CN113320995A - Unmanned control system for stockyard stacker-reclaimer - Google Patents
Unmanned control system for stockyard stacker-reclaimer Download PDFInfo
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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
- B65G65/28—Piling or unpiling loose materials in bulk, e.g. coal, manure, timber, not otherwise provided for
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Abstract
The invention provides an unmanned control system of a stockyard stacker-reclaimer, which comprises: the three-dimensional laser scanner unit is used for acquiring a three-dimensional model of the stock pile in the stock yard; the central control machine is used for obtaining stacking and taking positioning data of the stacking and taking machine according to the three-dimensional model of the stock pile in the stock yard and a stacking and taking strategy; the automatic control system of the stacker-reclaimer is used for controlling the stacker-reclaimer to carry out automatic positioning and automatic stacker-reclaimer operation according to stacker-reclaimer positioning data, operating parameters of the stacker-reclaimer and a stacker-reclaimer strategy; the safety protection system is used for carrying out active anti-collision calculation according to the three-dimensional model data of the material pile, the equipment positioning detection signal and the equipment action state information so as to ensure the safe operation of the equipment; the video monitoring system comprises a plurality of high-definition cameras installed on each stacker-reclaimer, and is used for observing the actions of key equipment of the stacker-reclaimer and summarizing the stock ground video information to a central control machine for centralized monitoring. The invention realizes the automatic material piling and taking operation of the stacker-reclaimer, and is safe, efficient and unmanned.
Description
Technical Field
The invention belongs to the field of control engineering, and particularly relates to an unmanned control system for a stockyard stacker-reclaimer.
Background
At present, the automation and intelligence of iron and steel enterprises in China are not enough, and a large amount of manual intervention phenomena exist in production, so that the product quality is unstable, and the production efficiency is low. As the first process before iron production by steel, a stock yard plays an important role and is a transfer interface for the connection of steel enterprises and social logistics. The main task of the raw material factory is to take charge of unloading, storing, granulating, mixing and the like of bulk raw materials and fuels in the whole factory, and to send various processed materials to users of iron making, sintering, pelletizing, coking and the like so as to ensure normal and continuous production.
In China, the preparation technology of the steel raw materials is started later than abroad, and the early raw material yard is in an open-air mode. With the increasing strictness of the environmental protection requirements, large-scale steel enterprises begin to generally seal and reform the stock yard and the conveyor system belt conveyor vestibule, and have made great progress from the initial centralized or dispersed mechanical dust removal facility, the sealing of the blanking port of the belt conveyor and the water spraying of the open yard to the present various types of closed stock yards and fully-closed belt conveyor vestibules in the aspect of environmental protection. However, since the raw material yard is filled with dust raw materials such as slag, the working environment is poor, the operation flow is complicated, and many dangerous factors are caused. The unloading, stacking and taking operation of the raw materials is still carried out according to the manual operation mode of a driver operating the stacker-reclaimer. The mode of manual operation stacker-reclaimer has intensity of labour big, and degree of automation is low, and operating efficiency is great according to fluctuation such as driver's fatigue degree, operation level, appears operating quality accident scheduling problem easily. The realization of the automatic material piling and taking of the material piling and taking machine in the stock yard of the iron and steel enterprise can provide a solid foundation for the implementation of automatic technical improvement and the realization of efficient optimization management in the stock yard. Unmanned and automatic operation of the stacker-reclaimer is the key for realizing unmanned operation of a stock yard.
In recent years, with the development of detection technology, computer technology and network technology and the application of advanced control technology, the automation range is continuously expanding towards the management and production process of steel enterprises. The large-scale steel companies at home and abroad begin to research the application of an automatic management technology to the automatic stacking and reclaiming operation of a stacker-reclaimer aiming at the existing mature process so as to realize the unmanned management of a stock yard. In order to realize automatic stacking and taking, a stock yard of foreign iron and steel enterprises realizes real-time scanning of the stock pile by installing a laser scanning device on a cantilever frame of a stacker-reclaimer so as to carry out accurate stock yard inventory work. However, limited by the state of computer technology at the time, laser scanners are slow in scan computation and costly in scan time.
Because of the severe stock yard environment, the high price of laser scanning equipment and the limitation of the technical level of a computer, the current unmanned material piling and taking operation technology of the stock yard of the iron and steel enterprises is still in the research and test stage, and no unmanned stock yard control system for normal production is still available in China for a long time. In order to save cost, some steel enterprises form a software programming tool to realize drawing of a two-dimensional stock yard diagram of a stock yard according to information such as stockpiling, material taking and the like. Compared with a three-dimensional stock ground map, the three-dimensional effect of the two-dimensional stock ground map is poor, the display precision is reduced, and the automatic operation of the stacker-reclaimer is not facilitated. Meanwhile, many domestic iron and steel enterprises also provide a construction target of stock ground unmanned aiming at the problem, but the efficiency is low when the stacker-reclaimer is operated, and the subsequent operation of iron and steel production is influenced.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides an unmanned control system for a stockyard stacker-reclaimer.
The invention provides an unmanned control system of a stockyard stacker-reclaimer, which comprises:
the three-dimensional laser scanner unit is used for acquiring a three-dimensional model of the stock pile in the stock yard;
the central control machine is used for obtaining stacking and reclaiming positioning data of the stacking and reclaiming machine according to the three-dimensional model of the material pile of the raw material yard and the stacking and reclaiming strategy, comprises a walking position, a rotation angle and a pitching angle, and sends the data to the automatic control system of the stacking and reclaiming machine;
the automatic control system of the stacker-reclaimer is used for controlling the stacker-reclaimer to carry out automatic positioning and automatic stacker-reclaimer operation according to stacker-reclaimer positioning data, operating parameters of the stacker-reclaimer and a stacker-reclaimer strategy;
the safety protection system comprises an active anti-collision device and an anti-collision control unit, wherein the active anti-collision device and the anti-collision control unit are established between a stacker-reclaimer and a material pile, an adjacent stacker-reclaimer and other operation machines on the ground of a stock yard, and the anti-collision control unit is used for carrying out active anti-collision calculation according to three-dimensional model data of the material pile, equipment positioning detection signals and equipment action state information so as to ensure the safe operation of equipment;
the video monitoring system comprises a plurality of high-definition cameras installed on each stacker-reclaimer, and is used for observing the actions of key equipment of the stacker-reclaimer and summarizing the stock ground video information to a central control machine for centralized monitoring.
Further, the three-dimensional laser scanner unit comprises a three-dimensional laser scanner and a pile shape processing computer, the three-dimensional laser scanner is installed on a cantilever of the stacker-reclaimer, the material pile is continuously scanned and measured in the operation process, the point cloud data of the surface profile of the material pile are measured in real time, the pile shape processing computer obtains the space position coordinate information of the surface feature points of the material pile by using a fitting and optimizing algorithm, three-dimensional data based on a stock ground coordinate space is obtained through coordinate conversion, and the three-dimensional model is established by using a computer technology.
Further, the information contained in the three-dimensional model of the stockpile includes: the start position, end position, height, width and outer shape of each pile in the stock ground.
Furthermore, the automatic control system of the stacker-reclaimer controls the stacker-reclaimer to perform automatic positioning, including walking positioning, horizontal rotation positioning and pitching positioning, wherein the walking positioning adopts two modes, namely an accurate positioning system based on a Gray code technology and an encoder combined radio frequency identification system, and the two modes are mutually verified; the horizontal rotation positioning adopts two modes of an accurate positioning system and an encoder based on a Gray code technology; the pitching positioning adopts a high-precision inclinometer arranged on a cantilever of the stacker-reclaimer to detect the pitching angle of the cantilever.
Further, the safety protection system further comprises a passive anti-collision device, wherein the passive anti-collision device comprises an anti-collision radar and a level indicator which are arranged on the key part of the stacker-reclaimer and is used for realizing the collision prevention of the cart of the stacker-reclaimer, the collision prevention of the cantilever and the detection of the distance between the cantilever and the material.
Furthermore, the safety protection system also comprises a control and protection element arranged in each transmission and motion link of the stacker-reclaimer and used for giving out sound-light alarm in abnormal states.
Furthermore, the video monitoring system comprises a front-end access layer, a platform management layer and an output display layer, wherein the front-end access layer is used for acquiring field images; the platform management layer is used for front-end equipment access and management, account management, authentication, image resource scheduling, platform video storage and network management; and the output display layer is used for outputting the image scheduled by the platform to a display device through a high-definition decoder for display.
And the HIM is used for inputting the operating parameters of the stacker-reclaimer, displaying the monitoring picture of the video monitoring system, and monitoring and displaying the alarm and state information of the stacker-reclaimer.
Further, the alarm and status information of the stacker-reclaimer monitored and displayed by the HIM includes:
1) monitoring the current of the bucket wheel in real time, and generating an alarm signal if the current is not within a normal value range;
2) monitoring the running state of the three-dimensional laser scanner in real time, and generating an alarm signal if a fault occurs;
3) control and protection elements arranged in each transmission and movement link of the stacker-reclaimer are monitored, and sound and light alarm is given in an abnormal state to realize safety protection;
4) when the stacker-reclaimer has a fault alarm, the alarm related information and the suggested fault processing mode are sent to the HMI to be displayed.
Further, the system comprises three modes of manual operation, semi-automatic operation and full-automatic operation;
in the full-automatic mode, an operation management system issues an operation task, and one-key stacking and reclaiming operation is realized by combining a three-dimensional material pile model, so that the operation task is automatically completed without manual intervention;
in the remote semi-automatic mode, the stacker-reclaimer is controlled to enter an initial state of operation by a worker in an operation room, and other operations are automatically completed by the stacker-reclaimer according to parameters set by the worker;
in the remote manual mode, an operator utilizes a remote driving platform in a central control room in the whole process, an intelligent positioning technology and a high-definition video monitoring technology are combined, and the stacker-reclaimer is remotely and manually controlled to complete operation tasks, so that central control remote control is realized.
Compared with the prior art, the invention has the following beneficial effects:
the unmanned control system for the stacker-reclaimer of the stock yard provided by the invention is constructed by the measures of establishing a stock yard model, detecting and controlling equipment with high precision, reliable safety protection measures, omnibearing video monitoring, flexible control strategies and the like, and finally, after the system receives an operation task instruction, the stacker-reclaimer automatically finishes walking positioning, cantilever rotation and pitching positioning and automatically finishes an operation task according to a proper control strategy. Meanwhile, the technologies such as video monitoring and anti-collision protection are applied to the unmanned operation of the steel enterprise raw material yard stacker-reclaimer, so that the green, safe, efficient and unmanned production and operation of the steel enterprise raw material yard are realized, the cost of the steel enterprise is reduced, the production efficiency is improved, and the manual operation intensity is reduced.
Drawings
Fig. 1 is a block diagram of an unmanned control system for a stockyard stacker-reclaimer according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, an unmanned control system for a stacker-reclaimer in a raw material yard according to an embodiment of the present invention includes a three-dimensional laser scanner unit, a central control unit (central control PLC), an automatic control system for a stacker-reclaimer (stacker-reclaimer body PLC system), a safety protection system, and a video monitoring system. The three-dimensional laser scanner unit is used for acquiring a three-dimensional model of the stock pile in the stock yard and providing data support for unmanned operation execution of the stacker-reclaimer; the central control machine is used for obtaining stacking and taking positioning data of the stacking and taking machine according to the three-dimensional model of the material pile of the raw material field and a stacking and taking strategy, comprises a walking position, a rotation angle and a pitching angle, and sends the data to the automatic control system of the stacking and taking machine; the automatic control system of the stacker-reclaimer is used for controlling the stacker-reclaimer to carry out automatic positioning and automatic stacker-reclaimer operation according to stacker-reclaimer positioning data, operating parameters of the stacker-reclaimer and a stacker-reclaimer strategy; the safety protection system comprises an active anti-collision device and an anti-collision control unit, wherein the active anti-collision device and the anti-collision control unit are established between a material piling and taking machine and a material pile, an adjacent material piling and taking machine and other operation machines on the ground of a stock yard, and the anti-collision control unit is used for carrying out active anti-collision calculation according to three-dimensional model data of the material pile, equipment positioning detection signals and equipment action state information so as to ensure the safe operation of equipment; the video monitoring system comprises a plurality of high-definition cameras installed on each stacker-reclaimer and is used for observing the action of key equipment of the stacker-reclaimer, ensuring that the action of the key equipment can be observed without dead angles during the remote operation of the stacker-reclaimer, gathering the stock ground video information to a central control computer for centralized monitoring through a TCP/IP protocol, performing unified storage management in the central control room, and assisting the remote operation of operators and performing video monitoring on the running state of the key position of the whole stock ground.
According to the unmanned control system for the stockyard stacker-reclaimer, provided by the embodiment of the invention, the unmanned control system for the stacker-reclaimer is constructed through measures such as establishment of a stockyard model, high-precision detection and control of equipment, reliable safety protection measures, omnibearing video monitoring, flexible control strategies and the like, and finally, after the system receives an operation task instruction, the stacker-reclaimer automatically finishes walking positioning, cantilever rotation and pitching positioning and automatically finishes an operation task according to a proper control strategy. Meanwhile, the technologies such as video monitoring and anti-collision protection are applied to the unmanned operation of the steel enterprise raw material yard stacker-reclaimer, so that the green, safe, efficient and unmanned production and operation of the steel enterprise raw material yard are realized, the cost of the steel enterprise is reduced, the production efficiency is improved, and the manual operation intensity is reduced.
The shape information of the bulk stockpile in the stock yard is the key for realizing the full-automatic unmanned operation of the stock yard, the stockpile in the stock yard is dynamic in the operation process, and the position regulation of each mechanism of the stacker-reclaimer in the working process can be accurately controlled only by obtaining the three-dimensional current situation and the coordinates of the stockpile. In the present embodiment, the three-dimensional laser scanner unit includes a three-dimensional laser scanner and a pile shape processing computer, the three-dimensional laser scanner is arranged on a cantilever of the stacker-reclaimer, the stacker-reclaimer can walk along the length direction of the material pile, the three-dimensional laser scanner continuously scans and measures the stockpile in the operation process so as to measure the point cloud data of the surface profile of the stockpile in real time, the pile shape processing computer uses a fitting and optimizing algorithm to obtain the space position coordinate information of the material pile surface characteristic points, three-dimensional data based on a stock ground coordinate space is obtained through coordinate conversion, a three-dimensional model is established by using a computer technology, a three-dimensional mathematical model of the stock pile is generated after network standardization processing and interference data removal, the effect of simulating and restoring the material pile in the virtual system is achieved through a series of three-dimensional imaging rendering technologies. According to the data information of the three-dimensional stock ground model, the information of the initial position, the final position, the height, the width, the external shape, the important position of each material layer and the like of each bulk material pile in the stock ground can be determined, the simulation data results can be used for automatic material piling and taking control of a material piling and taking machine, and meanwhile, an operator can display the coordinate position of the selected area and the corresponding information of material quality, material quantity and the like in real time by clicking the material piling model on the HMI interface. The automatic positioning of the stacker-reclaimer is automatically calculated by the central control machine according to the information and is sent to the automatic control system of the stacker-reclaimer for automatic execution. The material taking positioning data of the stacker-reclaimer calculated by the central control machine comprise a walking position, a rotation angle and a pitching angle of each layer of material taking access point of the material pile, and the stacker positioning data comprise the walking position and the rotation angle.
As a preferred embodiment, the automatic control system of the stacker-reclaimer controls the stacker-reclaimer to perform automatic positioning, including walking positioning, horizontal rotation positioning and pitching positioning, wherein the walking positioning adopts two modes, namely an accurate positioning system (a coded cable or a graduated scale) based on a gray code technology and a radio frequency identification system (RFID) combined encoder, and the two modes are verified with each other; the horizontal rotation positioning adopts two modes of an accurate positioning system (a coding cable or a graduated scale) and an encoder based on a Gray code technology; pitching positioning employs high precision inclinometers mounted on the booms of the stacker-reclaimer to detect boom pitch angle, preferably two high precision inclinometers mounted on each boom to check each other.
The automatic stacking and taking operation of the stacker-reclaimer comprises automatic material taking operation and automatic stacking operation. In the material taking process, the central control machine determines the boundary, height and position information of each layer of material taking pile according to the material taking strategy and the three-dimensional model information, and provides a basis for determining the walking distance of the stacker-reclaimer, the pitching angle of the cantilever and the rotation angle when the rotary material reaches the boundary of the pile. And then the walking distance, the pitching angle and the rotating angle are sent to a PLC system to finish the automatic material taking operation. Or after the material piling machine is directly and manually remotely positioned according to the three-dimensional material piling model and the high-definition video, the material piling and taking machine automatically completes the material taking task according to the set material taking strategy.
Meanwhile, in the embodiment, automatic material taking is realized by utilizing a stockpile recognition system and a high-definition video monitoring technology and combining with a comprehensive attitude positioning technology of a cart according to set process parameters and a material taking strategy model. Firstly, a walking position, a rotation angle and a pitching angle corresponding to a material taking cut-in point of the highest material layer of the material pile are obtained according to the three-dimensional model of the material pile. The PLC control system controls the stacker-reclaimer to operate to a reclaiming entry point, and the bucket wheel is opened to prepare for rotary reclaiming. In the rotary material taking process, the output frequency of a bucket wheel rotary motor is adjusted in real time according to the bucket wheel current and the laser flow installed at the position of a tail car belt, and constant-flow material taking is achieved.
When automatic stacking is carried out, according to a stacking strategy, information of stacked materials and three-dimensional model information of a stock ground, a walking instruction of a stacker-reclaimer, a pitching angle instruction of a cantilever and a turning angle instruction are generated and sent to a PLC control system for automatic execution. Or the stacker-reclaimer automatically completes the operation task according to the set stacking strategy after the stacker-reclaimer is manually positioned according to the stack model and the high-definition video. Wherein, the depression angle command of the cantilever can be changed according to different stacking strategies. During the stacking operation, each subsequent action of the stacker-reclaimer depends on an ultrasonic sensor arranged at the top end of the cantilever, namely, when the stacker is detected to reach a preset height, the stacker-reclaimer carries out the next action.
Meanwhile, in the embodiment, a stockpile recognition system and a high-definition video monitoring technology are utilized, a comprehensive attitude positioning technology of a cart is combined, the rotation angle is kept unchanged during stockpiling according to a fixed-point material positioning technology, and whether the height of the cantilever is lifted is determined according to data of an ultrasonic ranging radar installed at the top end of the cantilever. When the accumulated lifting height of the cantilever reaches a set value, the cart retreats for a set distance, and the previous stacking action is repeated to complete the automatic stacking operation.
The anti-collision control unit carries out active anti-collision calculation according to the three-dimensional model data of the material pile, the equipment positioning detection signals and the equipment action state information to ensure the safe operation of the equipment, if two material piling and taking machines are arranged on the same track, the anti-collision program can judge the position relation between the cantilevers of the two vehicles, between the large vehicle and between the tail vehicle and the cantilevers in real time, and if the distance is less than or equal to the set safe distance, the two vehicles stop operating. Preferably, the safety protection system further comprises a passive anti-collision device, wherein the passive anti-collision device comprises an anti-collision radar and a level gauge which are installed on a key part of the stacker-reclaimer, and is used for realizing collision prevention of a cart of the stacker-reclaimer, collision prevention of a cantilever and detection of an interval between the cantilever and a material. The anti-collision control unit actively controls anti-collision by combining an electronic fence with radar or laser detection equipment, and immediately interrupts or shuts down actions which are dangerous to collision with the similar stacker-reclaimer once illegal approaching actions occur through the monitoring system. In the embodiment, passive anti-collision and active anti-collision management is arranged to ensure that the stacker-reclaimer can avoid collision between a large machine and the large machine, between a large arm and a material pile, between the large machine and a building and between the large arm and the large arm when carrying out unmanned operation. The passive anti-collision control is realized by a control system of the stacker-reclaimer body, and the active anti-collision function is realized by an intelligent system. An anti-collision detection device ultrasonic radar is arranged at a common rail of stock yard operation and nearby material taking machines. When the distance between the big machine and the big machine, between the big arm and the material pile, between the big machine and the building and between the big arm and the big arm of the two material piling and taking machines is less than the safety distance, the detection device gives an alarm, and when the distance between the two machines is too close, the detection device controls the two material piling and taking machines to stop emergently. Preferably, the safety protection system further comprises a control and protection element arranged in each transmission and motion link of the stacker-reclaimer, and the control and protection element is used for giving out sound and light alarm in an abnormal state so as to realize safety protection.
In this embodiment, the video monitoring system is provided with suitable digital infrared high-definition cameras at a feed opening, a bucket wheel, a tail car belt, a cantilever belt and a walking track of the stacker-reclaimer, and transmits the operation images to a video terminal of a central control room and an HMI interface for display in real time. The video monitoring system comprises a front-end access layer, a platform management layer and an output display layer, wherein the front-end access layer is used for acquiring field images; the platform management layer is used for front-end equipment access and management, account management, authentication, image resource scheduling, platform video storage and network management; the output display layer is used for outputting the image scheduled by the platform to a display device through a high-definition decoder for display, and particularly can be output to a television wall of a central control room for display or viewed through an HMI interface. The video monitoring system combines process data monitoring alarm information recording, running state display and an automatic operation interface, so that under the condition that no person is on the machine, operators in a central control room complete automatic material piling and taking operation, and one person can monitor the automatic operation of a plurality of material piling and taking machines.
Preferably, the system further comprises an HIM, which is used for inputting the operating parameters of the stacker-reclaimer, displaying the monitoring picture of the video monitoring system, and monitoring and displaying the alarm and status information of the stacker-reclaimer. By connecting the picture of the video monitoring system into the HMI, an operator can conveniently and remotely monitor the field state of the raw material plant in real time, and can adjust the material piling and taking control parameters in real time according to the field state.
The alarm and state information of the stacker-reclaimer monitored and displayed by the HIM comprises:
1) monitoring the current of the bucket wheel in real time, and generating an alarm signal if the current is not within a normal value range; for example, the following steps are carried out: when the material is normally taken, the range of the bucket wheel current is 20A-100A, and if the bucket wheel current is detected to be 120A, an alarm signal is generated;
2) monitoring the running state of the three-dimensional laser scanner in real time, and generating an alarm signal if a fault occurs; for example, the following steps are carried out: if the communication between the three-dimensional scanner and the HMI interface is in fault, generating an alarm signal;
3) control and protection elements arranged in each transmission and movement link of the stacker-reclaimer are monitored, and sound and light alarm is given in an abnormal state to realize safety protection; the control points are set as follows: a relative included angle limit switch and an anti-collision travel switch between the material piling arm and the bridge, a variable amplitude included angle corner encoder and a two-way limit travel switch of the material piling arm, an anti-collision protection and sensing material level device at a discharging point, an anti-blocking sensing material level device in a middle column falling hopper, a conveying belt secondary deviation protection switch, a hopper wheel current overlarge monitoring device, various transmission emergency stop facilities and the like;
4) when the stacker-reclaimer has a fault alarm, the alarm related information and the suggested fault processing mode are sent to the HMI to be displayed.
In the embodiment, information of relevant parameters of material piling and taking operation is input on an HMI interface. If the material taking state is achieved, the following input is required: the method comprises the following steps of setting a cart traveling small-sized feeding distance, a bucket wheel maximum current, a bucket wheel current (namely a bucket wheel idle current) during reverse rotation, a material taking flow, a material taking total amount, a material taking variety selection, a material taking layer number selection and a cart traveling distance of a material taking machine; if in the stockpiling state, the following should be input: the method comprises the steps of setting a material piling position, traveling and retreating a cart, selecting a material piling position, and judging whether a cantilever ascends to a preset value of the distance between a material and the cantilever.
Preferably, the unmanned control system of the stockyard stacker-reclaimer of the embodiment comprises three modes, namely manual mode, semi-automatic mode and full-automatic mode; in the full-automatic mode, an operation management system issues an operation task, and one-key stacking and reclaiming operation is realized by combining a three-dimensional material pile model, so that the operation task is automatically completed without manual intervention; in the remote semi-automatic mode, the stacker-reclaimer is controlled to enter an initial state of operation by a worker in an operation room, and other operations are automatically completed by the stacker-reclaimer according to parameters set by the worker; in the remote manual mode, an operator utilizes a remote driving platform in a central control room in the whole process, an intelligent positioning technology and a high-definition video monitoring technology are combined, and the stacker-reclaimer is remotely and manually controlled to complete operation tasks, so that central control remote control is realized. The user can combine the video monitor system to select different models to carry out material piling and taking operation according to the field environment, and the material piling and taking operation mode is efficient and flexible. The mode of an operator operating on site is changed into remote operation of a central control room, and safety guarantee can be provided.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. An unmanned control system of stockyard stacker-reclaimer, comprising:
the three-dimensional laser scanner unit is used for acquiring a three-dimensional model of the stock pile in the stock yard;
the central control machine is used for obtaining stacking and reclaiming positioning data of the stacking and reclaiming machine according to the three-dimensional model of the material pile of the raw material yard and the stacking and reclaiming strategy, comprises a walking position, a rotation angle and a pitching angle, and sends the data to the automatic control system of the stacking and reclaiming machine;
the automatic control system of the stacker-reclaimer is used for controlling the stacker-reclaimer to carry out automatic positioning and automatic stacker-reclaimer operation according to stacker-reclaimer positioning data, operating parameters of the stacker-reclaimer and a stacker-reclaimer strategy;
the safety protection system comprises an active anti-collision device and an anti-collision control unit, wherein the active anti-collision device and the anti-collision control unit are established between a stacker-reclaimer and a material pile, an adjacent stacker-reclaimer and other operation machines on the ground of a stock yard, and the anti-collision control unit is used for carrying out active anti-collision calculation according to three-dimensional model data of the material pile, equipment positioning detection signals and equipment action state information so as to ensure the safe operation of equipment;
the video monitoring system comprises a plurality of high-definition cameras installed on each stacker-reclaimer, and is used for observing the actions of key equipment of the stacker-reclaimer and summarizing the stock ground video information to a central control machine for centralized monitoring.
2. The stockyard stacker-reclaimer unmanned control system of claim 1, wherein: the three-dimensional laser scanner unit comprises a three-dimensional laser scanner and a heap shape processing computer, the three-dimensional laser scanner is installed on a cantilever of the material piling and taking machine, the material pile is continuously scanned and measured in the operation process, point cloud data of the surface profile of the material pile is measured in real time, the heap shape processing computer obtains space position coordinate information of characteristic points of the surface of the material pile by using a fitting and optimizing algorithm, three-dimensional data based on a material field coordinate space is obtained through coordinate conversion, and a computer technology is used for completing the establishment of a three-dimensional model.
3. The stockyard stacker-reclaimer unmanned control system of claim 1, wherein: the information contained in the three-dimensional model of the stockpile of the stock yard comprises: the start position, end position, height, width and outer shape of each pile in the stock ground.
4. The stockyard stacker-reclaimer unmanned control system of claim 1, wherein: the automatic control system of the stacker-reclaimer controls the stacker-reclaimer to perform automatic positioning, including walking positioning, horizontal rotation positioning and pitching positioning, wherein the walking positioning adopts two modes, namely an accurate positioning system based on a Gray code technology and an encoder combined radio frequency identification system, and the two modes are mutually verified; the horizontal rotation positioning adopts two modes of an accurate positioning system and an encoder based on a Gray code technology; the pitching positioning adopts a high-precision inclinometer arranged on a cantilever of the stacker-reclaimer to detect the pitching angle of the cantilever.
5. The stockyard stacker-reclaimer unmanned control system of claim 1, wherein: the safety protection system further comprises a passive anti-collision device, wherein the passive anti-collision device comprises an anti-collision radar and a level indicator which are arranged on the key part of the stacker-reclaimer and is used for realizing the collision prevention of a cart of the stacker-reclaimer, the collision prevention of a cantilever and the detection of the distance between the cantilever and a material.
6. The stockyard stacker-reclaimer unmanned control system of claim 1, wherein: the safety protection system also comprises control and protection elements arranged in each transmission and movement link of the stacker-reclaimer and is used for giving out sound-light alarm in abnormal states.
7. The stockyard stacker-reclaimer unmanned control system of claim 1, wherein: the video monitoring system comprises a front-end access layer, a platform management layer and an output display layer, wherein the front-end access layer is used for acquiring field images; the platform management layer is used for front-end equipment access and management, account management, authentication, image resource scheduling, platform video storage and network management; and the output display layer is used for outputting the image scheduled by the platform to a display device through a high-definition decoder for display.
8. The stockyard stacker-reclaimer unmanned control system of claim 1, wherein: the monitoring system also comprises an HIM which is used for inputting the operating parameters of the stacker-reclaimer, displaying the monitoring picture of the video monitoring system and monitoring and displaying the alarm and state information of the stacker-reclaimer.
9. The stockyard stacker-reclaimer unmanned control system of claim 8, wherein: the alarm and state information of the stacker-reclaimer monitored and displayed by the HIM comprises:
1) monitoring the current of the bucket wheel in real time, and generating an alarm signal if the current is not within a normal value range;
2) monitoring the running state of the three-dimensional laser scanner in real time, and generating an alarm signal if a fault occurs;
3) control and protection elements arranged in each transmission and movement link of the stacker-reclaimer are monitored, and sound and light alarm is given in an abnormal state to realize safety protection;
4) when the stacker-reclaimer has a fault alarm, the alarm related information and the suggested fault processing mode are sent to the HMI to be displayed.
10. The stockyard stacker-reclaimer unmanned control system of claim 1, wherein: the system comprises three modes of manual operation, semi-automatic operation and full-automatic operation;
in the full-automatic mode, an operation management system issues an operation task, and one-key stacking and reclaiming operation is realized by combining a three-dimensional material pile model, so that the operation task is automatically completed without manual intervention;
in the remote semi-automatic mode, the stacker-reclaimer is controlled to enter an initial state of operation by a worker in an operation room, and other operations are automatically completed by the stacker-reclaimer according to parameters set by the worker;
in the remote manual mode, an operator utilizes a remote driving platform in a central control room in the whole process, an intelligent positioning technology and a high-definition video monitoring technology are combined, and the stacker-reclaimer is remotely and manually controlled to complete operation tasks, so that central control remote control is realized.
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