: the system log operation control system also comprises a system log operation control, wherein an operation interface of the system log operation control system is mainly used for inquiring the record information of the system operation log according to specified inquiry conditions, and the supported inquiry conditions comprise: the operation user, the operation type, the start time and the end time, and the query condition can be queried according to a single condition or a combination of a plurality of conditions.
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| CN113928868A (en) * | 2021-11-03 | 2022-01-14 | 邯郸钢铁集团有限责任公司 | Automatic control system of scraper reclaimer |
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