CN113291843B - Material taking control method and device of material taking machine - Google Patents
Material taking control method and device of material taking machine Download PDFInfo
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- CN113291843B CN113291843B CN202010588726.7A CN202010588726A CN113291843B CN 113291843 B CN113291843 B CN 113291843B CN 202010588726 A CN202010588726 A CN 202010588726A CN 113291843 B CN113291843 B CN 113291843B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/005—Control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
- B65G65/08—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with reciprocating pick-up conveyors
- B65G65/10—Raking or scraping devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/28—Piling or unpiling loose materials in bulk, e.g. coal, manure, timber, not otherwise provided for
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Abstract
The application discloses a material taking control method and device of a material taking machine, which comprises the steps of obtaining a material pile model in a preset area; selecting a material taking entry point according to the material pile model; calculating the angle theta s of the scraper corresponding to the material taking incision point when the tail end of the scraper of the material taking machine reaches the material taking incision point; acquiring a predicted material taking amount; calculating the scraper angle theta of the reclaimer when the material reclaiming is finished according to the estimated material reclaiming amount; and generating a reclaimer motion control command for changing the reclaimer scraper angle theta s into theta. The material taking access point is determined through the existing or newly-built material pile model, the corresponding control instruction for the material taking machine is generated according to the input preset material taking amount, guidance is provided for the movement of the material taking machine, the whole material taking operation is unmanned, the material taking amount is controlled accurately, and the material taking stability is high.
Description
Technical Field
The application relates to the technical field of material storage, in particular to a material taking control method and device of a material taking machine.
Background
The raw material yard is a yard for receiving, storing, processing and mixing ferrous metallurgical raw materials and fuels. The storage yard (the yard for storing raw materials) of the modern large-scale raw material yard comprises a rock yard, a coal yard, an auxiliary raw material yard and a blending yard, and not only stores external iron ore, iron ore concentrate, pellet, manganese ore, limestone, dolomite, serpentine, silica, coke coal, power coal and the like, but also stores a part of sintered ore, pellet and circulating matters in a steel plant, such as iron scale, blast furnace ash, crushed coke, sintered powder, homogenized end materials and the like.
The half-door scraper reclaimer is a commonly used reclaiming device in a stock yard, as shown in figure 1, the half-door scraper reclaimer mainly comprises a half-door frame 1, one end of the half-door frame 1 is arranged at the ground position of the stock yard and can translate along a track arranged on the ground, and the other end of the half-door frame 1 is arranged at the ceiling position of the stock yard and can translate along the track arranged on the ceiling; a scraper 3 with one end rotatably connected with the bottom of the semi-portal frame 1 is arranged below the semi-portal frame 1; the other end of the scraper 3 is connected to the semi-portal 1 through a cable 2, and the angle of the scraper 3 can be changed by adjusting the cable 2; the round is equipped with around scraper blade 3 and scrapes the material diaphragm, when getting the material, scrapes the material diaphragm and incessantly rotates the scraper blade along the figure direction, scrapes the material diaphragm and scrapes the material to setting up on belt 4 of 3 one ends belows of scraper blade, finally will scrape the material of getting through belt 4 and transport away, and the volume of transporting through belt 4 is promptly the volume of getting the material.
However, in the prior art, when the material taking operation is performed, the material taking machine is usually controlled to take materials by manual operation of an operator, which easily causes the following problems: firstly, when material is taken by manual operation, the material taking position and the material taking quantity can only be judged by human eyes, the material taking precision cannot be ensured, and a plurality of interference factors, such as sight obstruction caused by water mist, dust and the like, insufficient light at night and the like, also exist in a storage yard, so that the material taking precision is influenced, accidents such as collision and the like are easily caused, and the safe operation of equipment is threatened; secondly, in the material taking operation process, the material taking boundary cannot be accurately controlled, and an operator cannot adjust the material taking speed in real time according to the material taking section, so that the material taking amount is unstable; thirdly, in order to ensure the continuity of the material taking process and the stability of the material taking quantity, the operation of the material taking machine must be carried out by an operator for a long time, and the labor intensity of the operator is greatly increased by focusing attention for a long time.
Disclosure of Invention
The application provides a material taking control method and device of a material taking machine, and aims to solve the problems that in the prior art, the labor intensity of operators is high, and the material taking stability is not high.
In a first aspect, the present application provides a material taking control method for a material taking machine, including:
acquiring a stock pile model in a preset area;
selecting a material taking entry point according to the stock pile model;
calculating the angle theta s of the scraper corresponding to the material taking incision point when the tail end of the scraper of the material taking machine reaches the material taking incision point;
acquiring a predicted material taking amount;
calculating the scraper angle theta of the reclaimer when the material reclaiming is finished according to the estimated material reclaiming amount;
a reclaimer motion control command is generated that changes the reclaimer blade angle thetas to theta.
In some embodiments, the step of selecting a material taking entry point according to the stockpile model includes:
extracting boundary points on two sides of the stockpile in the stockpile model;
acquiring the distance between the boundary points of the two sides and the material taking machine;
and determining the boundary point with shorter distance with the material taking machine as a material taking cut-in point.
In some embodiments, the following formula is used to calculate the blade angle θ s for the bottom end of the reclaimer blade to reach the reclaiming plunge point:
pmax.z is a coordinate value of the material taking entry point in the z-axis direction; and Pmax.x is a coordinate value of the material taking entry point in the x-axis direction.
In some embodiments, the reclaimer blade angle θ at the completion of the reclaiming is calculated using the following equation:
wherein n is the maximum width of the material partition, m is the maximum length of the material partition,
Area, h, represented by a single pixel i，j The height of the point whose coordinates are (i, j) and θ are the blade angle.
In some embodiments, the reclaimer motion control instructions comprise:
enabling the reclaimer to run to the track position corresponding to the reclaiming cut-in point and then stop;
rotating the scraper, and adjusting the angle of the scraper of the reclaimer to theta s to enable the scraper to be tightly attached to the surface of the stockpile;
and enabling the reclaimer to reciprocate along the upper surface of the material pile and execute reclaiming operation through the scraper, and reducing a certain scraper angle by reciprocating each time until the scraper angle of the reclaimer is changed into theta and the scraper does not execute the reclaiming operation any more.
In some embodiments, the reclaimer reciprocating along the upper surface of the pile comprises:
adjusting the angle of a scraper of the reclaimer to be theta 1, wherein thetas is more than theta 1 and more than theta;
keeping the angle of the scraper unchanged, and enabling the reclaimer to move from one side boundary of the current material pile to the other side boundary;
adjusting the angle of the scraper of the reclaimer to theta i ，θ i-1 ＞θ i Theta, i is an integer greater than 1;
and keeping the angle of the scraper unchanged, so that the reclaimer moves from one side boundary of the current material pile to the other side boundary.
In some embodiments, θ i-1 And theta i All of the differences are equal.
In some embodiments, the reclaimer motion control instructions further comprise:
when the reclaimer reciprocates along the upper surface of the material pile, acquiring the reclaiming length corresponding to the lower scraper at any position;
and adjusting the material taking speed of the current scraper according to the material taking length.
In some embodiments, the reclaiming length is the length of the line of intersection of the reclaiming section with the reclaimer blade, based on the withdrawal from the pile model.
In some embodiments, the step of obtaining the stockpile model in the preset area includes:
judging whether a stockpile model exists in a preset area or not;
if the current material pile parameters exist, the current material pile parameters of the existing material pile model are called;
and if not, establishing a new material pile model by adopting the 2D laser scanner, and acquiring the current material pile parameters of the newly-established material pile model.
In a second aspect, the present application further provides a material taking control device of a material taking machine, including:
the model acquisition unit is used for acquiring a stockpile model in a preset area;
the determining unit is used for selecting a material taking entry point according to the stockpile model;
the calculating unit is used for calculating the scraper angle theta s when the tail end of the bottom of the scraper of the reclaimer reaches the reclaiming incision point; the material taking device is also used for calculating the scraper angle theta of the material taking machine when material taking is finished according to the predicted material taking amount;
the input unit is used for acquiring the predicted material taking amount;
and the command generating unit is used for generating a reclaimer motion control command for changing the reclaimer scraper angle theta s into theta.
In some embodiments, the determining unit comprises:
the extraction subunit is used for extracting boundary points of two sides of the stockpile in the stockpile model;
the distance measuring subunit is used for obtaining the distance between the boundary points on the two sides and the material taking machine;
and the judging subunit determines the boundary point with shorter distance with the material taking machine as a material taking entry point.
In some embodiments, the reclaimer motion control instructions comprise:
enabling the reclaimer to run to the track position corresponding to the reclaiming cut-in point and then stop;
rotating the scraper, and adjusting the angle of the scraper of the reclaimer to theta s to enable the scraper to be tightly attached to the surface of the material pile;
and enabling the reclaimer to reciprocate along the upper surface of the material pile and execute reclaiming operation through the scraper, and reducing a certain scraper angle by reciprocating motion every time until the scraper angle of the reclaimer is changed into theta and the scraper does not execute reclaiming operation any more, and stopping the movement of the reclaimer.
In some embodiments, the reclaimer reciprocating along the upper surface of the pile comprises:
adjusting the angle of a scraper of the reclaimer to be theta 1, wherein thetas is more than theta 1 and more than theta;
keeping the angle of the scraper unchanged, and enabling the reclaimer to move from one side boundary of the current stock pile to the other side boundary;
adjusting the angle of the scraper of the reclaimer to theta i ，θ i-1 ＞θ i Theta, i is an integer greater than 1;
and keeping the angle of the scraper unchanged, so that the reclaimer moves from one side boundary of the current material pile to the other side boundary.
In some embodiments, the model obtaining unit includes:
the model detection subunit is used for judging whether a stockpile model exists in the preset area or not; if the current material pile parameters exist, the current material pile parameters of the existing material pile model are called;
and the model establishing subunit is used for establishing a new material pile model by adopting the 2D laser scanner and acquiring the current material pile parameters of the newly-established material pile model when the material pile model does not exist.
The material taking access point is determined through the existing or newly-built material pile model, the corresponding control instruction for the material taking machine is generated according to the input preset material taking amount, guidance is provided for the movement of the material taking machine, the whole material taking operation is unmanned, the material taking amount is controlled accurately, and the material taking stability is high.
Drawings
In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without any creative effort.
FIG. 1 is a schematic structural view of a half-door scraper reclaimer;
fig. 2 is a flowchart of a material taking control method of a material taking machine according to the present application;
fig. 3 is a flowchart illustrating a step S100 in another embodiment of a material taking control method of a material taking machine according to the present application;
FIG. 4 is a schematic cross-sectional view of a pile;
FIG. 5 is a cross-sectional view of a point A of the pile extracted from the pile model;
FIG. 6 is a schematic view of the blade angle θ of the reclaimer when reclaiming is completed;
fig. 7 is a structural diagram of a material taking control device of a material taking machine according to the present application;
FIG. 8 is a diagram showing a constitution of a determining unit in the apparatus shown in FIG. 7 in one embodiment;
fig. 9 is a diagram showing a configuration of a model obtaining unit in the apparatus shown in fig. 7 in one embodiment.
Detailed Description
Fig. 2 is a flowchart of a material taking control method of the material taking machine according to the present application.
As can be seen from fig. 2, the material taking control method of the material taking machine provided in the embodiment of the present application includes:
s100: acquiring a stock pile model in a preset area;
in this embodiment, the preset area refers to all storage yards that the reclaimer may pass through or storage yard areas that are to execute reclaiming operations; the stockpile model in the preset area is an information quantity reflecting the shape of a stockpile in the stock yard, can be generally displayed by a cross-sectional view or a three-dimensional graph scanned by laser, and can obtain parameters reflecting the size, the height, the stockpile quantity, the stockpile boundary and the like of the stockpile according to the stockpile model, and the parameters are collectively called stockpile parameters.
Further, when the material taking control method is executed for the material taking machine, a pile model may exist in the current preset area, and then the required pile parameters may be directly obtained for use in the subsequent steps, and if the pile model does not exist in the current preset area, a new pile model needs to be immediately constructed, so in an embodiment shown in fig. 3, the step S100 may be decomposed as:
s101: judging whether a stockpile model exists in a preset area or not; if yes, executing step S102: calling current pile parameters of an existing pile model;
if not, execute step S103: the method comprises the steps of establishing a new material pile model by adopting a 2D laser scanner, obtaining current material pile parameters of the new material pile model, generally installing the 2D laser scanner on a large arm of a material taking machine, scanning the whole material pile outline data of a preset area through the movement of the material taking machine on a rail to generate a material pile model, and calculating corresponding material pile parameters through the material pile model.
It should be noted here that, since the material taking process may be continuous or intermittent, when the material taking process is stopped halfway and then started, the corresponding pile model may be changed from the model before the material taking, and a new pile model may need to be re-established to obtain the pile parameters under the new pile model. Therefore, the steps from S101 to S103 have immediacy, and data in the current state can be acquired in real time.
S200: selecting a material taking entry point according to the stock pile model;
in this embodiment, before the material taking operation is performed, the material pile located in the storage yard is usually in a state after the material leveling operation is performed, that is, as shown in fig. 4, the cross section of the material pile is in a shape similar to a trapezoid, a/B on two sides of the top of the material pile form a ridge line of the material pile, two points a and B can be respectively used as material taking entry points to be selected, and the material taking machine can move from the point a to the point B for taking material, and can also move from the point B to the point a for taking material.
Specifically, the step S200 can be decomposed into:
s210: extracting boundary points on two sides of the stockpile in the stockpile model; the two side boundary points refer to two end points of a ridge line of the current stockpile, the height of the stockpile can be reduced along with the material taking process, and the two side boundary points can correspondingly move towards two sides and downwards;
s220: obtaining the distance between the boundary points of the two sides and the material taking machine; the distance is used for judging the distance from the reclaimer to the reclaiming position, so that the movement of the reclaimer is conveniently controlled; and on the other hand, the method is used for determining the first-reached material taking point and preventing the collision between the material taking machine and the material pile when crossing the material pile in the moving process of the material taking machine.
S230: determining a boundary point with a short distance from the reclaimer as a reclaiming cut-in point; the material taking incision point is a starting point at which the material taking machine starts to perform material taking operation, and before the material taking machine reaches the position of the material taking incision point, the material taking machine only performs the motion of the position of the material taking machine and does not perform material taking motion (the rotation motion of a scraper on the material taking machine).
S300: calculating the scraper angle theta s corresponding to the material taking cut-in point when the tail end of the bottom of the scraper of the material taking machine reaches the material taking cut-in point;
in this embodiment, after the material taking entry point is determined, an angle θ s of the scraper blade corresponding to the material taking entry point when the tail end of the scraper blade of the material taking machine reaches the material taking entry point needs to be calculated according to parameters of the material taking entry point in the stockpile model, so as to guide the material taking machine to reach a specified position and prepare for material taking operation.
Specifically, the following formula is used for the calculation in step S300:
pmax.z is a coordinate value of the material taking entry point in the z-axis direction; and Pmax.x is a coordinate value of the material taking entry point in the x-axis direction. As shown in fig. 5, according to the cross-sectional view of the point a of the pile extracted from the pile model, the angle θ s can be calculated from the positions of the point a on the z-axis and the x-axis, one end of the blade is located at the point O, and the other end of the blade gradually approaches the point a from above the point a.
S400: acquiring a predicted material taking amount;
in this embodiment, the expected material taking amount is the amount of material to be taken, which is specified by the operator, and may be manually input, or may be executed according to a preset rule, for example, 10t of material is taken each time;
s500: calculating the scraper angle theta of the reclaimer when the material reclaiming is finished according to the estimated material reclaiming amount; according to the predicted material taking amount, model parameters after material taking can be calculated through material pile model simulation, as shown in fig. 6, (1) the volume corresponding to the area is the predicted material taking amount, and (2) the area corresponds to the material remaining amount after material taking, so that when a scraper of the material taking machine is superposed with an OA' connecting line, the material taking amount reaches the predicted material taking amount, and at the moment, material taking can be stopped; from the control angle of the blade, the blade angle θ corresponding to OA' can be calculated, and when the blade angle reaches θ from θ s, the scraping operation is stopped, and the blade angle θ gives guidance to the movement of the blade.
Specifically, the following formula is used for the calculation in step S500:
wherein n is the maximum width of the material partition, m is the maximum length of the material partition,
Area, h, represented by a single pixel i，j The height of the point whose coordinates are (i, j) and θ are the blade angle.
S600: and generating a reclaimer motion control command for changing the reclaimer scraper angle theta s into theta.
In this embodiment, through the calculation in the foregoing steps, the calculation result finally obtained is used to generate a control instruction for the reclaimer, where the movement control instruction for the reclaimer includes not only the control for the movement of the reclaimer, but also the control instruction for adjusting the angle of the scraper and whether the scraper rotates to scrape the material;
specifically, the reclaimer motion control command can instruct the reclaimer to complete the following steps:
s610: enabling the reclaimer to run to the track position corresponding to the reclaiming cut-in point and then stop; according to the position coordinates of the material taking cut-in points, the material taking machine can move to the track position corresponding to the material taking cut-in points from other positions, in the process, the angle of the scraper blade is considered to be large, material piles in other areas are not collided or scraped, and the like, and after the material taking cut-in points are reached, the operation that one end of the scraper blade of the material taking machine falls down and the angle is changed is executed.
S620: the scraper blade is rotated, the angle of the scraper blade of the reclaimer is adjusted to theta s, the scraper blade is made to be tightly attached to the surface of a material pile, the scraper blade is properly lowered in the final state before material taking, the material on the section where a material taking entry point is located is scraped to a belt for conveying, and meanwhile, if the reclaimer is started to move in the horizontal direction, the material on each section at the same horizontal position in the moving process can be scraped to the belt.
S630: and enabling the reclaimer to reciprocate along the upper surface of the material pile and execute reclaiming operation through the scraper, wherein the certain scraper angle is reduced by each reciprocating motion until the scraper angle of the reclaimer is changed into theta, and the reclaimer stops moving.
In this embodiment, when the expected material taking amount is small, the difference between θ s and θ may be small, and then changing the scraper angle of the material taking machine from θ s to θ may be completed once, that is, directly changing the scraper angle θ s to θ while starting the rotation of the scraper at the position of the material taking cut-in point, and starting the horizontal movement of the material taking machine after the scraper reaches θ, so that the material taking operation will not need to perform the reciprocating motion, and the material taking operation will be ended when the scraper moves to the boundary of the other side.
When the expected volume of getting material is great, the difference of theta S and theta is great, adopts once to get the material the mode easily cause local collapse etc. influence to get the problem of material precision, consequently need adopt the mode of multilayer material of getting to get the material, corresponding, step S630 can be decomposed into:
s631: adjusting the angle of a scraper of the reclaimer to theta 1, wherein theta s is more than theta 1 and is more than theta;
s632: keeping the angle of the scraper unchanged, and enabling the reclaimer to move from one side boundary of the current material pile to the other side boundary;
s633: adjusting the angle of a scraper of the reclaimer to be theta i, wherein theta i-1 is more than theta i and more than theta, and i is an integer more than 1;
s634: and keeping the angle of the scraper unchanged, so that the reclaimer moves from one side boundary of the current material pile to the other side boundary.
It can be known from the above steps S631-S634 that the material taking process is divided into multiple layers of material taking, and a reciprocating manner is adopted between multiple times of material taking, so that the material taking process is continuous, and the material taking stability is ensured. It should be noted that the above embodiments are only examples, and in practical applications, the layering may not be limited to two layers, and may also be multiple layers;
furthermore, in order to facilitate the control of the reclaimer, when the material reclaiming amount is large, the angle value of the scraper blade of each layer can be controlled to be a fixed value even if theta i-1 And theta i The difference values of (A) are all equal; e.g. theta s The difference between the angle theta and the angle theta is 20 degrees, materials can be taken in 40 layers, and the angle of the scraper is downwards adjusted by 0.5 degree each time.
Furthermore, as the layered material taking is carried out, the contact length between the scraper and the material is longer as the material height is lower, and the contact length is defined as the material taking length which is the length of the intersection line of the material taking section and the scraper of the material taking machine extracted from the stock pile model. The longer the material taking length is, the more materials can be scraped, and the material scraping speed needs to be properly reduced; conversely, a shorter material taking length means that less material can be scraped, and in order to ensure that the material flow (the amount of material scraped in a unit time) is constant, the scraping speed needs to be increased appropriately, so that in a feasible embodiment, the reclaimer motion control command further comprises:
s635: when the reclaimer reciprocates along the upper surface of the material pile, the reclaiming length corresponding to the lower scraper at any position is obtained, and the material can be calculated through a material pile model.
S636: and adjusting the current material taking speed of the scraper according to the material taking length, establishing a corresponding relation table of the material taking length and the material taking speed of the scraper in advance, and performing speed adjustment according to the corresponding relation.
According to the technical scheme, the material taking control method of the material taking machine comprises the steps of obtaining a material pile model in a preset area; selecting a material taking entry point according to the stock pile model; calculating the scraper angle theta s corresponding to the material taking cut-in point when the tail end of the bottom of the scraper of the material taking machine reaches the material taking cut-in point; acquiring a predicted material taking amount; calculating the scraper angle theta of the material taking machine when the material taking is finished according to the predicted material taking amount; a reclaimer motion control command is generated that changes the reclaimer blade angle thetas to theta. The material taking method and the material taking device determine the material taking entry point through the existing or newly-built material pile model, generate the corresponding control instruction to the material taking machine according to the input preset material taking amount, provide guidance for the movement of the material taking machine, enable the whole material taking operation to be unmanned, and enable the material taking amount to be controlled accurately and the material taking stability to be high.
Fig. 7 is a structural diagram of a material taking control device of a material taking machine according to the present application;
as can be seen from fig. 7, corresponding to the above method, the present application also provides an apparatus using the above method, including:
the model obtaining unit 100 is configured to obtain a stockpile model in a preset region;
a determining unit 200, configured to select a material taking entry point according to the stockpile model;
the calculating unit 300 is used for calculating the scraper angle theta s corresponding to the material taking incision when the tail end of the scraper of the material taking machine reaches the material taking incision; the material taking device is also used for calculating the scraper angle theta of the material taking machine when material taking is finished according to the predicted material taking amount;
an input unit 400 for acquiring a predicted material taking amount;
an instruction generating unit 500 for generating a reclaimer motion control instruction to change the reclaimer flight angle θ s to θ.
Further, as can be seen from fig. 8, the determining unit 200 includes:
an extracting subunit 210, configured to extract boundary points on two sides of the pile in the pile model;
the distance measuring subunit 220 is used for obtaining the distance between the boundary points on the two sides and the material taking machine;
the determining subunit 230 determines a boundary point with a short distance from the reclaimer as a reclaiming entry point.
Wherein, the reclaimer motion control instruction includes:
enabling the reclaimer to run to the track position corresponding to the reclaiming cut-in point and then stop;
rotating the scraper, and adjusting the angle of the scraper of the reclaimer to theta s to enable the scraper to be tightly attached to the surface of the material pile;
and enabling the reclaimer to reciprocate along the upper surface of the material pile and execute reclaiming operation through the scraper, and reducing a certain scraper angle by reciprocating motion every time until the scraper angle of the reclaimer is changed into theta and the scraper does not execute reclaiming operation any more, and stopping the movement of the reclaimer.
The reclaimer includes along the reciprocating motion of windrow upper surface:
adjusting the angle of a scraper of the reclaimer to theta 1, wherein theta s is more than theta 1 and is more than theta;
keeping the angle of the scraper unchanged, and enabling the reclaimer to move from one side boundary of the current material pile to the other side boundary;
adjusting the angle of a scraper of the reclaimer to be theta i, wherein theta i-1 is more than theta i and more than theta, and i is an integer more than 1;
and keeping the angle of the scraper unchanged, so that the reclaimer moves from one side boundary of the current material pile to the other side boundary.
Further, as shown in fig. 9, the model obtaining unit 100 includes:
the model detection subunit 110 is configured to determine whether a stockpile model exists in the preset area; if the current material pile parameters exist, the current material pile parameters of the existing material pile model are called;
and the model creating subunit 120 is configured to, when no stock pile model exists, create a new stock pile model by using the 2D laser scanner, and obtain current stock pile parameters of the newly created stock pile model.
The functional role of each structural unit in the embodiment when executing the method is described in the embodiment of the method, and is not described herein again.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (13)
1. A material taking control method of a material taking machine is characterized by comprising the following steps:
acquiring a stock pile model in a preset area;
selecting a material taking entry point according to the material pile model;
calculating the scraper angle theta s corresponding to the material taking cut-in point when the tail end of the scraper of the material taking machine reaches the material taking cut-in point by adopting the following formula;
pmax.z is a coordinate value of the material taking entry point in the z-axis direction; x is a coordinate value of the material taking entry point in the x-axis direction;
acquiring a predicted material taking amount;
calculating the scraper angle theta of the reclaimer when the reclaiming is finished by adopting the following formula according to the estimated material reclaiming amount;
wherein n is the maximum width of the material partition, m is the maximum length of the material partition,
Is the area represented by a single pixel point,
Is the height of a point with coordinates (i, j),
The determined angle of the scraper blade;
according to the preset material taking times, setting a descending angle theta i of the scraper each time, wherein theta s is larger than theta i and larger than theta;
generating control instructions for enabling the descending angle of the scraper to be theta i, wherein the number of the control instructions is the same as the number of the preset material taking times; executing all of the control instructions changes the reclaimer flight angle thetas to theta.
2. The material taking control method of the material taking machine as claimed in claim 1, wherein the step of selecting a material taking entry point according to the stockpile model comprises the following steps:
extracting boundary points on two sides of the stockpile in the stockpile model;
acquiring the distance between the boundary points of the two sides and the material taking machine;
and determining the boundary point with shorter distance with the material taking machine as a material taking cut-in point.
3. The material taking control method of the material taking machine as claimed in claim 1, wherein the material taking machine motion control command comprises:
enabling the material taking machine to operate to a track position corresponding to the material taking incision point and then stop;
rotating the scraper, and adjusting the angle of the scraper of the reclaimer to theta s to enable the scraper to be tightly attached to the surface of the stockpile;
and enabling the reclaimer to reciprocate along the upper surface of the material pile and execute reclaiming operation through the scraper, and reducing a certain scraper angle by reciprocating each time until the scraper angle of the reclaimer is changed into theta and the scraper does not execute the reclaiming operation any more.
4. The reclaiming control method for reclaimer machine, according to claim 3, wherein the reclaimer machine reciprocates along the upper surface of the pile, comprising:
adjusting the angle of a scraper of the reclaimer to be theta 1, wherein thetas is more than theta 1 and more than theta;
keeping the angle of the scraper unchanged, and enabling the reclaimer to move from one side boundary of the current material pile to the other side boundary;
adjusting the angle theta of the scraper of the reclaimer i ，θ i-1 ＞θ i Theta, i is an integer greater than 1;
and keeping the angle of the scraper unchanged, so that the reclaimer moves from one side boundary of the current material pile to the other side boundary.
5. The material taking control method of the material taking machine as claimed in claim 4, wherein θ is i-1 And theta i All of the differences are equal.
6. The material taking control method of the material taking machine as claimed in claim 3, wherein the material taking machine motion control command further comprises:
when the reclaimer reciprocates along the upper surface of the material pile, acquiring the reclaiming length corresponding to the lower scraper at any position;
and adjusting the material taking speed of the current scraper according to the material taking length.
7. The reclaiming control method for a reclaimer, according to claim 6, wherein the reclaiming length is the length of the intersecting line of the reclaiming section and the reclaimer scraper extracted from the stock pile model.
8. The material taking control method of the material taking machine as claimed in claim 1, wherein the step of obtaining the pile model in the preset area comprises:
judging whether a stockpile model exists in a preset area or not;
if the current material pile parameters exist, the current material pile parameters of the existing material pile model are called;
and if not, establishing a new material pile model by adopting the 2D laser scanner, and acquiring the current material pile parameters of the newly-established material pile model.
9. A material take-out control device of a material take-out machine, the device comprising:
the model acquisition unit is used for acquiring a stockpile model in a preset area;
the determining unit is used for selecting a material taking entry point according to the material pile model;
the calculating unit is used for calculating the scraper angle theta s corresponding to the material taking incision point when the tail end of the scraper of the material taking machine reaches the material taking incision point according to the following formula;
pmax.z is a coordinate value of the material taking entry point in the z-axis direction; pmax.x is a coordinate value of the material taking entry point in the x-axis direction;
the angle theta of the scraper of the reclaimer when the material taking is finished is calculated by adopting the following formula according to the predicted material taking amount;
wherein n is the maximum width of the material partition, m is the maximum length of the material partition,
Is the area represented by a single pixel point,
Is the height of a point with coordinates (i, j),
Is the blade angle found;
the input unit is used for acquiring the predicted material taking amount;
the instruction generation unit is used for setting a descending angle theta i of the scraper each time according to the preset material taking times, wherein theta s is larger than theta i and larger than theta;
generating control instructions for enabling the descending angle of the scraper to be theta i, wherein the number of the control instructions is the same as the number of the preset material taking times; executing all of the control instructions changes the reclaimer flight angle thetas to theta.
10. The material take-out control device of a material take-out machine according to claim 9, wherein the determination unit includes:
the extraction subunit is used for extracting boundary points on two sides of the material pile in the material pile model;
the distance measuring subunit is used for obtaining the distance between the boundary points on the two sides and the material taking machine;
and the judging subunit determines the boundary point with shorter distance with the material taking machine as a material taking entry point.
11. The material taking control device of the material taking machine as claimed in claim 9, wherein the material taking machine motion control command comprises:
enabling the reclaimer to run to the track position corresponding to the reclaiming cut-in point and then stop;
rotating the scraper, and adjusting the angle of the scraper of the reclaimer to theta s to enable the scraper to be tightly attached to the surface of the material pile;
and enabling the reclaimer to reciprocate along the upper surface of the material pile and execute reclaiming operation through the scraper, and reducing a certain scraper angle by reciprocating each time until the scraper angle of the reclaimer is changed into theta and the scraper does not execute the reclaiming operation any more.
12. The reclaiming control device for a reclaimer machine, according to claim 11, wherein said reclaimer machine reciprocates along the top surface of the pile including:
adjusting the angle of a scraper of the reclaimer to be theta 1, wherein thetas is more than theta 1 and more than theta;
keeping the angle of the scraper unchanged, and enabling the reclaimer to move from one side boundary of the current material pile to the other side boundary;
adjusting the angle of the scraper of the reclaimer to theta i ，θ i-1 ＞θ i Theta, i is an integer greater than 1;
and keeping the angle of the scraper unchanged, so that the reclaimer moves from one side boundary of the current stock pile to the other side boundary.
13. The reclaiming control device of a reclaimer, according to claim 9, wherein the model obtaining unit comprises:
the model detection subunit is used for judging whether a stockpile model exists in the preset area or not; if yes, calling the current stockpile parameters of the existing stockpile model;
and the model new building subunit is used for building a new material pile model by adopting the 2D laser scanner when the material pile model does not exist, and acquiring the current material pile parameters of the newly built material pile model.
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