CN114314346B - Driving control method and system based on coal storage management - Google Patents
Driving control method and system based on coal storage management Download PDFInfo
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- CN114314346B CN114314346B CN202111662727.2A CN202111662727A CN114314346B CN 114314346 B CN114314346 B CN 114314346B CN 202111662727 A CN202111662727 A CN 202111662727A CN 114314346 B CN114314346 B CN 114314346B
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Abstract
The invention discloses a driving control method and a driving control system based on coal storage management, which belong to the technical field of mechanical design, electrical design, laser scanning and computers, and particularly relate to a driving control method based on coal storage management, comprising the following steps of: scanning the coal materials of the material area and the train carriage to obtain the coal material position information of the material area and the train carriage respectively, the three-dimensional data of the coal materials of the material area and the three-dimensional data of the coal materials of the train carriage, and acquiring the current driving position information; constructing a three-dimensional point cloud model of the coal yard according to the three-dimensional data obtained by scanning; screening the coordinates of the train grabbing points according to a preset method for the point cloud data corresponding to the three-dimensional point cloud model; and distributing target driving and controlling target driving operation according to the coordinates of the train grabbing points, the three-dimensional point cloud model of the coal yard and the current driving position information. The invention can efficiently and automatically complete the warehousing management, improve the working efficiency, save the labor cost and improve the operation safety.
Description
Technical Field
The invention belongs to the technical field of mechanical design, electrical design, laser scanning and computers, and particularly relates to a driving control method and system based on coal storage management.
Background
The blast furnace injection auxiliary fuel is a new technology widely adopted in modern blast furnace ironmaking production, and is one of the indispensable important means for the regulation of the furnace condition of the modern blast furnace. The injected fuel may be heavy oil, pulverized coal, granulated coal or natural gas, wherein the injected pulverized coal is increasingly highly valued in various countries or regions.
In the traditional coal material carrying process, a train driver is mainly used for grabbing the coal material by controlling the grab bucket, and specifically the train driver controls the lifting and opening and closing of the grab bucket to carry the coal material.
The inventor discovers through research that in the prior art, in the process of carrying coal materials, the phenomenon of unbalanced output of a motor often occurs, further the unbalanced stress of a steel wire rope is influenced, and finally, a single motor is overloaded and burnt out.
Disclosure of Invention
In order to at least solve the technical problems, the invention provides a driving control method and a driving control system based on coal storage management.
According to a first aspect of the invention, a driving control method based on coal storage management is provided, which comprises the following steps:
scanning the coal materials of the material area and the train carriage to obtain the coal material position information of the material area and the train carriage respectively, the three-dimensional data of the coal materials of the material area and the three-dimensional data of the coal materials of the train carriage, and acquiring the current driving position information;
constructing a three-dimensional point cloud model of the coal yard according to the three-dimensional data obtained by scanning;
screening the coordinates of the train grabbing points according to a preset method for the point cloud data corresponding to the three-dimensional point cloud model;
and distributing target driving and controlling target driving operation according to the coordinates of the train grabbing points, the three-dimensional point cloud model of the coal yard and the current driving position information.
Further, in the above-mentioned case,
the coal material of material district and railway carriage is scanned, obtains the coal material positional information who obtains material district and railway carriage respectively to and the coal material three-dimensional data of material district and the coal material three-dimensional data of railway carriage, includes:
the method comprises the steps of respectively scanning coal materials in a material area and coal materials in a train carriage by adopting a two-dimensional laser scanner, a scanning mechanical device, a drive, a control unit and a data acquisition unit to obtain coal material position information of the material area and coal material position information of the train carriage as well as coal material three-dimensional data of the material area and coal material three-dimensional data of the train carriage.
Further, in the above-mentioned case,
the current driving position information of collection includes:
and collecting first driving position information and second driving position information.
Further, in the above-mentioned case,
the method for constructing the three-dimensional point cloud model of the coal yard according to the three-dimensional data obtained by scanning comprises the following steps:
and carrying out point cloud preprocessing, edge information processing, point cloud matching and three-dimensional model reconstruction on the coal material position information of the material area and the train carriage, the coal material three-dimensional data of the material area and the train carriage and the coal material three-dimensional data of the train carriage to obtain a coal material three-dimensional point cloud model of the material area and the train carriage, namely a three-dimensional point cloud model of a coal yard.
In a further aspect of the present invention,
the method further comprises the following steps: and displaying the current parameter values of the cart position, the trolley position, the grab bucket position and the scanning range in real time according to the coal position information of the material area and the train carriage, the three-dimensional data of the coal in the material area and the three-dimensional data of the coal in the train carriage.
In a further aspect of the present invention,
the method for screening the coordinates of the train grabbing points of the point cloud data corresponding to the three-dimensional point cloud model according to a preset method comprises the following steps:
and processing the point cloud data corresponding to the three-dimensional point cloud model through a preset algorithm, and screening out high point coordinates required by loading, material area coordinates required by sorting the material areas and train coordinates required by unloading.
In a further aspect of the present invention,
the method also comprises the steps of collecting the shaking value of the grab bucket in the driving process, calculating the optimal driving speed according to the shaking value of the grab bucket, and controlling the driving vehicle to drive at the optimal speed so as to enable the driving vehicle to stably reach the target position; the automatic electric anti-shaking of the travelling crane is carried out by controlling the acceleration and the speed of each mechanism of the travelling crane.
According to a second aspect of the present invention, there is provided a driving control system based on coal storage management, comprising:
the system comprises a three-dimensional scanning device, a travelling crane carrying device, a modeling device, a data processing device and a travelling crane scheduling device;
the three-dimensional scanning device is used for respectively scanning the coal material of the material area and the coal material of the train carriage to obtain the position information of the coal material of the material area and the position information of the coal material of the train carriage as well as the three-dimensional data of the coal material of the material area and the three-dimensional data of the coal material of the train carriage;
the travelling crane carrying device is used for acquiring travelling crane position information;
the modeling device is used for constructing a three-dimensional point cloud model of the coal yard according to the three-dimensional data obtained by scanning;
the data processing device is used for screening train grabbing point coordinates according to a preset method for point cloud data corresponding to the three-dimensional point cloud model;
and the driving scheduling device is used for distributing target driving and controlling target driving operation according to the coordinates of the train grabbing points, the three-dimensional point cloud model of the coal yard and the current driving position information.
According to a third aspect of the invention, there is provided a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor,
the processor, when executing the program, performs the steps of the method of any of the first aspect.
According to a fourth aspect of the present invention, there is provided a computer readable storage medium storing a program which, when executed, is capable of implementing the method of any one of the first aspects.
The invention has the beneficial effects that: the three-dimensional point cloud model is established in a three-dimensional scanning and modeling mode, the coal material model can be visually displayed, the train travelling position can be checked, the train grabbing point coordinates are screened on the three-dimensional point cloud model, the travelling position can be coordinated and controlled, and travelling is distributed for operation. The warehousing management can be efficiently, automatically and intelligently completed.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which,
fig. 1 is a flow chart of a driving control method based on coal storage management according to the present invention;
FIG. 2 is a schematic diagram of a three-dimensional scanning software interface according to the present invention;
FIG. 3 is a schematic diagram of a three-dimensional point cloud model of a coal yard according to the present invention;
FIG. 4 is a schematic view of a train grab point provided by the present invention;
FIG. 5 is a schematic diagram of a driving scheduling software provided in the present invention;
FIG. 6 is a flow chart of another driving control method based on coal storage management according to the present invention;
FIG. 7 is a flow chart of an anti-shake control method provided by the present invention;
fig. 8 is a schematic view of a traveling crane structure according to the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
In order to more clearly illustrate the invention, the invention is further described below with reference to preferred embodiments and the accompanying drawings. Similar parts in the figures are denoted by the same reference numerals. It is to be understood by persons skilled in the art that the following detailed description is illustrative and not restrictive, and is not to be taken as limiting the scope of the invention.
In a first aspect of the present invention, a driving control method based on coal storage management is provided, as shown in fig. 1, including:
step 101: scanning the coal materials of the material area and the train carriage to obtain the position information of the coal materials of the material area and the train carriage respectively, the three-dimensional data of the coal materials of the material area and the three-dimensional data of the coal materials of the train carriage, and acquiring the current driving position information;
in the invention, a two-dimensional laser scanner, a scanning mechanical device and a drive, as well as a control unit and a data acquisition unit are adopted to respectively scan the coal material of a material area and the coal material of a train carriage to obtain the position information of the coal material of the material area and the position information of the coal material of the train carriage, and the three-dimensional data of the coal material of the material area and the three-dimensional data of the coal material of the train carriage.
The two-dimensional laser scanner realizes measurement based on the flight time principle of laser pulses, specifically, a laser pulse signal emitted by a laser diode is divided into two paths by a spectroscope, one path enters an optical signal receiver, the other path enters a rotating reflector to be emitted to a target and scattered, part of light is reflected back to the optical signal receiver, a time interval between the emitted laser pulse and an echo laser pulse is recorded by a timer, and the time interval is multiplied by the speed of light to obtain the distance from the scanner to a target point. Due to the rotation of the reflecting mirror, the scanner can scan within the angle range of 145 degrees, and the scanner completes the scanning within the range of 145 degrees from the same starting point in the direction from right to left anticlockwise at preset intervals in a stepping mode every time, so that the distance measurement data given in the form of scanning lines is obtained.
In the present invention, a three-dimensional scanning mode may be performed by combining hardware and three-dimensional scanning software, wherein an interface of the three-dimensional scanning software may be as shown in fig. 2.
In another embodiment of the invention, the control instruction sent by the upper computer is received, wherein the control instruction includes but is not limited to starting scanning, stopping scanning, setting scanning range and setting scanning speed, and the received instruction is converted into a control signal of the servo motor and sent to the servo motor; and sending the current pitch angle to the upper computer. There is also an encoder for measuring the pulse emission angle in the laser scanner, and a precision clock control encoder measures the horizontal angle and the pitch angle of each laser pulse synchronously while obtaining the scanning point distance. When the single chip microcomputer obtains the current pitch angle of the laser scanner, the data acquisition unit continuously receives distance data obtained by the laser scanner and pitch angle data obtained by the single chip microcomputer, and the distance data and the pitch angle data are stored at the same time, so that the space position of a target point can be obtained.
In the present invention, the traveling crane may be a crane, specifically, a bridge crane, which includes: a cart running mechanism, a trolley running mechanism and a hoisting mechanism. The system specifically comprises a cart, a trolley, a grab bucket, a driving motor, a Programmable Logic Controller (PLC), a frequency converter, a position input module, an encoder, a code reader, a PN communication module and other components. The cart can move along the tracks on two sides of the factory building in the x direction, the trolley can move along the tracks on the cart in the y direction, and the grab bucket moves along the steel wire rope in the z direction under the control of the driving motor. In the invention, the travelling crane comprises a first travelling crane and a second travelling crane, wherein the first travelling crane can be a large vehicle, and the second travelling crane can be a small vehicle. The collecting of the driving position information is specifically collecting first driving position information and second driving position information. Specifically, the method comprises the steps of collecting cart position information, collecting trolley position information, and taking the cart position information and the trolley position information as driving position information.
In the invention, the full-automatic running of the travelling crane or the manual operation of a remote control semi-automatic operator can be controlled through the PLC, the cart frequency converter, the trolley frequency converter, the grab bucket frequency converter and the PN communication module. The position of the cart and the trolley can be detected by adopting the encoder, the code reader and the position input module, the opening and closing angle of the grab bucket is detected, and the height of the hoisting mechanism is detected and positioned.
Step 102: constructing a three-dimensional point cloud model of the coal yard according to the three-dimensional data obtained by scanning;
in the invention, a two-dimensional laser scanner is used for acquiring the coal position information of a material area and a train carriage, the three-dimensional data of the coal in the material area and the three-dimensional data of the coal in the train carriage, and a three-dimensional point cloud model of the coal in the material area and the train carriage, namely a three-dimensional point cloud model of a coal yard, is obtained through point cloud pretreatment, edge information processing, point cloud matching and three-dimensional model reconstruction operations, as shown in figure 3.
In another embodiment of the invention, the current parameter values such as the cart position, the trolley position, the grab bucket position and the scanning range can be displayed in real time according to the coal position information of the material area and the train carriage, and the three-dimensional data of the coal in the material area and the three-dimensional data of the coal in the train carriage.
In another embodiment of the invention, the scanning parameters can be reset in real time to adjust and obtain the best three-dimensional point cloud model in the field.
Step 103: screening the coordinates of the train grabbing points according to a preset method for the point cloud data corresponding to the three-dimensional point cloud model;
according to the invention, the point cloud data corresponding to the three-dimensional point cloud model is processed through a preset algorithm, and a high point coordinate required by loading, a material area coordinate required by sorting the material area and a train coordinate required by unloading are screened out.
Further, calculation can be performed according to a preset algorithm, 5 high point coordinates required for feeding, 100 material area coordinates required for sorting the material areas and 10 train coordinates required for unloading are screened out according to the calculation result, and the screened coordinates are used as train grabbing point coordinates, as shown in fig. 4.
Step 104: and distributing target traveling vehicles and controlling the target traveling vehicle operation according to the coordinates of the train grabbing points, the three-dimensional point cloud model of the coal yard and the current traveling vehicle position information.
According to the invention, the request is received and the instruction is sent according to the current driving position information and the three-dimensional point cloud data of the coal material area, so that the overall planning of the coal material field is realized. When an operator needs to perform manual feeding operation, the number of two coal hoppers and the number of times of collecting the bin at a single cleaning material port during single feeding need to be set firstly, a storage area to be fed is selected, an instruction is given to the travelling crane according to the set parameters, the coordinate of the selected feeding point is sent to the travelling crane and the PLC, and the travelling crane can perform feeding operation on the area according to the instruction. When the arranging and discharging operation is carried out in the same way, the area for arranging and discharging is selected, and the traveling crane can carry out the arranging and discharging operation on the material area according to the instruction. When determining that no person or other vehicles are in the coal yard, an operator can click the 'automatic operation' button to realize the automatic feeding, discharging and sorting operations of the travelling crane on the coal. The invention can adopt the traveling crane scheduling software to carry out allocation and control traveling crane.
The method can observe the relative position of the travelling crane in the material area and the state of the grab bucket in the grabbing process. The three-dimensional data positions of the grabbing points and the placing points of the traveling crane during loading, sorting and unloading can be displayed, and an operator can monitor the traveling crane running process through coordinate information. In addition, the invention can arrange the material port by controlling the traveling crane, thereby preventing the material port stockpile from influencing the carrying operation due to overhigh material, and the traveling crane can effectively avoid the obstacle in the running process.
In another embodiment of the present invention, a driving control method based on coal storage management is provided, as shown in fig. 6, including: and judging whether the three-dimensional data exists in the existing library area, and if not, automatically adding a scanning task. And if the three-dimensional data exists, preparing for operation, selecting a material grabbing area and the material loading times during the material loading operation, and stopping the operation when the height of the material area reaches a lower limit threshold. And when the height of the material area does not reach the lower limit threshold value, acquiring a target position, judging whether the current coordinate is the same as the target coordinate, if so, controlling the operation of the lifting control unit, the lifting frequency converter, the lifting motor and the encoder, and returning the speed and the position value of a lifting point to the lifting control unit. When the current coordinate is judged to be different from the target coordinate, a cart running instruction and a trolley running instruction are respectively generated according to the current driving coordinate and the target coordinate, the cart running instruction and the trolley running instruction are respectively sent to corresponding control units, the control units calculate a control instruction which can achieve anti-shaking according to the received running instruction and the actual speed of the motor returned by the encoder, namely an anti-shaking control instruction, and send the control instruction to the frequency converter, the motor and the encoder are driven to complete the current task under the condition that the motor is driven to rotate, and the motor and the encoder can return motor speed values and position values to the control units. When the current task is completed, the steps can be returned to judge and set the feeding times, and the feeding is completed or the sorting is finished or the unloading is finished.
In the present invention, the anti-shake control can be performed, and the specific method is as shown in fig. 7, and includes: and calculating the optimal speed of the travelling crane according to the shaking value of the grab bucket in the travelling crane process, and controlling the travelling crane to travel at the optimal speed so that the travelling crane can stably reach the target position. The automatic electric anti-shaking of the travelling crane is carried out by controlling the acceleration and the speed of each mechanism of the travelling crane. The anti-swing control can realize the speed closed-loop control of each mechanism, control the travelling crane to finally and stably reach a set target position, and send alarm or fault information to the travelling crane PLC when the travelling crane alarms or breaks down.
In another embodiment of the invention, the conditions of driving operation, entering and exiting of the garage, entering and exiting of personnel and vehicles in the garage can be monitored intensively according to the actual conditions of the garage. In the planning of the library area, the positions of the cameras are arranged according to the placement area and the driving operation area, the driving operation is carried out, and according to the system design of the project, the monitoring scheme mainly comprises the following steps: and the camera shooting, transmission and monitoring room 3 part. The system can effectively supervise the field situation and avoid the situation threatening the personal safety of workers.
The invention effectively solves the problems that the efficiency of the existing train is low mainly depending on manual operation, the equipment is easy to generate impact damage and the like, and realizes the high-efficiency, automatic, intelligent and informationized coal storage management. The method effectively promotes the upgrading and transformation of the warehouse logistics in the steel industry, and accelerates the development to the information, high-efficiency and green warehouse management.
The invention effectively solves the problems that high concentration of attention is required, the labor intensity is high, and fatigue is easy to cause safety accidents when the train driver is dependent on dispatching. The problems of low train operation efficiency, poor automation level, high maintenance cost and certain threat to the personal safety of field operators in the traditional mode are effectively solved.
According to a second aspect of the present invention, there is provided a driving control system based on coal storage management, comprising:
the device comprises a three-dimensional scanning device, a driving carrying device, a modeling device, a data processing device and a driving scheduling device.
The three-dimensional scanning device includes: two-dimensional laser scanning, scanning mechanical device and drive, control and data acquisition unit.
In the invention, the three-dimensional scanning device is used for respectively scanning the coal material of the material area and the coal material of the train carriage to obtain the position information of the coal material of the material area and the position information of the coal material of the train carriage as well as the three-dimensional data of the coal material of the material area and the three-dimensional data of the coal material of the train carriage.
The two-dimensional laser scanner realizes measurement based on the flight time principle of laser pulses, specifically, a laser pulse signal emitted by a laser diode is divided into two paths by a spectroscope, one path enters an optical signal receiver, the other path enters a rotating reflector and is reflected to a target and scattered, part of light is reflected back to the optical signal receiver, a time interval between the emitted laser pulse and an echo laser pulse is recorded by a timer, and the time interval is multiplied by the speed of light to obtain the distance from the scanner to a target point. Due to the rotation of the reflecting mirror, the scanner can scan within the angle range of 145 degrees, and the scanner completes the scanning within the range of 145 degrees from the same starting point in the direction from right to left anticlockwise at preset intervals in a stepping mode every time, so that the distance measurement data given in the form of scanning lines is obtained.
In another embodiment of the present invention, the three-dimensional scanning apparatus further includes: the support and the rotating shaft are driven by a servo motor. The control unit is composed of a control system with a single chip microcomputer as a core. The single chip microcomputer is connected with an upper computer through an RS-422 interface.
The single chip microcomputer is used for receiving a control instruction sent by the upper computer, wherein the control instruction comprises but is not limited to starting scanning, stopping scanning, setting a scanning range and setting a scanning speed, converting the received instruction into a control signal of the servo motor, and sending the control signal to the servo motor; the single chip microcomputer is also used for sending the current pitch angle to the upper computer. There is also an encoder for measuring the pulse emission angle in the laser scanner, and a precision clock control encoder measures the horizontal angle and the pitch angle of each laser pulse synchronously while obtaining the scanning point distance. When the single chip microcomputer obtains the current pitch angle of the laser scanner, the data acquisition unit continuously receives distance data obtained by the laser scanner and pitch angle data obtained by the single chip microcomputer, and the distance data and the pitch angle data are stored at the same time, so that the space position of a target point can be obtained.
The travelling crane carrying device is used for collecting travelling crane position information;
in the invention, the travelling crane comprises: cart running gear, dolly running gear, hoisting mechanism specifically include: the device comprises a cart, a trolley, a grab bucket, a driving motor, a PLC, a cart frequency converter, a trolley frequency converter, a grab bucket frequency converter, a position input module, an encoder, a code reader and a PN communication module. In one embodiment of the present invention, the traveling crane is specifically shown in fig. 8.
The cart is used for moving in the x direction along the track of factory building both sides, and the dolly is used for moving in the y direction along the track on the cart, and the grab bucket moves in the z direction along wire rope under driving motor's control.
In the present invention, a traveling crane carrying device includes: a driving control unit and a position detection unit.
The travelling crane control part controls full-automatic running, remote control semi-automatic running or manual operation of the travelling crane through the PLC, the cart frequency converter, the trolley frequency converter, the grab bucket frequency converter and the PN communication module. The position detection part comprises an encoder, a code reader and a position input module. The cart, the trolley, the lifting mechanism and the opening and closing mechanism are all provided with position detection parts, and the position detection parts are used for detecting the positions of the cart and the trolley, detecting the opening and closing angles of the grab bucket and detecting and positioning the height of the lifting mechanism.
The position detection part is also used for sending the position information of the detected position, angle and height to the PLC through the Ethernet, and the PLC sends the obtained position information to the modeling device and the storage management software in a wireless communication mode to realize the digital acquisition of the coal position of the coal yard. Meanwhile, the PLC can also receive instruction information sent by the storage management system and send the instruction to the traveling control part, and the traveling control part executes corresponding actions according to the instruction information and the coordinates of the material area grabbing points and the placing points screened by the obtained data processing device.
The cart running mechanism is composed of a motor, a coupler, a speed reducer, a brake, a wheel set, a spring buffer and the like, wherein the motor, the speed reducer and the brake are arranged at two ends of the main beam and are horizontally arranged, and sufficient overhauling space is provided. The spring buffer is used for reducing the impact of the large vehicle when the operation is stopped. The cart adopts the wiping line formula power supply mode at the operation in-process, lays a plurality of conductors along cart orbit, has installed the current collector that can get the electricity from the conductor on the cart, and when the cart was removing, the current collector can be followed the conductor and obtained the power along with hoist synchronous motion at any time.
The trolley running mechanism adopts centralized driving and comprises a trolley wheel set, a coupling, a speed reducer, a hydraulic push rod brake, a transmission shaft, a motor and the like. The running limit position of the trolley is provided with a speed reduction and stop travel limit switch. The power supply adopts a flat cable suspension mode, and cables entering a terminal box of the trolley must be laid by adopting a cable trough. The dolly possesses travel limit switch, and the dolly still possesses overload limiter in addition, and the PLC on the car is inserted to the data of weighing, can be used for restricting the position of cart, dolly and the coal charge weight of snatching.
The hoisting mechanism is composed of a driving device, a motor drives a speed reducer to drive a winding drum to rotate, wherein the speed reducer is connected with the winding drum through a coupler, and the winding drum rotates to drive a pulley block to act, so that the grab bucket is lifted. The grab bucket lifting and opening and closing frequency converter has vector control and band-type brake logic control functions, the grab bucket opening and closing winding drum and the supporting winding drum are provided with absolute value encoders for detecting the rope unwinding length, data are accessed into the PLC for detecting the height and the opening degree of the grab bucket, and the grab bucket is provided with opening and closing limit and upper and lower limit.
In the invention, each mechanism is provided with a limit protection. Each boarding door of the crane is provided with door position protection and a boarding request, when the door is opened, a crane cart mechanism cannot be started, and when the door is closed, the operation is recovered after 10 seconds of delay. The electric cabinet, the end beam and the trolley are respectively provided with a red emergency stop button with a protective cover for cutting off the power supply and the control power supply of each mechanism of the crane under the accident condition.
The modeling device is used for constructing a three-dimensional point cloud model of the coal yard according to the three-dimensional data obtained by scanning;
in the invention, the modeling device is specifically used for acquiring the coal position information of the material area and the train carriage, the three-dimensional data of the coal in the material area and the three-dimensional data of the coal in the train carriage by the two-dimensional laser scanner, and obtaining the three-dimensional point cloud model of the coal in the material area and the train carriage, namely the three-dimensional point cloud model of the coal yard, through the operations of point cloud pretreatment, edge information processing, point cloud matching, three-dimensional model reconstruction and the like.
In another embodiment of the invention, the current parameter values such as the cart position, the trolley position, the grab bucket position and the scanning range can be displayed in real time according to the coal position information of the material area and the train carriage, and the three-dimensional data of the coal in the material area and the three-dimensional data of the coal in the train carriage.
In another embodiment of the invention, the scanning parameters can be reset in real time to adjust and obtain the best three-dimensional point cloud model in the field.
Further, the modeling device receives cart coordinate data and trolley position data sent by the PLC, and coal position information of the material area and the train carriage collected by the laser scanner, and the three-dimensional point cloud model of the coal material of the material area and the train carriage is obtained after the collected coal position information of the material area is subjected to point cloud preprocessing, edge information processing, point cloud matching, three-dimensional model reconstruction and the like. An operator can check the current parameter values such as the cart position, the trolley position, the grab bucket position, the scanning range and the like on the modeling device, and can set and change some scanning parameters on a 'parameter setting' page so as to obtain an optimal three-dimensional point cloud model on site.
The data processing device is used for screening train grabbing point coordinates according to a preset method for point cloud data corresponding to the three-dimensional point cloud model;
in the invention, the data processing device processes the point cloud data corresponding to the three-dimensional point cloud model through a preset algorithm, and screens out high point coordinates required by loading, material area coordinates required by arranging the material areas and train coordinates required by unloading.
Further, calculation can be carried out according to a preset algorithm, 5 high point coordinates required by feeding, 100 material area coordinates required by sorting the material areas and 10 train coordinates required by unloading are screened out according to the calculation result, and the screened coordinates are used as train grabbing point coordinates.
For example, the following steps are carried out: and the data processing device receives the three-dimensional coordinates of the reservoir area sent by the modeling model, screens out the coordinates of 5 high points required by loading, the coordinates of 100 material areas required by sorting the material areas, the coordinates of 10 trains required by unloading and the like through algorithm processing, and sends the coordinate data to the train dispatching device. In another embodiment of the present invention, the grasping point may be identified with a point of a preset color.
And the driving scheduling device is used for distributing target driving and controlling target driving operation according to the coordinates of the train grabbing points, the three-dimensional point cloud model of the coal yard and the current driving position information.
According to the invention, the driving scheduling device is specifically used for receiving the request and sending the instruction according to the current driving position information and the three-dimensional point cloud data of the coal material area, so that the overall planning of the coal material field is realized. When an operator needs to perform manual feeding operation, the number of two coal hoppers and the number of times of bin collection of a single cleaning material port during single feeding need to be set firstly, a storage area to be fed is selected, an instruction is given to the travelling crane according to the set parameters, the coordinates of a feeding point screened out by the data processing device are sent to the travelling crane and the PLC, and the travelling crane can perform feeding operation on the area according to the instruction. When the arranging and discharging operation is carried out in the same way, the area for arranging and discharging is selected, and the traveling crane can carry out the arranging and discharging operation on the material area according to the instruction. When determining that no person or other vehicles exist in the coal yard, an operator can click an 'automatic operation' button to realize automatic loading, unloading and sorting operations of the travelling crane on the coal.
According to the invention, a user can observe the relative position of the travelling crane in the material area and the state of the grab bucket in the grabbing process. The driving scheduling device can display three-dimensional data positions of a grabbing point and a placing point of the driving during loading, sorting and unloading, and an operator can monitor the driving operation process through coordinate information. In addition, the invention can arrange the material port by controlling the traveling crane, thereby preventing the material port stockpile from influencing the carrying operation due to overhigh material, and the traveling crane can effectively avoid the obstacle in the running process.
In the invention, the travelling crane dispatching device is also used for collecting the grab bucket shaking value in the travelling crane process, calculating the optimal travelling crane speed according to the grab bucket shaking value and controlling the travelling crane to travel at the optimal speed so that the travelling crane can stably reach the target position and the anti-shaking effect is achieved. The automatic electric anti-shaking of the travelling crane is carried out by controlling the acceleration and the speed of each mechanism of the travelling crane. The anti-shaking processing can realize the speed closed-loop control of each mechanism, control the travelling crane to finally and stably reach a set target position, and send alarm or fault information to the travelling crane PLC when the travelling crane alarms or breaks down.
In another embodiment of the invention, the conditions of driving operation, warehousing and ex-warehouse, and personnel and vehicle access in and out of the warehouse can be monitored intensively according to the actual conditions of the warehouse. In the planning of the storehouse, will arrange the position of camera, the operation of driving a vehicle according to placing the region and driving a vehicle operation region, can divide into: and the camera shooting, transmission and monitoring room 3. The system can effectively supervise the field situation and avoid the situation threatening the personal safety of workers.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
It should be understood that the above detailed description of the technical solution of the present invention with the help of preferred embodiments is illustrative and not restrictive. On the basis of reading the description of the invention, a person skilled in the art can modify the technical solutions described in the embodiments, or make equivalent substitutions for some technical features; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (7)
1. A driving control method based on coal storage management is characterized by comprising the following steps:
scanning the coal materials of the material area and the train carriage to respectively obtain the position information of the coal materials of the material area and the train carriage, the three-dimensional data of the coal materials of the material area and the three-dimensional data of the coal materials of the train carriage, and acquiring the current driving position information;
constructing a three-dimensional point cloud model of the coal yard according to the three-dimensional data obtained by scanning;
screening the coordinates of the train grabbing points according to a preset method for the point cloud data corresponding to the three-dimensional point cloud model;
distributing target traveling vehicles and controlling target traveling vehicle operation according to the coordinates of the train grabbing points, the three-dimensional point cloud model of the coal yard and the current traveling vehicle position information;
the coal material scanning of material district and railway carriage, the coal material positional information who obtains material district and railway carriage respectively to and the coal material three-dimensional data of material district and the coal material three-dimensional data of railway carriage includes: respectively scanning the coal material of the material area and the coal material of the train carriage by adopting a two-dimensional laser scanner, a scanning mechanical device, a drive, a control unit and a data acquisition unit to obtain the position information of the coal material of the material area and the position information of the coal material of the train carriage as well as the three-dimensional data of the coal material of the material area and the three-dimensional data of the coal material of the train carriage;
in the two-dimensional laser scanner, a laser pulse signal emitted by a laser diode is divided into two paths by a spectroscope, one path enters an optical signal receiver, the other path enters a rotating reflector to be reflected to a target and scattered, part of light is reflected back to the optical signal receiver, the time interval between the emitted laser pulse and the echo laser pulse is recorded by a timer, and the time interval is multiplied by the speed of the light to obtain the distance from the scanner to a target point; the rotation of the reflecting mirror enables the scanner to scan within the angle range of 145 degrees, and the scanner completes the scanning within the range of 145 degrees from the same starting point in the direction from right to left anticlockwise at preset stepping intervals every time, so that distance measurement data given in the form of scanning lines are obtained;
the method for constructing the three-dimensional point cloud model of the coal yard according to the three-dimensional data obtained by scanning comprises the following steps: performing point cloud preprocessing, edge information processing, point cloud matching and three-dimensional model reconstruction on the coal material position information of the material area and the train carriage, the coal material three-dimensional data of the material area and the train carriage and the coal material three-dimensional data of the train carriage to obtain a coal material three-dimensional point cloud model of the material area and the train carriage, namely a three-dimensional point cloud model of a coal yard;
which comprises the following steps: the travelling crane carrying device is used for acquiring travelling crane position information;
the driving includes: cart operating device, dolly operating device, hoisting mechanism specifically include: the system comprises a cart, a trolley, a grab bucket, a driving motor, a PLC, a cart frequency converter, a trolley frequency converter, a grab bucket frequency converter, a position input module, an encoder, a code reader and a PN communication module;
the cart is used for moving in the x direction along rails on two sides of the factory building, the trolley is used for moving in the y direction along the rails on the cart, and the grab bucket moves in the z direction along the steel wire rope under the control of the driving motor;
the driving handling device includes: a traveling control unit and a position detection unit;
the travelling crane control part controls full-automatic running, remote control semi-automatic running or manual operation of the travelling crane through a PLC, a cart frequency converter, a trolley frequency converter, a grab bucket frequency converter and a PN communication module; the position detection part comprises an encoder, a code reader and a position input module; the cart, the trolley and the lifting and opening and closing mechanism are all provided with position detection parts, and the position detection parts are used for detecting the positions of the cart and the trolley, detecting the opening and closing angle of the grab bucket and detecting and positioning the height of the lifting mechanism;
the position detection part is also used for sending the position information of the detected position, angle and height to the PLC through the Ethernet, and the PLC sends the obtained position information to the modeling device and the storage management software in a wireless communication mode to realize the digital acquisition of the coal position of the coal yard; meanwhile, the PLC can also receive instruction information sent by the warehouse management system and send the instruction to the traveling control part, and the traveling control part executes corresponding actions according to the instruction information and the coordinates of the material area grabbing points and placing points screened by the obtained data processing device;
the cart running mechanism consists of a motor, a coupling, a reducer, a brake, a wheel set and a spring buffer part, wherein the motor, the reducer and the brake are arranged at two ends of the main beam and are horizontally arranged, so that enough overhaul space is provided; the spring buffer is used for reducing the impact of the large vehicle when the large vehicle stops running; the cart adopts a trolley line type power supply mode in the running process, a plurality of conductors are laid along a cart running track, a current collector capable of taking electricity from the conductors is installed on the cart, and when the cart moves, the current collector moves synchronously with the crane, so that a power supply can be obtained from the conductors at any time;
the trolley running mechanism adopts centralized drive and comprises a trolley wheel group, a coupling, a speed reducer, a hydraulic push rod brake, a transmission shaft and a motor; a speed reduction and stop travel limit switch is arranged at the running limit position of the trolley; the power supply adopts a flat cable suspension mode, and cables entering a trolley terminal box must be laid by adopting a cable trough; the trolley is provided with a travel limit switch, and is also provided with an overload limiter, and weighing data are accessed to an on-board PLC (programmable logic controller) and can be used for limiting the positions of the cart and the trolley and the weight of the grabbed coal; the hoisting mechanism consists of a driving device, a speed reducer is driven by a motor to drive the winding drum to rotate, wherein the speed reducer is connected with the winding drum by a coupler, and the winding drum rotates to drive the pulley block to act, so that the grab bucket is lifted; the grab bucket lifting and opening and closing frequency converters have vector control and band-type brake logic control functions, the grab bucket opening and closing winding drum and the supporting winding drum are provided with absolute value encoders for detecting the rope unwinding length, data are accessed into the PLC for detecting the height and the opening degree of the grab bucket, and the grab bucket has opening and closing limit, upper limit and lower limit;
the method further comprises the following steps: and displaying the current parameter values of the cart position, the trolley position, the grab bucket position and the scanning range in real time according to the coal position information of the material area and the train carriage, the three-dimensional data of the coal in the material area and the three-dimensional data of the coal in the train carriage.
2. The method of claim 1, wherein the collecting current driving location information comprises: and collecting first driving position information and second driving position information.
3. The method of claim 1, wherein the step of screening the coordinates of the train grabbing points according to a preset method for the point cloud data corresponding to the three-dimensional point cloud model comprises the following steps: and (4) processing the point cloud data corresponding to the three-dimensional point cloud model through a preset algorithm, and screening out high point coordinates required by loading, material area coordinates required by arranging the material areas and train coordinates required by unloading.
4. The method as claimed in claim 1, wherein the method further comprises collecting a grab bucket shaking value during driving, calculating an optimal speed of the vehicle according to the grab bucket shaking value, and controlling the vehicle to drive at the optimal speed so that the vehicle can reach the target position smoothly; the automatic electric anti-shaking of the travelling crane is carried out by controlling the acceleration and the speed of each mechanism of the travelling crane.
5. A vehicle traveling control system based on coal storage management, the vehicle traveling control system realizes the steps of the method according to any one of claims 1 to 4, and the method is characterized by comprising the following steps: the system comprises a three-dimensional scanning device, a travelling crane carrying device, a modeling device, a data processing device and a travelling crane scheduling device;
the three-dimensional scanning device is used for respectively scanning the coal material of the material area and the coal material of the train carriage to obtain the position information of the coal material of the material area and the position information of the coal material of the train carriage as well as the three-dimensional data of the coal material of the material area and the three-dimensional data of the coal material of the train carriage;
the travelling crane carrying device is used for acquiring travelling crane position information;
the modeling device is used for constructing a three-dimensional point cloud model of the coal yard according to the three-dimensional data obtained by scanning;
the data processing device is used for screening the coordinates of the train grabbing points according to a preset method for the point cloud data corresponding to the three-dimensional point cloud model;
and the driving scheduling device is used for distributing target driving and controlling the target driving operation according to the coordinates of the train grabbing points, the three-dimensional point cloud model of the coal yard and the current driving position information.
6. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor,
the processor, when executing the program, implements the steps of the method of any of claims 1-4.
7. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a program which, when executed, is capable of implementing the method according to any one of claims 1-4.
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| CN115512345B (en) * | 2022-09-21 | 2023-07-25 | 浙江安吉天子湖热电有限公司 | Driving fixed coal-coiling system and coal-coiling method |
| CN116588573B (en) * | 2023-04-28 | 2024-02-02 | 北京云中未来科技有限公司 | Bulk cargo grabbing control method and system of intelligent warehouse lifting system |
| CN117068793B (en) * | 2023-09-26 | 2024-03-08 | 南京移腾电力技术有限公司 | Automatic loading method and system for bridge type grab bucket of ore bin |
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