CN112722873B - Automatic control system of stacker-reclaimer - Google Patents
Automatic control system of stacker-reclaimer Download PDFInfo
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- CN112722873B CN112722873B CN202011538805.3A CN202011538805A CN112722873B CN 112722873 B CN112722873 B CN 112722873B CN 202011538805 A CN202011538805 A CN 202011538805A CN 112722873 B CN112722873 B CN 112722873B
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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
- B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
- B65G63/008—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations for bulk material
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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
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/10009—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves
- G06K7/10019—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves resolving collision on the communication channels between simultaneously or concurrently interrogated record carriers.
- G06K7/10079—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves resolving collision on the communication channels between simultaneously or concurrently interrogated record carriers. the collision being resolved in the spatial domain, e.g. temporary shields for blindfolding the interrogator in specific directions
- G06K7/10089—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves resolving collision on the communication channels between simultaneously or concurrently interrogated record carriers. the collision being resolved in the spatial domain, e.g. temporary shields for blindfolding the interrogator in specific directions the interrogation device using at least one directional antenna or directional interrogation field to resolve the collision
- G06K7/10099—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves resolving collision on the communication channels between simultaneously or concurrently interrogated record carriers. the collision being resolved in the spatial domain, e.g. temporary shields for blindfolding the interrogator in specific directions the interrogation device using at least one directional antenna or directional interrogation field to resolve the collision the directional field being used for pinpointing the location of the record carrier, e.g. for finding or locating an RFID tag amongst a plurality of RFID tags, each RFID tag being associated with an object, e.g. for physically locating the RFID tagged object in a warehouse
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/20—Finite element generation, e.g. wire-frame surface description, tesselation
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention relates to a stacker-reclaimer, and discloses an automatic control system of the stacker-reclaimer, which comprises a central control processing unit (11), a central control system (12), a stacker-reclaimer control system (13), a stacker-reclaimer positioning system (2), a three-dimensional imaging system (7), a constant flow control system (5), a safety protection system (4) and a video monitoring system (3), wherein the central control processing unit (11) is respectively connected with the central control system (12), the stacker-reclaimer positioning system (2), the three-dimensional imaging system (7), the constant flow control system (5), the safety protection system (4) and the video monitoring system (3), the central control system (12) is connected with the stacker-reclaimer control system (13), and the stacker-reclaimer control system (13) is respectively connected with the constant flow control system (5) and the safety protection system (4). The invention can realize the automatic operation of intelligent stacking and taking of the stacker-reclaimer, so that the stacking and taking efficiency is higher and more accurate.
Description
Technical Field
The invention relates to a stacker-reclaimer, in particular to an automatic control system of a stacker-reclaimer.
Background
The stacker-reclaimer is also called bucket-wheel stacker-reclaimer, stacker and reclaimer, is a novel high-efficiency continuous loading and unloading machine, and is mainly used for loading and unloading bulk cargo fields of wharfs, iron and steel plants, power plants, mines and the like. In the loading and unloading of the existing stock ground, the stacker-reclaimer still adopts manual operation, the raw materials stored in the stock ground are various, so that the raw materials are difficult to control, the rapid feeding and discharging operation of the raw materials also greatly increases the difficulty of fine management of the stock ground, and the high-efficiency and high-accuracy operation cannot be realized only by the manual operation.
With the advent of the industrial 4.0 era, various industries began to discuss intelligent solutions, and the implementation of intelligent solutions became possible due to the constantly developing scientific technologies, especially the high-speed development of control technologies, computers, communication, networks and other technologies. The stock ground is used as an important link of a material logistics chain, and the intelligent and digital control of the equipment is beneficial to better management and use from many aspects. With the increase of labor cost and the improvement of the requirement of working environment of workers, the full-automatic unmanned operation of stock yard piling and taking becomes a necessary development trend. Therefore, how to realize the full-automatic unmanned operation of the stock yard piling and taking operation becomes a problem which needs to be solved urgently at present.
Disclosure of Invention
The technical problem to be solved by the invention is to provide an automatic control system of a stacker-reclaimer, which can realize the automatic operation of intelligent stacking and taking of the stacker-reclaimer, so that the stacker-reclaimer has higher efficiency and more accuracy, and can improve the working environment and the management level of a stock ground.
In order to solve the technical problems, the invention provides an automatic control system of a stacker-reclaimer, which comprises a central control processing unit, a central control system, a stacker-reclaimer positioning system, a three-dimensional imaging system, a constant flow control system, a safety protection system and a video monitoring system, wherein the central control processing unit is respectively connected with the central control system, the stacker-reclaimer positioning system, the three-dimensional imaging system, the constant flow control system, the safety protection system and the video monitoring system; the constant flow control system can adjust and control the rotating speed of the stacker-reclaimer according to the required material taking amount so as to realize constant flow material taking.
Preferably, the stacker-reclaimer positioning system comprises a beidou positioning system for obtaining satellite accurate positioning information of the stacker-reclaimer, a stroke positioning system for obtaining walking position information of the stacker-reclaimer, a rotary positioning system for obtaining rotary position information of a large arm of the stacker-reclaimer, and a pitching positioning system for obtaining pitching angle information of the large arm of the stacker-reclaimer.
Preferably, the stroke positioning system includes a stroke encoder and a stroke positioning checking device, the stroke encoder is installed on the stacker-reclaimer, the stroke positioning checking device includes an RFID electronic tag and an RFID identification device matched with the RFID electronic tag, a plurality of RFID electronic tags are installed at intervals on the walking track of the stacker-reclaimer, and each adjacent RFID electronic tags have the same spacing distance, and the RFID identification device is installed on the stacker-reclaimer.
Preferably, the stroke encoder is mounted on an auxiliary wheel of the stacker-reclaimer.
Preferably, the rotary positioning system includes an angle encoder and a rotary positioning checking device, the angle encoder is installed on the rotary platform of the stacker-reclaimer, the rotary positioning checking device includes an RFID electronic tag and an RFID identification device matched with the RFID electronic tag, a plurality of RFID electronic tags are arranged at the lower end of the rotary platform of the stacker-reclaimer at intervals, and the RFID identification device is installed at the upper end of the base of the stacker-reclaimer.
Preferably, the pitch positioning system comprises a tilt sensor mounted inside the stacker-reclaimer boom.
Preferably, the safety protection system comprises an anti-collision calculation system and an anti-collision device installed on the stacker-reclaimer.
Preferably, the collision avoidance apparatus comprises a limit switch and a collision avoidance sensor.
Preferably, the automatic control system of the stacker-reclaimer further comprises a flow detection device installed on a cantilever belt of the stacker-reclaimer, and the flow detection device is connected with the constant flow control system.
Preferably, the three-dimensional scanning device is a three-dimensional laser scanner; the detection device is a radar.
According to the invention, three-dimensional image data of the stock yard stock pile can be dynamically generated in real time through the three-dimensional imaging system, the motion state of the stacker-reclaimer can be mastered in real time through the stacker-reclaimer positioning system, constant-flow material taking can be realized through the constant-flow control system, collision can be avoided through the safety protection system, the safe and reliable operation of equipment can be ensured, real-time video monitoring can be carried out on the stock yard through the video monitoring system, all the systems are mutually matched, and the real situation of the stock yard can be better mastered in real time, so that the stacker-reclaimer can be more accurately controlled through the central control processing unit, the central control system and the stacker-reclaimer control system, the equipment is guided to realize more stable, accurate and efficient automatic operation, the working environment can be improved, and the stock yard management level can be improved.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
FIG. 1 is a block flow diagram of an automatic control system of a stacker-reclaimer of the present invention;
FIG. 2 is a schematic structural diagram of an automatic control system of the stacker-reclaimer of the invention;
FIG. 3 is a functional diagram of the automatic control system of the stacker-reclaimer of the present invention;
fig. 4 is a mathematical model diagram of a stockpile high point.
Description of the reference numerals
11 central control processing unit 12 central control system
13 stacker-reclaimer control system 2 stacker-reclaimer positioning system
21 big dipper positioning system 22 stroke positioning system
23 rotational positioning system 24 pitch positioning system
3 video monitoring system 4 safety protection system
41 anticollision computing system 42 anticollision device
5 constant flow control system 6 flow detection device
7 three-dimensional imaging system 71 three-dimensional scanning modeling system
72 three-dimensional laser scanner of mathematical three-dimensional modeling system 8
9 Radar
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are given by way of illustration and explanation only, not limitation.
The invention provides an automatic control system of a stacker-reclaimer, which comprises a central control processing unit 11, a central control system 12, a stacker-reclaimer control system 13, a stacker-reclaimer positioning system 2, a three-dimensional imaging system 7, a constant flow control system 5, a safety protection system 4 and a video monitoring system 3, wherein the central control processing unit 11 is respectively connected with the central control system 12, the stacker-reclaimer positioning system 2, the three-dimensional imaging system 7, the constant flow control system 5, the safety protection system 4 and the video monitoring system 3, the central control system 12 is connected with the stacker-reclaimer control system 13, and the stacker-reclaimer control system 13 is respectively connected with the constant flow control system 5 and the safety protection system 4.
According to the invention, three-dimensional image data of a stock yard stock pile can be dynamically generated in real time through the three-dimensional imaging system 7, the motion state of the stock pile and the material taking machine can be mastered in real time through the locating system 2 of the stock pile and the material taking machine, constant-flow material taking can be realized through the constant-flow control system 5, collision can be avoided through the safety protection system 4, safe and reliable operation of equipment is ensured, real-time video monitoring can be carried out on the stock yard through the video monitoring system 3, all the systems are mutually matched, and real-time control on the real condition of the stock yard can be better realized, so that the stock pile and the material taking machine can be more accurately controlled through the central control processing unit 11, the central control system 12 and the stock pile and material taking machine control system 13, more stable, accurate and efficient automatic operation of the equipment can be guided, the working environment can be improved, and the stock yard management level can be improved. The central control system 12 and the stacker-reclaimer control system 13 are both PLC control systems, and the central control system 12 and the stacker-reclaimer control system 13 mainly perform data communication through an industrial ethernet. The central control processing unit 11 can automatically analyze and process the received stockpile and stockyard information and convert the information into control data to guide the accurate operation of a material piling and taking machine; the central control system 12 comprises a human-computer operation interface, can realize human-computer interaction, can issue production operation instructions to the central control processing unit 11, and can issue control instructions to the stacker-reclaimer control system 13.
The working principle of the automatic control system of the stacker-reclaimer is as follows: on one hand, the three-dimensional imaging system 7 can dynamically generate three-dimensional image data of a stock pile in a stock ground in real time, display three-dimensional image changes of the stock pile in real time through the three-dimensional image data, accurately calculate the actual contour of the stock pile through the three-dimensional image data of the stock pile, calculate the cut-in point position of the material taking, calculate the cart position of the stacker-reclaimer of each material taking, calculate the boundary address of the stock pile and the like in real time, and send the calculated data to the central control processing unit 11, on the other hand, the stacker-reclaimer positioning system 2 can perform accurate dynamic positioning on the stacker-reclaimer in the working process, send the position data of the stacker-reclaimer to the central control processing unit 11, and after receiving the data of the two aspects, the central control processing unit 11 can perform the operation according to an operation plan input by an operator through the central control system 12, after comprehensive analysis and processing, a material piling and taking strategy is generated, a control command is issued to each material piling and taking machine control system 13 through the central control system 12, the rotating mechanism, the pitching mechanism, the traveling mechanism, the material piling and taking machine bucket wheel and cantilever action of each material piling and taking machine are controlled through each material piling and taking machine control system 13, so as to realize automatic operation, meanwhile, the central control processing unit 11 can feed back the operation condition of a stock yard, for example, new operation plan, feedback process information, output operation report forms, material piling information and the like can be automatically generated, the central control processing unit 11 also has the functions of automatic fault detection and processing, and can send fault and processing information to the material piling and taking machine control system so as to control the material piling and taking machine to carry out fault elimination.
In the invention, the three-dimensional imaging 7 system comprises a three-dimensional scanning modeling system 71, a mathematical three-dimensional modeling system 72, a three-dimensional scanning device and a detection device, wherein the three-dimensional scanning modeling system 71 can establish a three-dimensional scanning model according to stock ground data obtained by scanning of the three-dimensional scanning device, the mathematical three-dimensional modeling system 72 can establish a mathematical three-dimensional model according to the stock ground data obtained by the detection device, and the three-dimensional scanning modeling system 71 and the mathematical three-dimensional modeling system 72 can be checked with each other. According to the invention, the three-dimensional scanning modeling system 71 and the mathematical three-dimensional modeling system 72 respectively utilize a laser imaging technology and a surveying and mapping technology, coordinate transformation and a three-dimensional reconstruction algorithm are adopted to construct three-dimensional model data of the stockpile, and finally, three-dimensional real-time imaging of the stockpile in the stockyard is realized through data reduction, and real-time data is fed back to the central control processing unit 11, so that an effective way for maximizing the operation efficiency is found to reach the unmanned operation level. Because the three-dimensional scanning equipment can affect the scanning definition of the three-dimensional scanning equipment in different weather environments, such as rain and snow weather, good three-dimensional real-time imaging cannot be realized only by adopting a three-dimensional scanning modeling method, and because mathematical three-dimensional modeling is not influenced by weather environments, an all-weather modeling function can be realized, therefore, by combining the three-dimensional scanning modeling and the mathematical three-dimensional modeling, three-dimensional model data of related coal piles are automatically calculated and updated by two methods, namely three-dimensional laser scanning and mathematical simulation, after the full-automatic operation of a single machine is finished in normal weather, mutual checking is realized, and when severe weather occurs, three-dimensional modeling is only carried out by mathematical simulation, so that three-dimensional real-time imaging with higher precision can be realized, the spatial accuracy of the three-dimensional image data of the material piles is ensured, and the human-machine safety, precision and efficiency of material taking are further ensured.
Specifically, the three-dimensional scanning device is a three-dimensional laser scanner 8, the three-dimensional laser scanner 8 can clearly scan the operation stockpile in real time, then the stockyard data obtained through scanning is sent to the three-dimensional scanning modeling system 71, a three-dimensional model of the stockpile is built through the three-dimensional scanning modeling system 71, and three-dimensional real-time imaging of the stockpile in the stockyard is achieved. Three-dimensional laser scanner 8 can install on stacker-reclaimer, its mounted position and quantity should satisfy the no dead angle scanning of unit both sides operation region, of course also can install in the stock ground, and select outdoor high accuracy laser scanner for use, scanning frequency 5Hz, have echo filtering capability many times (adapt to big dust and rain and fog weather), the ethernet interface, scanning distance 80m, the effective scanning distance 40m of 10% reflectivity of stockpile, actual working distance is about 8m (scanner camera lens to stockpile average distance). In addition, three-dimensional laser scanner 8's camera lens adopts the anti-sticking grey nano-material, is difficult for gluing the ash, can also set up the protection casing on the three-dimensional laser scanner 8, and the protection casing can effectively improve laser scanner's protection level at stacker-reclaimer during operation, reduces the clean number of times of laser scanner camera lens, extension equipment life simultaneously. As a specific example, the three-dimensional scanning modeling system 71 of the present invention employs a three-dimensional modeling system developed by china aviation (beijing) automation engineering technologies ltd, and the specific model of the three-dimensional laser scanner 8 is profile-A1. The detection equipment is a radar 9, the radar 9 is installed on the stacker-reclaimer, in the process of stacking and reclaiming, the mathematical three-dimensional modeling system 72 carries out real-time mathematical modeling on the coal pile according to information fed back by the radar 9, the operated coal type, the stacking angle and the stacking amount, and when the operation of the stacker-reclaimer is finished, the mathematical modeling is synchronously finished.
The three-dimensional scanning modeling system 71 and the mathematical three-dimensional modeling system 72 can check each other, and the checking method comprises the following steps: the stock ground adopts a discrete point cloud processing method, representative measurement of points in all sets needs to be carried out on representative points in an area, if the representative measurement exceeds a threshold value, the measurement is deemed to have inaccuracy, and the measurement needs to be measured again or corrected by the representative points in the area, and the correction algorithm is round (A +/-0.5) = A; during the stacking process, the high point of the material stack will move on a parabolic track, and the parabolic parameter equation is
(wherein A is the pitching angle of the cantilever belt, V is the running speed of the belt, g is the gravity acceleration, rho is the horizontal length of the material throwing, and Z isThe vertical movement height of the material, t is the moving time of the stacker-reclaimer), and the mathematical model is shown in fig. 4.
If two uncertain factors of non-constant material throwing speed and non-constant material repose angle exist, but the two factors are in a certain range, fuzzy mathematical processing can be carried out, the difference value is obtained by comparing the actual height of the stacking point measured by the three-dimensional laser scanner 8 after stacking with the stacking point height corresponding to the model, the difference value is used for directionally carrying out walking compensation, the material distance threshold value is used for increasing the approximation degree between the model and the actual value.
The constant flow control system 5 of the invention can send the calculated material taking flow information to the stacker-reclaimer control system through the PID regulation function according to the required material taking amount obtained from the central control processing unit 11 by analyzing the relation between the current of the grab bucket motor of the stacker-reclaimer and the material taking amount, and control the rotating speed of the stacker-reclaimer through the stacker-reclaimer control system so as to realize constant flow material taking. The stacker-reclaimer automatically starts related equipment (a cantilever belt and a bucket wheel) according to a process flow, and automatically performs material taking operation (coke varieties and flow are preset on a coke conveying DCS (distributed control system) by an operator after the material taking is ready, the operator receives an instruction through a fuel integration control system, an operation scheme is calculated and is sent back to the coke conveying DCS, and after the instruction is confirmed by the operator, the stacker-reclaimer automatically operates according to the scheme without the need of further confirmation by the operator. The constant flow control system 5 should automatic control get material step-by-step and cantilever slewing speed, it utilizes PID algorithm to adjust comprehensive operation to get the material flow through the bucket wheel current, simultaneously, install flow detection device 6 on the cantilever belt of stacker-reclaimer, for example laser scanning equipment or belt weigher, flow detection device 6 is connected with constant flow control system 5, flow detection device 6 can real-time detection flow, and send data to constant flow control system 5, through data comparison, when finding that actual flow has the deviation, constant flow control system 5 can dynamic regulation stacker-reclaimer slewing speed, keep the flow invariable, the overall process need not manual intervention. When the coke stack edge is taken and collapsed, the constant flow control system 5 can dynamically adjust the rotation speed and the rotation frequency to ensure stable flow and avoid idle rotation and stuffy bucket of the wheel bucket. The coke conveying DCS is a control system of an original belt conveyor and controls starting and stopping of a belt; the integrated fuel management and control system is responsible for communication of a full-automatic control system, after the system acquires material using information, according to quality parameters of materials of the incoming materials and storage conditions of a stock ground, the integrated fuel management and control system can automatically recommend material taking and placing positions, workers can manually change the taking and placing positions, the taking and placing positions of the materials can also be directly and manually set, stock ground tasks are generated, the integrated fuel management and control system is mainly used for recording stacking, grabbing and planning execution conditions of the materials in real time, recording data in the operation process in real time, and ensuring accuracy and historical traceability of operation data.
Specifically, the stacker-reclaimer positioning system 2 includes a beidou positioning system 21 for obtaining satellite precise positioning information of the stacker-reclaimer, a stroke positioning system 22 for obtaining walking position information of the stacker-reclaimer, a rotary positioning system 23 for obtaining rotary position information of a large arm of the stacker-reclaimer, and a pitch positioning system 24 for obtaining pitch angle information of the large arm of the stacker-reclaimer. The Beidou positioning system 21 comprises a positioning fixed base station arranged above a central control room and a space positioning device based on the Beidou positioning system 21 and arranged on the stacker-reclaimer, so that accurate dynamic positioning of a cart, cantilever rotation and cantilever pitching mechanism of the stacker-reclaimer is realized, an RTK positioning mode is adopted, the distance error is controlled within +/-5 cm, and the space positioning device on the stacker-reclaimer is matched and fused with the positioning fixed base station. By installing the Beidou positioning system 21, three-dimensional space data can be provided for a three-dimensional imaging and stock ground management system; the stroke positioning system 22 and the rotary positioning system 23 are positioned by adopting codes, the Beidou positioning system 21, the stroke positioning system 22, the rotary positioning system 23 and the pitching positioning system 24 form a redundant position control system, the stability of the encoder and the high precision of the Beidou positioning system 21 are comprehensively utilized, and the encoder is periodically corrected to calculate the position.
Specifically, the stroke positioning system 22 includes a stroke encoder and a stroke positioning checking device, the stroke encoder is installed on the stacker-reclaimer, the stroke encoder is an absolute value encoder, the stroke positioning checking device include RFID electronic tags and with RFID electronic tags matched with RFID identification device, the interval is installed a plurality of on the walking track of stacker-reclaimer RFID electronic tags, and each is adjacent RFID electronic tags's interval distance is the same, RFID identification device installs on the stacker-reclaimer. The travel encoder is arranged to acquire the positioning information of the stacker-reclaimer, and meanwhile, the travel positioning checking device has a midway data checking function, so that the traveling position of the stacker-reclaimer can be accurately acquired in real time. In the course of the stroke positioning, firstly, a reference zero point of the encoder is calibrated at one end of the stock ground, and the current data of the encoder is continuously acquired through an acquisition terminal of the stroke positioning system 22 in the course of the stacker-reclaimer running along the traveling track, and the current position of the stacker-reclaimer is calculated through comparison with the reference zero point data. The stroke encoder is arranged on an auxiliary wheel of the stacker-reclaimer, and when the stroke encoder is arranged on the auxiliary wheel, the phenomenon that the stroke wheel slips can be avoided, and the driving wheel can continue to rotate due to power reasons to cause errors. By determining the absolute position of the stacker-reclaimer on the track, the position of 0 meter is taken as the starting point when the large truck of the stacker-reclaimer backs to the rear limit, the head limit of the large truck is the maximum walking distance, and the positioning precision of the large truck is within +/-25 mm. As a specific example, the parameters of the stroke encoder are as follows: linearity: 12 bits +/-0.5 LSB; the precision of the number of turns is as follows: 16 bits; working temperature: minus 40 ℃ to plus 85 ℃; signal output mode: ethernet, profibus-DP output, MODBUS bus; protection grade: IP65; supply voltage: DC24V.
The stroke positioning and checking device for correcting the midway walking position of the stacker-reclaimer adopts an RFID (radio frequency identification) technology, and an RFID electronic tag is installed on a walking track of the stacker-reclaimer at intervals of 20 meters and carries out position coding; and the RFID identification device is arranged on the stacker-reclaimer, and when the stacker-reclaimer travels, the RFID coded information is read, the absolute traveling position of the current stacker-reclaimer is obtained, and the absolute traveling position is compared with the position information calculated by the stroke encoder so as to correct the position. As a specific example, the parameters of the stroke positioning checking device are as follows: normal detection distance: more than 50mm; measuring speed: a maximum of 3m/s; signal output mode: MODBUS RTU; transmission rate: 10Mbps; protection grade: IP67; supply voltage: DC24V; calibration precision of cart position: plus or minus 5cm; the calibration precision of the rotation angle is as follows: 0.1 degree; interface form: MODBUS RTU; transmission rate: 10Mbps.
Specifically, the rotary positioning system 23 includes an angle encoder and a rotary positioning checking device, the angle encoder is installed on the rotary platform of the stacker-reclaimer, the rotary positioning checking device includes an RFID electronic tag and an RFID identification device matched with the RFID electronic tag, and a plurality of RFID electronic tags are arranged at the lower end of the rotary platform of the stacker-reclaimer at intervals. The angle encoder of the rotary positioning system 23 is an absolute value encoder, which can acquire the position information of the equipment, the positioning position is consistent with a stock ground unified coordinate system established during stock ground planning, the system is not influenced by the running states of starting and stopping of a stacker-reclaimer and the like, the spatial position of the large arm can be accurately positioned in real time, and the position information can be still stored and quickly positioned after the system is powered off. The RFID electronic tags are arranged at the lower end of a rotary platform of the stacker-reclaimer and are respectively arranged at the lower end of the rotary platform of the stacker-reclaimer at 0-degree rotary position, 90-degree rotary position, 180-degree rotary position and limit rotary position, the RFID identification device is arranged at the upper end of a base of the stacker-reclaimer, when a large arm of the stacker-reclaimer rotates, RFID coded information is read, the current rotation angle of the large arm of the stacker-reclaimer is obtained and is compared with the position information calculated by an angle encoder, so that position correction is carried out, and absolute position calibration is carried out in the rotary process of the large arm of the stacker-reclaimer.
Specifically, the pitch positioning system 24 includes a tilt sensor mounted inside the stacker-reclaimer boom. The inclination angle sensor is a high-precision inclinometer designed based on the gravity sensing technology, the detection precision reaches 0.1, and an angle signal is sent to the controller through a 4-20 mA standard signal. In the pitching positioning process, firstly, a reference zero point of the inclinometer is calibrated at a position where the large arm of the stacker-reclaimer is parallel to the stock ground, and the large arm of the stacker-reclaimer continuously acquires current data of the inclinometer through a system in the pitching process and compares the current data with the reference zero point data to calculate the current pitching angle of the large arm of the stacker-reclaimer. Meanwhile, limit switches can be arranged at the upper limit, the lower limit, the belt passing position and the zero position in the mechanical limit of the stacker-reclaimer so as to ensure the accuracy of the pitch angle signal and the safety of the belt passing.
Specifically, the safety protection system 4 includes a collision avoidance algorithm 41 and a collision avoidance device 42 mounted on the stacker-reclaimer. In the process of material piling and taking operation, the bucket wheel and the cantilever of the material piling and taking machine or the bucket wheel and the cantilever of the adjacent material piling and taking machine or the material piling and taking machine and other barriers in a stock ground are likely to collide, and the anti-collision calculation system 41 and the anti-collision equipment 42 are arranged, so that the equipment can be protected doubly, and the safe and reliable operation of the equipment is ensured.
The anti-collision computing system 41 obtains the relative distance between the cantilever or the bucket wheel and an obstacle (such as a material pile, the cantilever or the bucket wheel of an adjacent material piling and taking machine) through the laser scanners arranged on the two sides of the cantilever or the bucket wheel of the material piling and taking machine, divides the relative distance into two areas, sets two-stage protection according to the two areas, wherein the first area is a deceleration area, when the relative distance between the cantilever or the bucket wheel and the obstacle is in the area, the distance between the cantilever or the bucket wheel of the material piling and taking machine and the obstacle is relatively close, the first-stage protection is carried out at the moment, the anti-collision computing system 41 sends a signal to the material piling and taking machine control system 13 to control to reduce the movement speed of the material piling and taking machine, and the second area is a tight stop area, when the relative distance between the cantilever or the bucket wheel and the obstacle is in the area, the distance between the cantilever or the bucket wheel and the obstacle is relatively close, and at the anti-collision computing system 41 sends a signal to the material piling and taking machine control to stop the material piling and taking machine at once, thereby protecting the material piling and the obstacle; the laser scanner has two paths of output signals, and outputs a 0V voltage signal when no object exists and outputs a 24V voltage signal when an object exists. Thus, collision between the stacker-reclaimer and the stockpile, between adjacent stacker-reclaimers, or between the stacker-reclaimer and other obstacles in the yard can be avoided by the anti-collision calculation system 41.
The anti-collision device 42 comprises a limit switch and an anti-collision sensor, specifically, the limit switch, such as a mechanical switch and a proximity switch, can be installed on a walking mechanism, a rotating mechanism and a pitching mechanism of the stacker-reclaimer, and the anti-collision sensors, such as a radar anti-collision sensor and an ultrasonic anti-collision sensor, are installed on two sides of a bucket wheel and a side of a cantilever of the stacker-reclaimer, and are provided with an alarm device matched with the anti-collision device 42, so that when the limit switch is triggered or the anti-collision sensors detect that the device is about to collide, a signal can be sent to the stacker-reclaimer control system 13, the stacker-reclaimer can be controlled to decelerate or stop after the stacker-reclaimer control system 13 receives the signal, and sends an alarm, an operator in a central control room checks, decides and issues an obstacle removing instruction through a relevant video lens, and the stacker-reclaimer continues to operate after the alarm is removed.
Specifically, video monitor system 3 is including installing the camera on stacker-reclaimer, through the camera with video information through wireless network transmission to central accuse processing unit 11 of central control room, central accuse processing unit 11 is handled and is shown the video received, carry out real-time remote monitoring to the stock ground operation scene in order to make things convenient for operating personnel, can more audio-visual control and observation device behavior, and simultaneously, central accuse processing unit 11 also can control the camera, adjust its focus, the light ring, shoot parameters such as angle.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications all fall within the protection scope of the present invention.
It should be noted that, in the above embodiments, the various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, the present invention does not separately describe various possible combinations.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (9)
1. An automatic control system of a stacker-reclaimer is characterized by comprising a central control processing unit (11), a central control system (12), a stacker-reclaimer control system (13), a stacker-reclaimer positioning system (2), a three-dimensional imaging system (7), a constant flow control system (5), a safety protection system (4) and a video monitoring system (3), wherein the central control processing unit (11) is respectively connected with the central control system (12), the stacker-reclaimer positioning system (2), the three-dimensional imaging system (7), the constant flow control system (5), the safety protection system (4) and the video monitoring system (3), the central control system (12) is connected with the stacker-reclaimer control system (13), the stacker-reclaimer control system (13) is respectively connected with the constant flow control system (5) and the safety protection system (4),
the three-dimensional imaging system (7) comprises a three-dimensional scanning modeling system (71), a mathematical three-dimensional modeling system (72), a three-dimensional scanning device and a detection device, wherein the three-dimensional scanning modeling system (71) can build a three-dimensional scanning model according to stock ground data obtained by scanning of the three-dimensional scanning device, the mathematical three-dimensional modeling system (72) can build a mathematical three-dimensional model according to stock ground data obtained by the detection device, the three-dimensional scanning device is a three-dimensional laser scanner (8), the detection device is a radar (9), and the three-dimensional scanning modeling system (71) and the mathematical three-dimensional modeling system (72) can be checked with each other, and the checking method comprises the following steps: during the stacking process, the high point of the material stack will move on a parabolic track, and the parabolic parameter equation is
Wherein: a is the pitching angle of the cantilever belt; v is the running speed of the belt, g is the acceleration of gravity, rho is the horizontal length of the material cast, Z is the vertical direction movement height of the material, t is the movement time of the stacker-reclaimer, a difference value is obtained by comparing the actual height of a stacking point measured by the three-dimensional scanning equipment after stacking with the height of the stacking point corresponding to the model, and the walking compensation is carried out directionally;
the constant flow control system (5) can adjust and control the rotating speed of the stacker-reclaimer according to the required material taking amount so as to realize constant flow material taking.
2. The automatic control system of the stacker-reclaimer according to claim 1, characterized in that the stacker-reclaimer positioning system (2) comprises a Beidou positioning system (21) for obtaining satellite precise positioning information of the stacker-reclaimer, a travel positioning system (22) for obtaining walking position information of the stacker-reclaimer, a rotation positioning system (23) for obtaining rotation position information of the large arm of the stacker-reclaimer, and a pitch positioning system (24) for obtaining pitch angle information of the large arm of the stacker-reclaimer.
3. The automatic control system of the stacker-reclaimer of claim 2, wherein the stroke positioning system (22) comprises a stroke encoder and a stroke positioning checking device, the stroke encoder is installed on the stacker-reclaimer, the stroke positioning checking device comprises an RFID electronic tag and an RFID identification device matched with the RFID electronic tag, a plurality of RFID electronic tags are installed on a traveling track of the stacker-reclaimer at intervals, the interval distance between each adjacent RFID electronic tags is the same, and the RFID identification device is installed on the stacker-reclaimer.
4. The automatic control system of a stacker-reclaimer machine, as recited in claim 3, wherein said stroke encoder is mounted on an auxiliary wheel of said stacker-reclaimer machine.
5. The automatic control system of the stacker-reclaimer of claim 2, wherein the rotary positioning system (23) comprises an angle encoder and a rotary positioning checking device, the angle encoder is installed on a rotary platform of the stacker-reclaimer, the rotary positioning checking device comprises an RFID electronic tag and an RFID identification device matched with the RFID electronic tag, the lower end of the rotary platform of the stacker-reclaimer is provided with a plurality of RFID electronic tags at intervals, and the RFID identification device is installed at the upper end of a base of the stacker-reclaimer.
6. The stacker-reclaimer automatic control system, as claimed in claim 2, characterized in that said pitch positioning system (24) comprises a tilt sensor mounted inside the stacker-reclaimer big arm.
7. The stacker-reclaimer automatic control system, as claimed in claim 1, characterized in that said safety protection system (4) comprises an anti-collision calculation system (41) and an anti-collision device (42) mounted on said stacker-reclaimer.
8. The stacker reclaimer automatic control system of claim 7, characterized in that said collision preventing device (42) comprises a limit switch and a collision preventing sensor.
9. The automatic control system of the stacker-reclaimer according to claim 1, characterized in that it further comprises a flow detection device (6) mounted on the cantilever belt of the stacker-reclaimer, said flow detection device (6) being connected with said constant flow control system (5).
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| CN113320995A (en) * | 2021-05-25 | 2021-08-31 | 中冶南方工程技术有限公司 | Unmanned control system for stockyard stacker-reclaimer |
| CN113233210B (en) * | 2021-05-25 | 2023-04-28 | 中冶南方工程技术有限公司 | Constant-flow automatic material taking method and system for bucket wheel material taking machine |
| CN113291849A (en) * | 2021-05-31 | 2021-08-24 | 中材天山(云浮)水泥有限公司 | Automatic control system of stacker-reclaimer |
| CN113830569B (en) * | 2021-09-02 | 2024-05-28 | 日照港集装箱发展有限公司 | Material piling control method and material piling system |
| CN113759853B (en) * | 2021-09-18 | 2023-07-18 | 法兰泰克重工股份有限公司 | Automatic material handling control system |
| 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 |
| CN113879860B (en) * | 2021-11-05 | 2023-09-08 | 北京华能新锐控制技术有限公司 | Constant-flow material taking method and device for bucket-wheel stacker reclaimer based on dynamics |
| CN114148707A (en) * | 2022-01-06 | 2022-03-08 | 中冶北方（大连）工程技术有限公司 | C-type stock ground complex raw material stacking control system and method |
| CN114751309A (en) * | 2022-01-29 | 2022-07-15 | 中冶赛迪工程技术股份有限公司 | Intelligent slag grabbing system based on 3D scanning |
| CN114815754A (en) * | 2022-05-09 | 2022-07-29 | 京能（锡林郭勒）发电有限公司 | Automatic change stock ground management and control platform |
| 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 |
| CN115367508B (en) * | 2022-09-09 | 2024-06-28 | 烟台华控智能科技有限公司 | Unloading device for express delivery transportation vehicle |
| CN116835268A (en) * | 2023-09-01 | 2023-10-03 | 测控人(天津)科技有限公司 | Remote control method and system for round stacker-reclaimer |
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| CN101104480B (en) * | 2006-07-14 | 2011-01-19 | 宝山钢铁股份有限公司 | Unmanned piling and taking technique for bulk cargo stock yard |
| CA2875685C (en) * | 2012-06-04 | 2018-12-04 | Vale S.A. | Bulk material reclaimer control system |
| CN108196506A (en) * | 2018-01-26 | 2018-06-22 | 华能营口热电有限责任公司 | A kind of thermal power plant intelligence coal yard managing and control system and its control method |
| CN208683975U (en) * | 2018-08-16 | 2019-04-02 | 杭州米德科技有限公司 | Stacker-reclaimer intelligence unattended system |
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