CN113003231B - Automatic material taking decision method for scrap steel stock ground - Google Patents
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Abstract
The invention relates to an automatic material taking decision method for a scrap steel stock yard, which comprises the following steps: s1, based on three-dimensional digital models of a scrap steel stock yard and a stock bin, carrying out grading judgment on six parameters of a stock bin position, a stock pile sucker range weight, a stock pile sucker range material taking condition, a stock yard effective material taking area number, a stock pile unknown area proportion and a stock pile unloading area proportion of the scrap steel stock yard; and S2, obtaining the optimal material taking path through grading decision of the priority and the weight of each parameter. According to the invention, the material taking place and path of the scrap steel crane are determined, so that the operation capacity of the crane can be improved to the maximum extent, the normal operation of production is ensured, and the maximum utilization of a field is ensured.
Description
Technical Field
The invention relates to a scrap steel stock ground, in particular to an automatic material taking decision method for the scrap steel stock ground.
Background
At present, in iron and steel enterprises, in order to improve the yield of iron making and steel making, scrap steel is often added into production raw materials, and a magnetic disc crane is generally adopted for loading and unloading the scrap steel. Due to the fact that the production environment is severe and the requirement on operators is high, intelligent control over the crane becomes the future trend. The three-dimensional model of the scrap steel pile is the premise of realizing intelligent control, the establishment of the three-dimensional model of an object by using methods such as a camera and laser scanning is the current research focus, but the full-automatic control method of the scrap steel crane based on the three-dimensional model is rarely concerned by people.
Disclosure of Invention
The invention aims to provide an automatic material taking decision method for a scrap steel yard, which aims to improve the operation capacity of a crane to the maximum extent, ensure the normal operation of production and ensure the maximum utilization of the yard. Therefore, the invention adopts the following specific technical scheme:
an automatic material taking decision method for a scrap steel yard can comprise the following steps:
s1, based on three-dimensional digital models of a scrap steel stock yard and a stock bin, carrying out grading judgment on six parameters including a stock bin position of the scrap steel stock yard, the range weight of a stock pile sucker, the material taking condition of the stock pile sucker, the number of effective material taking areas of the stock yard, the proportion of unknown areas of the stock pile and the proportion of an unloading area of the stock pile;
and S2, obtaining the optimal material taking path through grading decision of the priority and the weight of each parameter.
Further, S1 specifically includes the following steps:
s11, acquiring bin positions of the bins through a three-dimensional digital model of the bins, grading the bin positions, and marking the bin positions as F1;
s12, acquiring three-dimensional coordinate values of data points of all stockpiles through a stock yard three-dimensional model, finding out the highest point of each stockpile, positioning the center of a sucker, searching grids covered by the sucker, namely points in the effective range of the sucker, calculating the volume of the scrap steel in the range corresponding to the points, calculating the weight of the scrap steel according to the volume and the pile density, and further calculating the weight grading F2 in the range of the stockpiles and the suckers;
s13, finding out the highest point of the material pile to position the center of the sucker, searching grids covered by the sucker, namely points in the effective range of the sucker, and calculating the distance d between the points and the plane of the sucker, wherein the distance d is less than or equal to d set A set of points A, wherein d set Calculating the proportion of the point set A in the whole material pile for the set value of the magnetic distance of the sucking disc, namely the scrap steel surface ratio eta of the magnetic distance of the sucking disc pow (ii) a Calculating the product of the density of the scrap steel in the effective range of the sucking disc and the volume in the magnetic force range, namely the effective weight G eff (ii) a Are respectively aligned with eta pow 、G eff After judging classification, calculating a material pile sucker range material taking condition classification F3; wherein eta pow The classification conditions are as follows [. Eta. ] pow ＞η powmax Time, eta pow Is of good, eta powmin ≤η pow ≤η powmax ，η pow Is qualified, η pow ＜η powmin ，η pow Is a difference; wherein eta powmax Maximum value of the steel scrap area ratio, eta, for a set disc magnetic distance powmin Is the minimum value of the scrap steel surface ratio of the set disc magnetic force distance; g eff The classification conditions were as follows: g eff ＞G eff max When, G eff Is excellent, G eff min ≤G eff ≤G eff max ，G eff In order to be qualified, G eff ＜G eff min ，G eff Is a difference; wherein G is eff max Set maximum effective weight, G eff min Is a set effective weight minimum; the classification conditions of F3 were as follows：
S14, calculating the quantity grading F4 of the effective material taking areas of the stock ground according to the calculation result, wherein the calculation is as follows:
s15, calculating the ratio of the unknown area of the stockpile, namely, comparing the area of the material taking and passing area and the area of the whole stockpile area to obtain the ratio r of the unknown area of the stockpile n Calculating the proportion classification F5 of the unknown area of the stockpile; the ranking is calculated as follows: r is a radical of hydrogen n ＞r n max F5 is a difference, r n ＜r n min F5 is preferably, r n min ≤r n ≤r n max And F5 is qualified, wherein: r is n max For a set maximum ratio of the unknown area of the stockpile, r n min Setting the minimum proportion of the unknown area of the material pile;
s16, calculating the ratio r of the material pile to the discharging area m Then, calculating the proportion grading F6 of the unloading area of the stock dump in the stock yard as follows: r is m ＞r m max F6 is high, r m ＜r m min F6 is low, r m min ≤r m ≤r m max F6 is normal, wherein: r is m max For a set maximum value of the ratio of the material pile to the discharge area, r m min Is the minimum value of the ratio of the set material pile to the unloading area.
Further, S2 is specifically: all grades are scored, the score of each grade is judged by 1-5 points, and then a weighted average value, namely
Wherein K i Weight coefficient, F, representing each parameter i Score, F, representing each parameter ik The score of each grade of each parameter is shown, N is the number of grades of each parameter, and the obtained result is obtained through calculationAnd after the material pile scores, taking the material pile with the highest score as a material taking point, and further obtaining the optimal material taking path.
Further, bin level classification F1 is divided into 2 levels, i.e., high and low, with score F 11 And F 12 Respectively 5 points and 1 point.
Further, the weight classification F2 of the range of the material pile suction disc is divided into 5 grades, namely low, normal, high and high, and the grade is divided into F 21 ～F 25 Respectively 1, 2, 3, 4 and 5 points.
Further, the grading F3 of the material taking condition in the range of the material pile suction disc has the score: youF 31 5 points, good F 32 Is divided into 4 points, qualified F 33 Is divided into 3, fail F 34 And peak F 35 All are 0 points.
Further, the grading F4 of the number of the effective material taking areas in the stock ground has the score: youF 41 Is 5 minutes, good F 42 Is divided into 4 points, qualified F 43 Is 3 points and a peak F 44 Is 0 min.
Further, the score of the stock ground unknown region proportion grading F5 is calculated as follows: youF 51 Is 5 points, qualified F 52 Is 3 minutes and F 53 Is 1 point.
Further, the percentage of area of the stockyard dump unloading classification F6 is as follows: youF 61 Score 5, pass F 62 Is 3 minutes and F is a difference 63 Is 1 point.
Further, the weight K of the bin position 1 Is 0.1, weight K of the range weight of the material pile suction cup 2 Is 0.1, weight K of material taking condition in range of material pile suction disc 3 Is 0.2, the weight K of the number of effective material taking areas of the stock ground 4 0.15, weight K of unknown area of stockpile 5 A weight K of 0.15 to the area of the stockpile-unloading vehicle 6 Is 0.3.
By adopting the technical scheme, the invention has the beneficial effects that: according to the invention, the material taking place and path of the scrap steel crane are determined, so that the operation capacity of the crane can be improved to the maximum extent, the normal operation of production is ensured, and the maximum utilization of a field is ensured.
Drawings
To further illustrate the various embodiments, the invention provides the accompanying drawings. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the embodiments. Those skilled in the art will appreciate still other possible embodiments and advantages of the present invention with reference to these figures. Elements in the figures are not drawn to scale and like reference numerals are generally used to indicate like elements.
FIG. 1 is a flow chart of an automatic scrap yard material taking decision method according to the present invention.
Detailed Description
The invention will now be further described with reference to the drawings and the detailed description.
The automatic material taking decision method for the scrap steel stock yard is explained by using a blast furnace scrap steel automatic feeding system of a certain steel mill, the system is provided with laser scanners in the stock bin and the scrap steel stock yard, all three-dimensional data of the stock bin and the stock yard can be obtained in real time through the laser scanners, a three-dimensional model can be established, and meanwhile, the system is provided with a stock management system and can record all working records of a crane.
As shown in fig. 1, the automatic scrap yard taking decision method of the present invention may include the following steps:
s1, based on three-dimensional digital models of a scrap steel stock yard and a stock bin, six parameters including a stock bin position of the scrap steel stock yard, the range weight of a stock pile sucker, the range material taking conditions of the stock pile sucker, the number of effective material taking areas of the stock yard, the proportion of unknown areas of the stock pile and the proportion of an unloading area of the stock pile are judged in a grading manner. The specific process is as follows:
and acquiring bin positions of the bin through a three-dimensional digital model of the bin, and grading the bin positions, wherein the bin positions are marked as F1. Specifically, the x, y and z values of all data points on the surface of the storage bin are obtained through the three-dimensional storage bin model, the points with larger z value change of adjacent points are removed, and the average value of the z of the rest data points is calculated
. According to the arrangement condition of the stock ground of the system, the alarm limits of the stock bin are low, medium, high and highValues of 8 m, 9 m, 12 m, 15 m, 16 m, respectively, are calculated
Is compared with the alarm limit value if
If F1 is high, the score F is evaluated 11 The content of the waste water is 5 minutes,
f1 is low grade, and the score F is evaluated 12 Is 1 point.
And acquiring three-dimensional coordinate values of data points of all stockpiles through the stock ground three-dimensional model, and calculating the respective stockpile peaks of different stockpiles. And if a plurality of peaks exist, one of the peaks is randomly selected, and then the coordinate of the peak is set as the material taking coordinate of the suction cup of the stockpile. When the suction cup is placed at the position, the volume of the scrap steel material below the area of the suction cup is calculated through the three-dimensional model. And calculating the weight value of the scrap steel under the sucking disc according to the manually set scrap steel density value, and then carrying out grading judgment on the weight of the scrap steel. The system requires that the weight of material sucked each time is not less than 0.5 ton due to the production rhythm, so 5 judgment limits are set, namely 0.5 ton, 1.0 ton, 1.5 ton, 2 ton and 3 ton respectively, the corresponding weight judgment grades F2 are respectively low, normal, high and high, and the evaluation scores F are F2 21 ～F 25 At 1 point, 2 points, 3 points, 4 points and 5 points. And respectively calculating the grading F2 of the weight grade of the stockpile in the range of the corresponding stockpile suction cup of each stockpile through comparison and evaluation.
And acquiring three-dimensional coordinate values of data points of all stockpiles through the stock ground three-dimensional model, and calculating the respective stockpile peaks of different stockpiles. If a plurality of highest points exist, one of the highest points is randomly selected, the grid covered by the sucker, namely the points in the effective range of the sucker, is searched, and the distance d between the points and the plane of the sucker is calculated to be less than or equal to d set A set of points A, wherein d set Calculating the proportion of the point set A in the whole material pile for the set value of the magnetic distance of the sucking disc, namely the scrap steel surface ratio eta of the magnetic distance of the sucking disc pow (ii) a Calculating suckerThe product of the density of scrap in the effective range and the volume in the magnetic force range, i.e. the effective weight G eff . The system can suck a large amount of materials onto the sucker in order to ensure that the materials are sucked at the beginning, so that the strong magnetic current of the sucker is set to be 120A, and the distance of magnetic energy transmission under the current is 0.8 m. Meanwhile, in order to ensure that the magnetic disk leaves the material surface and does not operate, the working excitation current is set at 80A, and the magnetic force transmission range under the current is 0.4 meter. In the calculation of eta pow Time, magnetic force distance setting value d of sucking disc set Is 0.8 m, the distance between the suction cup and the plane of the suction cup in the range of the suction cup is found out to satisfy that d is less than or equal to d set Number of dots N of (2) 0 Calculating eta pow ＝N 0 N, where N is the number of all data points in the pile, and eta is set powmax ＝0.6，η powmin =0.3 by comparison η pow And η powmin 、η powmax Obtaining η pow The judgment level of (1). Wherein eta pow The classification conditions are as follows [. Eta. ] pow ＞η powmax Time, eta pow Is of good, eta powmin ≤η pow ≤η powmax ，η pow Is qualified, η pow ＜η powmin ，η pow Is a difference. Since the materials with the height of more than 0.4 m can fall off after the sucker is lifted, the thickness h of the steel scrap layer from the surface of the sucker to 0.8 m is calculated, if the thickness h exceeds 0.4 m, the thickness h is 0.4 m, if the thickness h is less than 0.4 m, the actual value is taken, and the effective steel scrap weight G with the thickness h in the sucker range is calculated eff Setting G eff max ＝1.5，G eff min =0.5 by comparison of G eff And G eff max 、G eff min Obtaining G eff The evaluation level of (2). G eff The classification conditions were as follows: g eff ＞G eff max When, G eff Good, G eff min ≤G eff ≤G eff max ，G eff In order to be qualified, G eff ＜G eff min ，G eff Is a difference. Passing through η pow And G eff The combination judgment of (1) calculating the material taking condition classification F3 of the range of the stack suction disc, wherein the classification condition of the F3 is as follows:
and then, F3 is scored, wherein the excellent is 5 points, the good is 4 points, the qualified is 3 points, and the unqualified and the peak are 0 points.
According to the grades of the F2 and the F3 calculated in the steps, the grading F4 of the number of the effective material taking areas in the stock ground can be divided into four grades, which are respectively as follows: excellent, good, qualified and sharp. The calculation principle is as follows:
f4 can be scored according to the F4 scale, with 5 points for excellent, 4 points for excellent, 3 points for qualified, and 0 point for peak.
The working state of each stock pile is obtained through the three-dimensional model and a stock pipe system of the system, and the ratio classification F5 of the unknown area of the stock pile in the stock yard can be calculated. In the system, each material pile is about 12 meters long, the diameter of a sucker is 5 meters, in order to ensure that the material suction quantity is stable, when the unknown area of the material pile exceeds 60 percent of the whole material pile, the material pile is considered to not meet the material taking condition well, and therefore r is set n max ＝0.6，r n min And =0.2. Unknown area ratio r n Greater than r n max F5 is the difference; ratio of r n max And r n min F5 is qualified; the ratio is less than r n min F5 is preferred. F5 can be calculated in a grading way according to the statistics of the reclaiming quantity and the position of each material pile in the stock pipe system. Wherein the optimal value is 5 points, the qualified value is 3 points, and the difference is 1 point.
And calculating the proportion of all stockpiles occupying the unloading area from the coordinates of the unloading area in the storage pipe system. Because of the production requirements of the system, it is specified that the discharge area must have 50% of the discharge space, so r is set m max ＝0.7，r m min =0.5. The area proportion classification F6 of the material pile unloading vehicle can be divided into three grades which are respectively as follows: high, normal, and low. Proportion r of discharge area m Greater than r m max F6 is high, and the ratio is r m max And r m min Meanwhile, F6 is normal; is less than r m min F6 is low. While the scoring criteria at different levels are: the height is 5 points, the normal is 3 points, and the low is 1 point.
And S2, obtaining the optimal material taking path through grading decision of the priority and the weight of each parameter. The specific process is as follows:
according to the above calculation, grade scores of all parameters can be obtained, and are respectively F 1 ～F 6 Setting the decision function to
Wherein N represents the number of grades of each parameter, F ik Score, K, representing each grade i As a weight for each parameter. According to the field production requirement, the implementation system sets the following weights: weight K of bin position 1 Is 0.1, weight K of the range weight of the stockpile suction cup 2 Is 0.1, weight K of material taking condition in range of material pile suction disc 3 Is 0.2, the weight K of the number of effective material taking areas of the stock ground 4 0.15, weight K of unknown area of material pile 5 A weight K of 0.15 to the area of the stockpile-unloading vehicle 6 Is 0.3. According to the above, the optimal material taking pile (with the highest score) can be calculated, and the optimal material taking path can be obtained.
While the invention has been particularly shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. An automatic material taking decision method for a scrap steel yard is characterized by comprising the following steps: the method comprises the following steps:
s1, based on three-dimensional digital models of a scrap steel stock yard and a stock bin, carrying out grading judgment on six parameters including a stock bin position of the scrap steel stock yard, the range weight of a stock pile sucker, the material taking condition of the stock pile sucker, the number of effective material taking areas of the stock yard, the proportion of unknown areas of the stock pile and the proportion of an unloading area of the stock pile;
and S2, obtaining the optimal material taking path through grading decision of the priority and the weight of each parameter.
2. The automatic scrap steel yard material taking decision method according to claim 1, characterized by comprising the following steps: s1 specifically comprises the following steps:
s11, acquiring bin positions of the bins through a three-dimensional digital model of the bins, grading the bin positions, and marking the bin positions as F1;
s12, acquiring three-dimensional coordinate values of data points of all stockpiles through a stock yard three-dimensional model, finding out the highest point of each stockpile, positioning the center of a sucking disc, searching grids covered by the sucking disc, namely points in the effective range of the sucking disc, calculating the volume of the scrap steel in the range corresponding to the points, calculating the weight of the scrap steel according to the volume and the stack density, and further calculating the weight grading F2 of the range of the stockpiles and the sucking discs;
s13, finding out the highest point of the stockpile to position the center of the sucker, searching grids covered by the sucker, namely points in the effective range of the sucker, and calculating the distance d between the points and the plane of the sucker, wherein the distance d is less than or equal to d set A set of points of (1), wherein d set Calculating the proportion of the point set A in the whole material pile for the set value of the magnetic force distance of the sucking disc, namely the scrap steel surface ratio eta of the magnetic force distance of the sucking disc pow (ii) a Calculating the product of the density of the scrap steel in the effective range of the sucking disc and the volume in the magnetic force range, namely the effective weight G eff (ii) a Are respectively aligned with eta pow 、G eff After judging classification, calculating a material pile sucker range material taking condition classification F3; wherein eta pow The classification conditions were as follows: eta pow ＞η powmax Time, eta pow Is of good, eta powmin ≤η pow ≤η powmax ，η pow To be qualified, eta pow ＜η powmin ，η pow Is a difference; wherein eta powmax Maximum value of the steel scrap surface ratio, eta, for a set disc magnetic distance powmin Is the minimum value of the scrap steel surface ratio of the set disc magnetic force distance; g eff The classification conditions were as follows: g eff ＞G eff max When, G eff Is excellent, G eff min ≤G eff ≤G eff max ，G eff In order to be qualified, G eff ＜G eff min ，G eff Is a difference; wherein G is eff max Set effective weight maximumValue, G eff min Is a set effective weight minimum; the fractionation conditions for F3 were as follows:
s14, calculating the quantity grading F4 of the effective material taking areas of the stock ground according to the calculation result, wherein the calculation is as follows:
；
S15, calculating the unknown area ratio of the material pile, namely comparing the area of the material passing through the material taking and arranging with the area of the whole material pile area to obtain the unknown area ratio r of the material pile n Calculating the proportion classification F5 of the unknown area of the stock pile; the ranking is calculated as follows:r n ＞r nmax f5 is a difference, r n ＜r nmin F5 is preferably, r nmin ≤r n ≤r nmax And F5 is qualified, wherein: r is nmax For a set maximum ratio of unknown area of the stock pile, r nmin Setting the minimum proportion of the unknown area of the material pile;
s16, calculating the ratio r of the material pile to the unloading area m Then, calculating the stockyard stockpile unloading area proportion grading F6, and calculating as follows: r is m ＞r mmax F6 is high, r m ＜r mmin F6 is low, r mmin ≤r m ≤r mmax F6 is normal, wherein: r is mmax For a set maximum value of the ratio of the material pile to the discharge area, r mmin Is the minimum value of the ratio of the set material pile to the discharging area.
3. The automatic scrap steel yard material taking decision method according to claim 2, characterized in that: s2 is specifically: all grades are scored, the score of each grade is judged by 1-5 points, and then a weighted average value is calculated, namely
Wherein K i Weight coefficient, F, representing each parameter i Score, F, representing each parameter ik And (3) expressing the score of each grade of each parameter, N expressing the grade number of each parameter, and after all material piles are obtained through calculation, taking the material pile with the highest score as a material taking point to further obtain the optimal material taking path.
4. The automatic scrap steel yard material taking decision method according to claim 3, characterized by comprising the following steps: bin level grading F1 is divided into 2 levels, high and low, with a score of F 11 And F 12 Respectively 5 points and 1 point.
5. The automatic scrap steel yard material taking decision method according to claim 3, characterized in that: the weight grading F2 in the range of the material pile suction disc is divided into 5 grades, namely low, normal, high and high, and the score is F 21 ～F 25 Respectively 1, 2, 3, 4 and 5 points.
6. The automatic scrap steel yard material taking decision method according to claim 3, characterized by comprising the following steps: the grading F3 of the material taking condition in the range of the material pile sucker has the following scores: youF 31 Is 5 minutes, good F 32 Is divided into 4 points, qualified F 33 Is 3 points, fail F 34 And peak F 35 All are 0 points.
7. The automatic scrap steel yard material taking decision method according to claim 3, characterized by comprising the following steps: the grading F4 of the number of the effective material taking areas in the stock ground has the following scores: youF 41 Is 5 minutes, good F 42 Is divided into 4 points, qualified F 43 Is 3 points and a peak F 44 Is 0 min.
8. The automatic scrap steel yard material taking decision method according to claim 3, characterized by comprising the following steps: and calculating the score of the classification F5 of the unknown area proportion of the stock pile as follows: youF 51 Is 5 points, qualified F 52 Is 3 minutes and F 53 Is 1 point.
9. The automatic scrap steel yard material taking decision method according to claim 3, characterized by comprising the following steps: the grading F6 of the proportion of the unloading area of the stock dump has the following scores: youF 61 Is 5 points, qualified F 62 Is 3 minutes and F is a difference 63 Is 1 point.
10. The automatic scrap steel yard material taking decision method according to claim 3, characterized by comprising the following steps: weight K of bin position 1 Is 0.1, weight K of the range weight of the stockpile suction cup 2 Is 0.1, weight K of material taking condition in range of material pile suction disc 3 Is 0.2, the weight K of the number of effective material taking areas of the stock ground 4 0.15, weight K of unknown area of material pile 5 A weight K of 0.15 to the area of the stockpile-unloading vehicle 6 Is 0.3.
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| JP2013189271A (en) * | 2012-03-13 | 2013-09-26 | Nippon Steel & Sumitomo Metal Corp | Method for managing metal waste |
| CN104866912A (en) * | 2014-12-29 | 2015-08-26 | 中冶南方工程技术有限公司 | Bulk cargo material yard material pile management method |
| CN105653800A (en) * | 2015-12-31 | 2016-06-08 | 中冶南方工程技术有限公司 | Calculation method of stock ground bulk cargo pile shape parameter |
| CN111968172A (en) * | 2020-07-16 | 2020-11-20 | 中冶华天工程技术有限公司 | Method and system for measuring volume of material in stock ground |
| EP3757913A1 (en) * | 2019-06-28 | 2020-12-30 | Skipthedishes Restaurant Services Inc. | Article transport systems and methods |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013189271A (en) * | 2012-03-13 | 2013-09-26 | Nippon Steel & Sumitomo Metal Corp | Method for managing metal waste |
| CN104866912A (en) * | 2014-12-29 | 2015-08-26 | 中冶南方工程技术有限公司 | Bulk cargo material yard material pile management method |
| CN105653800A (en) * | 2015-12-31 | 2016-06-08 | 中冶南方工程技术有限公司 | Calculation method of stock ground bulk cargo pile shape parameter |
| EP3757913A1 (en) * | 2019-06-28 | 2020-12-30 | Skipthedishes Restaurant Services Inc. | Article transport systems and methods |
| CN111968172A (en) * | 2020-07-16 | 2020-11-20 | 中冶华天工程技术有限公司 | Method and system for measuring volume of material in stock ground |
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