CN113942844A - Remote control system of stacker-reclaimer - Google Patents
Remote control system of stacker-reclaimer Download PDFInfo
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- CN113942844A CN113942844A CN202111329325.0A CN202111329325A CN113942844A CN 113942844 A CN113942844 A CN 113942844A CN 202111329325 A CN202111329325 A CN 202111329325A CN 113942844 A CN113942844 A CN 113942844A
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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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/04—Bulk
- B65G2201/045—Sand, soil and mineral ore
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Abstract
The invention belongs to the field of mining industry and discloses a remote control system of a stacker-reclaimer, which comprises a data processing device, a laser scanning device, a PLC (programmable logic controller) control system, a pitching positioning device, a level indicator and a stacker-reclaimer slewing mechanism positioning device; the laser scanning device, the PLC control system, the pitching positioning device, the material level meter and the positioning device of the slewing mechanism of the stacker-reclaimer are all connected with the data processing device; generating a three-dimensional coal pile model according to the coal pile scanning information; the PLC control system is used for controlling the stacker-reclaimer to complete the stacker-reclaimer task according to the stacker-reclaimer control signal. Can reduce human cost's input, ensure personal safety to realizing the unmanned on duty of coal yard stacker-reclaimer.
Description
Technical Field
The invention belongs to the field of mining industry, and relates to a remote control system of a stacker-reclaimer.
Background
The stacker-reclaimer is a large-scale coal yard mechanical equipment for continuously taking and stacking materials, and mainly comprises a metal framework, a stacking belt, a stacking arm, a material taking scraper blade, a rotating device and the like. The stacking arm can rotate 360 degrees, so that raw coal of the coal conveying system in front of the bunker is stored at different positions in the circular yard; the material taking scraper can convey raw coal at any position in a storage yard to a loading system after storage, and the whole loading process is completed by matching with a loading station.
The traditional stacker-reclaimer operation is manually operated on site by a stacker-reclaimer driver, and the operation technology of the stacker-reclaimer driver is greatly depended on in the production. The following problems currently exist: 1. the labor intensity is high, and the storage bin has larger hazards of dust, noise and the like, so that the personnel of the stacker-reclaimer are seriously burdened; 2. when the dust concentration is high at night, manual operation is easy to interfere, so that the stacker-reclaimer is overloaded or a collision accident occurs, and mechanical damage is caused; 3. when the stacking is operated manually, stacking height is different, space in a bin is wasted, or the stacking height is over-limit, so that safety accidents are caused; 4. the material taking entry point is difficult to select during manual operation, so that material taking is possibly uneven, and the safe and stable operation of the whole coal conveying system is influenced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a remote control system of a stacker-reclaimer.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
a remote control system for a stacker-reclaimer comprises a data processing device, a laser scanning device, a PLC control system, a pitching positioning device, a charge level indicator and a positioning device of a slewing mechanism of the stacker-reclaimer; the laser scanning device, the PLC control system, the pitching positioning device, the material level meter and the positioning device of the slewing mechanism of the stacker-reclaimer are all connected with the data processing device;
the laser scanning device is used for scanning the coal pile in the coal yard to obtain coal pile scanning information and sending the coal pile scanning information to the data processing device;
the pitching positioning device and the material level meter are both arranged on a material taking arm of the stacker-reclaimer, and the pitching positioning device is used for acquiring a real-time pitching angle of the material taking arm and sending the real-time pitching angle to the data processing device; the material level meter is used for monitoring the stacking height, the material taking height and the material level distance and sending the stacking height, the material taking height and the material level distance to the data processing device;
the positioning device of the slewing mechanism of the stacker-reclaimer is arranged on the slewing mechanism of the stacker-reclaimer and is used for monitoring the slewing angles of a stacker arm and a reclaimer arm of the stacker-reclaimer and sending the slewing angles to the data processing device;
the data processing device is used for generating a three-dimensional coal pile model according to the coal pile scanning information; the stacking and reclaiming system is also used for acquiring a stacking and reclaiming task, generating a stacking and reclaiming machine control signal according to the stacking and reclaiming task, the real-time pitching angle of the reclaiming arm, the rotation angle of the stacking arm and the reclaiming arm, the stacking height, the reclaiming height and the material level distance, and sending the stacking and reclaiming machine control signal to the PLC control system;
and the PLC control system is used for controlling the stacker-reclaimer to complete a stacker-reclaimer task according to the control signal of the stacker-reclaimer.
Optionally, the laser scanning device includes a plurality of laser scanners, and the plurality of laser scanners are all connected to the data processing device; a plurality of laser scanners evenly set up around the coal yard, and each laser scanner bottom all sets up the cloud platform.
Optionally, the system further comprises a plurality of visible light spherical cameras, and the plurality of visible light spherical cameras are all connected with the data processing device; the visible light spherical cameras are uniformly arranged around the coal yard and used for acquiring the video information of the coal yard and sending the video information to the data processing device, and the data processing device is used for visually displaying the video information of the coal yard.
Optionally, the system also comprises a plurality of infrared thermal imagers, wherein the plurality of infrared thermal imagers are all connected with the data processing device, the plurality of infrared thermal imagers are uniformly arranged around the coal yard, and the bottom of each infrared thermal imager is provided with a holder; the infrared thermal imager is used for acquiring temperature data of the coal yard and sending the temperature data to the data processing device; and the data processing device is used for generating and displaying a thermal distribution diagram of the coal yard according to the temperature data of the coal yard.
Optionally, the data processing device is further configured to generate a high-temperature early warning signal when an area with a temperature higher than a preset temperature exists in the thermodynamic distribution diagram.
Optionally, the system further comprises a plurality of first UWB devices and a plurality of second UWB devices; the first UWB equipment is respectively arranged on each equipment in the coal yard, and the second UWB equipment is respectively arranged on the operator in each coal yard; the first UWB equipment and the second UWB equipment are connected with the data processing device and used for acquiring position information of the first UWB equipment and the second UWB equipment and sending the position information to the data processing device, and the data processing device obtains the position information of the equipment and the workers in the coal yard according to the position information of the first UWB equipment and the second UWB equipment and the labels preset by the first UWB equipment and the second UWB equipment.
Optionally, an SOS distress button is arranged on the second UWB device, and when the SOS distress button is pressed, the second UWB device generates SOS distress information and sends the SOS distress information to the data processing device, and the data processing device is used for performing SOS distress early warning according to the SOS distress information.
Optionally, the data processing device is further configured to generate a collision warning signal when a distance between the equipment in the coal yard and the operator in the coal yard is smaller than a preset distance according to the position information of the equipment in the coal yard and the operator in the coal yard.
Optionally, the system further comprises a mobile terminal device, and the mobile terminal device is in communication connection with the data processing device.
Optionally, the data processing device is further configured to store coal pile scanning information and a pile fetching task in a table form.
Compared with the prior art, the invention has the following beneficial effects:
according to the remote control system for the stacker-reclaimer, disclosed by the invention, through the combined use of the data processing device, the laser scanning device, the PLC control system, the pitching positioning device, the charge level indicator and the positioning device of the slewing mechanism of the stacker-reclaimer, the unattended operation of the stacker-reclaimer in a coal yard can be realized, and the investment of labor cost is reduced. Through data processing device's concentrated management and control, it is consuming time not only to have reduced linkage operation personnel and communicate, can accurately obtain three-dimensional coal pile model through laser scanning device simultaneously, then the accurate stock of going to the top coal yard, has reduced the error of artifical platform account, also saves the artifical consuming time and the cost of maintenance of maintaining the coal checking instrument, has improved the work efficiency in coal yard. The data processing device can determine information such as the operation condition of the stacker-reclaimer in real time, and the field condition can be mastered without communicating with a field driver.
The system further comprises a plurality of infrared thermal imagers, wherein the infrared thermal imagers are used for acquiring temperature data of the coal yard and sending the temperature data to the data processing device; the data processing device is used for generating and displaying a thermal distribution diagram of the coal yard according to the temperature data of the coal yard, providing guidance for manual fixed-point temperature detection of the coal yard, and can process a high-temperature area in advance in an early warning mode to prevent the spontaneous combustion condition of the coal yard from occurring.
Further, still include a plurality of first UWB equipment and a plurality of second UWB equipment for acquire self positional information and send to data processing device, data processing device obtains each equipment in the coal yard and each coal yard operation personnel's positional information according to the positional information of each first UWB equipment and each second UWB equipment to and each first UWB equipment and each second UWB equipment label of setting in advance, anticollision provides the safety guarantee when for loader, bull-dozer and stacker-reclaimer forearm combined operation, maximum guarantee personal safety.
Drawings
FIG. 1 is a schematic structural diagram of a remote control system of a stacker-reclaimer according to the present invention;
FIG. 2 is a data walking diagram of the remote control system of the stacker-reclaimer of the present invention;
fig. 3 is a flowchart illustrating the operation of the remote control system of the stacker-reclaimer according to the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, 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.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The invention is described in further detail below with reference to the accompanying drawings:
in an embodiment of the invention, the remote control system for the stacker-reclaimer is provided, and based on digital twins, the remote control system for the stacker-reclaimer can display the shape and the position of a coal pile in a coal yard in real time, complete remote automatic operation of the stacker-reclaimer through point selection or manual transportation, detect the temperature of the coal yard in real time, and prevent spontaneous combustion of the coal pile in the coal yard.
Specifically, referring to fig. 1, the stacker-reclaimer remote control system comprises a data processing device, a laser scanning device, a PLC control system, a pitch positioning device, a level gauge, and a stacker-reclaimer slewing mechanism positioning device; the laser scanning device, the PLC control system, the pitching positioning device, the material level meter and the positioning device of the slewing mechanism of the stacker-reclaimer are all connected with the data processing device. The laser scanning device is used for scanning a coal pile in a coal yard to obtain coal pile scanning information and sending the coal pile scanning information to the data processing device; the pitching positioning device and the material level meter are both arranged on a material taking arm of the stacker-reclaimer, and the pitching positioning device is used for acquiring a real-time pitching angle of the material taking arm and sending the real-time pitching angle to the data processing device; the material level meter is used for monitoring the stacking height, the material taking height and the material level distance and sending the stacking height, the material taking height and the material level distance to the data processing device; the positioning device of the slewing mechanism of the stacker-reclaimer is arranged on the slewing mechanism of the stacker-reclaimer and is used for monitoring the slewing angles of a stacker arm and a reclaimer arm of the stacker-reclaimer and sending the slewing angles to the data processing device; the data processing device is used for generating a three-dimensional coal pile model according to the coal pile scanning information; the stacking and reclaiming system is also used for acquiring a stacking and reclaiming task, generating a stacking and reclaiming machine control signal according to the stacking and reclaiming task, the real-time pitching angle of the reclaiming arm, the rotation angle of the stacking arm and the reclaiming arm, the stacking height, the reclaiming height and the material level distance, and sending the stacking and reclaiming machine control signal to the PLC control system; and the PLC control system is used for controlling the stacker-reclaimer to complete a stacker-reclaimer task according to the control signal of the stacker-reclaimer.
Specifically, the laser scanning device comprises a plurality of laser scanners, and the plurality of laser scanners are connected with the data processing device; a plurality of laser scanners evenly set up around the coal yard, and each laser scanner bottom all sets up the cloud platform. In this embodiment, set up 3 laser scanners, 3 laser scanners carry out 360 equipartitions and put, and every laser scanner carries out 180 rotations, writes into data processing apparatus after splicing the data that scan, splices into three-dimensional coal pile model through data processing apparatus, can be the form of three-dimensional coal pile image.
Specifically, the level indicator is a radar ultrasonic level indicator. In this embodiment, the radar ultrasonic level gauge 9 sets are used for monitoring the stacking height, the material taking height and the level distance, when the stacking height reaches a certain limit, the stacking arm automatically rotates in the direction, the stacking height is consistent, the safety is guaranteed, and the ultrasonic radar level gauge mounted on the material taking arm can also be used for automatically calculating the material taking cut-in angle and preventing collision.
Specifically, the data processing device may be an electronic computer device, and can realize 3D model display and isotherm mapping of the inner contour of the stacker-reclaimer bin by using a graphic algorithm in an OpenCV vision library and using algorithms such as deep learning, machine learning, kepler operation, boolean operation, color synthesis and the like. When the three-dimensional coal pile model is generated according to the coal pile scanning information, the three-dimensional coal pile model can be updated in a fixed time period, or a model updating instruction is input for updating through a set coal inventory button, so that the real-time performance of the three-dimensional coal pile model of the whole coal yard is ensured.
Specifically, in this embodiment, the stacker-reclaimer slewing mechanism positioning device 2 is used for monitoring the slewing angles of the stacker arm and the reclaimer arm; the pitching positioning device 1 is used for monitoring the pitching angle of the material taking arm.
Preferably, the remote control system of the stacker-reclaimer further comprises a plurality of visible light spherical cameras, and the plurality of visible light spherical cameras are all connected with the data processing device; the visible light spherical cameras are uniformly arranged around the coal yard and used for acquiring video information of the coal yard and sending the video information to the data processing device, and the data processing device is used for visually displaying the video information of the coal yard so as to realize real-time monitoring of the coal yard.
Preferably, the remote control system of the stacker-reclaimer further comprises a plurality of infrared thermal imagers, the plurality of infrared thermal imagers are all connected with the data processing device, the plurality of infrared thermal imagers are uniformly arranged around the coal yard, and the bottom of each infrared thermal imager is provided with a holder; the infrared thermal imager is used for acquiring temperature data of the coal yard and sending the temperature data to the data processing device; the data processing device is connected and used for generating and displaying a thermal distribution diagram of the coal yard according to the temperature data of the coal yard, so that the temperature condition of each area of the coal yard can be known in time.
Preferably, the data processing device is further configured to generate a high-temperature early warning signal when an area with a temperature higher than a preset temperature exists in the thermodynamic distribution diagram, and the high-temperature area can be processed in advance in an early warning manner, so that the spontaneous combustion condition of the coal yard is effectively prevented.
Preferably, the stacker-reclaimer remote control system further comprises a plurality of first UWB devices and a plurality of second UWB devices; the first UWB equipment is respectively arranged on each equipment in the coal yard, and the second UWB equipment is respectively arranged on the operator in each coal yard; the first UWB equipment and the second UWB equipment are connected with the data processing device and used for acquiring position information of the first UWB equipment and the second UWB equipment and sending the position information to the data processing device, and the data processing device obtains the position information of the equipment and the workers in the coal yard according to the position information of the first UWB equipment and the second UWB equipment and the labels preset by the first UWB equipment and the second UWB equipment.
Preferably, the second UWB equipment is provided with an SOS help-seeking button, when the SOS help-seeking button is pressed, the second UWB equipment generates SOS help-seeking information and sends the SOS help-seeking information to the data processing device, the data processing device is used for carrying out SOS help-seeking early warning according to the SOS help-seeking information, and prompts workers in the program control room to carry out rescue in time, so that personal safety is guaranteed to the maximum extent.
Preferably, the data processing device is further configured to generate a collision warning signal when the distance between the equipment in the coal yard and the coal yard operator is smaller than a preset distance according to the position information of the equipment and the operator in the coal yard, so as to provide a powerful guarantee for preventing the equipment from colliding with the operator.
Preferably, the stacker-reclaimer remote control system further comprises a mobile terminal device, and the mobile terminal device is in communication connection with the data processing device. The synchronization of various data information between the data processing device and the mobile terminal equipment is realized, and further, workers can control the coal yard conditions in various places in time.
Preferably, the data processing device is further configured to store coal pile scanning information and a pile material taking task in a table form. Meanwhile, temperature data and position information of each device in the coal yard and each coal yard operator are optionally stored in a table form.
In this embodiment, the database of the data processing apparatus includes five key data tables, which are table a, for storing point cloud data, which is acquired by a laser scanner and includes key field point cloud X coordinates, Y coordinates, Z coordinates, and the like. Table B: storing the written stacking task information: and storing relevant data information of the stacking task, including a key field starting angle, an ending angle, a stacking height, a task state, a work starting time, a work ending time and the like. Table C: storing written material taking task information: and storing relevant data information of the stockpiling task, wherein the relevant data information comprises a key field starting angle, a key field ending angle, a material taking coal quantity, a task state, operation starting time, operation ending time and the like. Table D: and storing the temperature data transmitted by the infrared thermal imager, wherein the temperature data comprises a key field starting angle, a key field ending angle, a key field maximum temperature and a key field average temperature. Table E: and storing the position information transmitted by the UWB equipment, wherein the position information comprises a key field label ID, a label type, an X coordinate, a Y coordinate, a Z coordinate, whether to alarm or not, whether to ask for help or not and the like.
The invention discloses an implementation principle of a remote control system of a stacker-reclaimer, which comprises the following steps: the method comprises the steps of firstly, utilizing a laser scanner to complete coal pile scanning of a coal yard, then obtaining coal pile scanning information, and converting the coal pile scanning information into a three-dimensional coal pile model through a data processing device. The infrared thermal imager acquires temperature data of a coal yard and sends the temperature data to the data processing device; and the data processing device generates and displays a thermal distribution diagram of the coal yard after algorithm analysis according to the temperature data of the coal yard. After each operation is finished, the data processing device sends an instruction to the coal inventory software to drive the cloud deck of the field laser scanning to start rotating to inventory coal, and the real-time performance of the whole coal yard three-dimensional coal pile model can be ensured by setting a coal inventory button to manually initiate. And after the single material stacking and taking task is completed, scanning and updating the working area to ensure that the material field display graph is matched with the field actual graph. The real-time position information of the stacker-reclaimer is acquired through the pitching positioning device, the charge level indicator and the positioning device of the slewing mechanism of the stacker-reclaimer, a control signal of the stacker-reclaimer is generated according to a stacker-reclaimer task and sent to the PLC control system, then the communication connection with the stacker-reclaimer and other devices is realized through the PLC control system, and then other devices are started, such as power supply opening and closing, rotation, pitching, starting and stopping and the like, so that the automatic operation of the stacker-reclaimer is realized. Equipment in the material operation is got in the heap, personnel carry UWB equipment and send the current position in real time for data processing apparatus demonstrates, for preventing equipment, personnel's collision provides the powerful guarantee, set up SOS distress button on the UWB equipment that personnel carried simultaneously, when pressing SOS distress button, second UWB equipment generates SOS distress message and sends to data processing apparatus, data processing apparatus is used for carrying out SOS distress early warning according to SOS distress message, suggestion programme-controlled room staff in time gives and carries out SOS, maximum guarantee personal safety.
Referring to fig. 2 and 3, the data trend and the specific work flow of the remote control system of the stacker-reclaimer of the invention are as follows:
before a first material piling and taking task is started, integral coal reeling is firstly carried out, the laser scanning device carries out polling once and then stores coal pile scanning information into a table A, and a complete three-dimensional coal pile model in the dome bin is formed through processing by a preset algorithm. 1) After inputting the stacking and taking task, storing the stacking and taking task; 2) after the stacking and reclaiming tasks are stored, the data processing device writes the stacking and reclaiming tasks into the table B or the table C, and simultaneously sets the task state as 'to be executed'. 3) Pushing the material stacking and taking task to a PLC control system, finishing automatic addressing and carrying out the rest material stacking and taking task by the PLC control system, and setting the task state as 'in execution'; 4) when the material stacking and taking task is finished, the belt, the rotation and the pitching can be automatically stopped after the stop button is clicked, and the task state can be updated to be finished. 5) After the operation is finished, the system automatically carries out a new round of coal inventory for the next operation. And data information sent by the infrared thermal imager and the UWB equipment is written into the tables D and E in real time, and an alarm is given at any time if the temperature exceeds the preset temperature or the distance between a person and the machine is less than the preset value, so that the operator is reminded to process. Therefore, unattended operation and safety detection of the stacker-reclaimer are realized through the scheme.
In conclusion, the remote control system for the stacker-reclaimer realizes unattended operation of the stacker-reclaimer in the coal yard and reduces the investment of labor cost by combining the data processing device, the laser scanning device, the PLC control system, the pitching positioning device, the level gauge and the positioning device of the slewing mechanism of the stacker-reclaimer. Through data processing device's concentrated management and control, it is consuming time not only to have reduced linkage operation personnel and communicate, can accurately obtain three-dimensional coal pile model through laser scanning device simultaneously, then the accurate stock of going to the top coal yard, has reduced the error of artifical platform account, also saves the artifical consuming time and the cost of maintenance of maintaining the coal checking instrument, has improved the work efficiency in coal yard. The data processing device can determine information such as the operation condition of the stacker-reclaimer in real time, and the field condition can be mastered without communicating with a field driver.
Meanwhile, the UWB equipment provides safety guarantee for collision avoidance during combined operation of the loader, the bulldozer and the large arm of the stacker-reclaimer, the data processing device displays the thermal distribution diagram of the coal yard in real time, guidance is provided for manual fixed-point temperature detection of the coal yard, a high-temperature area can be processed in advance through an early warning mode, and spontaneous combustion of the coal yard is prevented.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (10)
1. A remote control system of a stacker-reclaimer is characterized by comprising a data processing device, a laser scanning device, a PLC control system, a pitching positioning device, a level indicator and a positioning device of a slewing mechanism of the stacker-reclaimer; the laser scanning device, the PLC control system, the pitching positioning device, the material level meter and the positioning device of the slewing mechanism of the stacker-reclaimer are all connected with the data processing device;
the laser scanning device is used for scanning the coal pile in the coal yard to obtain coal pile scanning information and sending the coal pile scanning information to the data processing device;
the pitching positioning device and the material level meter are both arranged on a material taking arm of the stacker-reclaimer, and the pitching positioning device is used for acquiring a real-time pitching angle of the material taking arm and sending the real-time pitching angle to the data processing device; the material level meter is used for monitoring the stacking height, the material taking height and the material level distance and sending the stacking height, the material taking height and the material level distance to the data processing device;
the positioning device of the slewing mechanism of the stacker-reclaimer is arranged on the slewing mechanism of the stacker-reclaimer and is used for monitoring the slewing angles of a stacker arm and a reclaimer arm of the stacker-reclaimer and sending the slewing angles to the data processing device;
the data processing device is used for generating a three-dimensional coal pile model according to the coal pile scanning information; the stacking and reclaiming system is also used for acquiring a stacking and reclaiming task, generating a stacking and reclaiming machine control signal according to the stacking and reclaiming task, the real-time pitching angle of the reclaiming arm, the rotation angle of the stacking arm and the reclaiming arm, the stacking height, the reclaiming height and the material level distance, and sending the stacking and reclaiming machine control signal to the PLC control system;
and the PLC control system is used for controlling the stacker-reclaimer to complete a stacker-reclaimer task according to the control signal of the stacker-reclaimer.
2. The stacker-reclaimer remote control system of claim 1, wherein said laser scanning device comprises a plurality of laser scanners, each of the plurality of laser scanners being connected to the data processing device; a plurality of laser scanners evenly set up around the coal yard, and each laser scanner bottom all sets up the cloud platform.
3. The remote control system of the stacker-reclaimer of claim 1, further comprising a plurality of visible light spherical cameras, wherein the plurality of visible light spherical cameras are all connected with the data processing device; the visible light spherical cameras are uniformly arranged around the coal yard and used for acquiring the video information of the coal yard and sending the video information to the data processing device, and the data processing device is used for visually displaying the video information of the coal yard.
4. The remote control system of the stacker-reclaimer of claim 1, further comprising a plurality of thermal infrared imagers, wherein the plurality of thermal infrared imagers are all connected with the data processing device, the plurality of thermal infrared imagers are uniformly arranged around the coal yard, and a pan-tilt is arranged at the bottom of each thermal infrared imager; the infrared thermal imager is used for acquiring temperature data of the coal yard and sending the temperature data to the data processing device; and the data processing device is used for generating and displaying a thermal distribution diagram of the coal yard according to the temperature data of the coal yard.
5. The stacker-reclaimer remote control system of claim 4, wherein the data processing device is further configured to generate a high temperature warning signal when there is an area in the thermal profile where the temperature is higher than a preset temperature.
6. The stacker-reclaimer remote control system of claim 1, further comprising a number of first UWB devices and a number of second UWB devices; the first UWB equipment is respectively arranged on each equipment in the coal yard, and the second UWB equipment is respectively arranged on the operator in each coal yard; the first UWB equipment and the second UWB equipment are connected with the data processing device and used for acquiring position information of the first UWB equipment and the second UWB equipment and sending the position information to the data processing device, and the data processing device obtains the position information of the equipment and the workers in the coal yard according to the position information of the first UWB equipment and the second UWB equipment and the labels preset by the first UWB equipment and the second UWB equipment.
7. The remote control system for the stacker-reclaimer of claim 6, wherein the second UWB device is provided with an SOS distress button, and when the SOS distress button is pressed, the second UWB device generates SOS distress information and transmits the SOS distress information to the data processing device, and the data processing device is configured to perform SOS distress warning according to the SOS distress information.
8. The stacker-reclaimer remote control system of claim 1, wherein the data processing device is further configured to generate a collision warning signal when there is a distance between the equipment in the coal yard and the operator in the coal yard less than a preset distance, according to the location information of the equipment and the operator in the coal yard.
9. The stacker-reclaimer remote control system of claim 1, further comprising a mobile terminal device, wherein the mobile terminal device is communicatively connected with the data processing device.
10. The stacker-reclaimer remote control system of claim 1, wherein said data processing apparatus is further configured to store the coal pile scan information and the stacker-reclaimer task in a table format.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114590605A (en) * | 2022-03-15 | 2022-06-07 | 内蒙古京宁热电有限责任公司 | Intelligent unmanned control system for bucket-wheel stacker reclaimer |
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