CN114620496A - Intelligent material piling and taking control method and device, electronic equipment and storage medium - Google Patents
Intelligent material piling and taking control method and device, electronic equipment and storage medium Download PDFInfo
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- CN114620496A CN114620496A CN202210160910.0A CN202210160910A CN114620496A CN 114620496 A CN114620496 A CN 114620496A CN 202210160910 A CN202210160910 A CN 202210160910A CN 114620496 A CN114620496 A CN 114620496A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/005—Control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
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Abstract
According to the intelligent material piling and taking control method and device, the electronic equipment and the storage medium, the automatic material piling instruction is obtained; determining a control mode corresponding to the automatic stacking instruction based on the automatic stacking instruction; and controlling the stacker-reclaimer to work based on the control mode so that the stacker-reclaimer can automatically stack materials.
Description
Technical Field
The present application relates to the field of control technologies, and in particular, to an intelligent material stacking and taking control method and apparatus, an electronic device, and a storage medium.
Background
At present, the stacking and taking equipment of bulk material stock yards in industries such as steel, ports, mines, power plants, building materials and the like is operated by a driver on the machine, the stock pile is estimated by a field measuring disc, the error is large, the stock pile needs manual operation of operators, and the problems of inaccurate stacking and taking, idle running of a conveying line, low conveying efficiency, frequent starting of the equipment and the like are caused.
Disclosure of Invention
The application provides an intelligent material stacking and taking control method, device, electronic equipment and storage medium aiming at the problems in the related art, and the method and the device are used for controlling the material stacking and taking by acquiring an automatic material stacking instruction; determining a control mode corresponding to the automatic stacking instruction based on the automatic stacking instruction; and controlling the stacker-reclaimer to work based on the control mode so that the stacker-reclaimer can automatically stack materials.
The application provides an intelligent material piling and taking control method, which comprises the following steps:
acquiring an automatic stacking instruction;
determining a control mode corresponding to the automatic stacking instruction based on the automatic stacking instruction;
and controlling the stacker-reclaimer to work based on the control mode so that the stacker-reclaimer can automatically stack.
In some embodiments, in the case that the automatic stacking instruction is a walking fixed point stacking instruction, the controlling the stacker-reclaimer to operate based on the control mode to cause the stacker-reclaimer to perform automatic stacking includes:
controlling a stacker-reclaimer to start, and starting to stack materials at fixed points;
acquiring the height of the current material pile in real time;
controlling the stacker-reclaimer to retreat by a preset stepping distance under the condition that the current material pile reaches a set height;
and controlling the material piling and taking machine to carry out fixed-point material piling of the next material pile.
In some embodiments, in the case of the automatic stacking instruction bit slewing fixed-point stacking instruction, the controlling the stacker-reclaimer to operate based on the control mode to cause the stacker-reclaimer to perform automatic stacking includes:
controlling the stacker-reclaimer to start and starting to rotate the stacker; acquiring the height of the current material pile in real time;
controlling the stacker-reclaimer to rotate by a preset stepping angle under the condition that the height of the current material pile reaches a set height;
controlling the stacker-reclaimer to continue to rotate for stacking; acquiring a rotation angle of the stacker-reclaimer;
controlling the stacker-reclaimer to retreat by a preset stepping distance under the condition that the preset maximum rotation angle threshold is determined to be reached based on the rotation angle; controlling a stacker-reclaimer to rotate to a minimum angle of rotation of the stacker-reclaimer;
continuing to turn the windrow from said minimum angle.
In some embodiments, the method further comprises:
acquiring the position information of the stacker-reclaimer;
determining whether the stacker-reclaimer reaches a set backward end position based on the position information;
and controlling the stacker-reclaimer to stop working under the condition that the stacker-reclaimer reaches a set backward end position based on the position information.
In some embodiments, the method further comprises:
acquiring a rotary layered material taking instruction;
controlling the stacker-reclaimer to start based on the layered material taking instruction, and controlling the stacker-reclaimer to start rotary material taking after reaching the initial position of the ith layer of material taking;
determining whether the ith layer of material taking reaches the termination position of the ith layer of material taking;
under the condition that the finishing position of the material taking on the ith layer is determined to be reached and the layer needs to be changed, controlling the stacker-reclaimer to retreat to the starting position of the material taking on the (i + 1) th layer;
controlling the stacker-reclaimer to continue to rotate for reclaiming;
and controlling the stacker-reclaimer to stop working under the condition of determining that the number of the taken material layers reaches the total number of the taken material layers.
In some embodiments, the method further comprises:
acquiring instantaneous material taking flow information;
determining the rotation speed of a cantilever of the stacker-reclaimer based on the instantaneous material taking flow information and the set material taking amount;
and controlling a cantilever of the stacker-reclaimer to perform rotary reclaiming based on the rotary speed.
In some embodiments, the method further comprises:
acquiring position information of each actuating mechanism in the stacker-reclaimer;
controlling the working state of each executing mechanism based on the position information and the position threshold value so as to realize the limit protection of each executing mechanism;
in some embodiments, the method further comprises:
detecting whether an object exists in a preset range of the stacker-reclaimer;
under the condition that an object exists in a preset range, controlling the stacker-reclaimer to pause and sending an alarm signal;
and under the condition that the object is detected to be absent in the preset range, controlling the stacker-reclaimer to continue working.
An embodiment of the present application provides a control device, including:
the first acquisition module is used for acquiring an automatic stacking instruction;
the first determination module is used for determining a control mode corresponding to the automatic stacking instruction based on the automatic stacking instruction;
and the first control module is used for controlling the stacker-reclaimer to work based on the control mode so as to enable the stacker-reclaimer to automatically stack.
An embodiment of the present application provides an electronic device, which includes a memory and a processor, where the memory stores a computer program, and when the computer program is executed by the processor, the method executes any one of the above-mentioned intelligent stacker/reclaimer control methods.
The embodiment of the application provides a storage medium, and a computer program stored in the storage medium can be executed by one or more processors and can be used for realizing the intelligent material piling and taking control method.
According to the intelligent material piling and taking control method and device, the electronic equipment and the storage medium, the automatic material piling instruction is obtained; determining a control mode corresponding to the automatic stacking instruction based on the automatic stacking instruction; and controlling the stacker-reclaimer to work based on the control mode so that the stacker-reclaimer can automatically stack materials.
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The present application will be described in more detail below on the basis of embodiments and with reference to the accompanying drawings.
Fig. 1 is a schematic diagram of a main system software and hardware architecture of a control system according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart illustrating an implementation of an intelligent stacker-reclaimer control method according to an embodiment of the present disclosure;
fig. 3 is a schematic flow chart illustrating an implementation of walking fixed-point stacking according to an embodiment of the present disclosure;
fig. 4 is a schematic flow chart illustrating an implementation of a rotating pile according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a control device according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
In the drawings, like parts are designated with like reference numerals, and the drawings are not drawn to scale.
Detailed Description
In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be described in further detail with reference to the attached drawings, the described embodiments should not be considered as limiting the present application, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.
In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict.
The following description will be added if a similar description of "first \ second \ third" appears in the application file, and in the following description, the terms "first \ second \ third" merely distinguish similar objects and do not represent a specific ordering for the objects, and it should be understood that "first \ second \ third" may be interchanged under certain circumstances in a specific order or sequence, so that the embodiments of the application described herein can be implemented in an order other than that shown or described herein.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the application.
Based on the problems in the related art, the embodiment of the application provides an intelligent material stacking and taking control method which is applied to electronic equipment, wherein the electronic equipment is an intelligent controller, and the intelligent controller can be a mobile terminal, a computer and the like. The functions realized by the intelligent material piling and taking control method provided by the embodiment of the application can be realized by calling a program code by a processor of the electronic equipment, wherein the program code can be stored in a computer storage medium.
In the embodiment of the application, the intelligent controller product is designed with unique special controller appearance, and based on a PLC hardware platform, the intelligent controller inherits the characteristics of strong anti-interference performance, programmability, stability and reliability of PLC, and the intelligent controller is provided with a three-prevention coating process and the like, and simultaneously, the automatic operation control logic of the stacker-reclaimer is designed and developed, and the high integration and confidentiality of software programs are realized through program curing and hardware packaging. The intelligent controller is mainly characterized in that: the appearance of the special controller and the high protection level shell; internally nesting a high-performance CPU controller; customizing and designing an I/O expansion module; customizing an automatic operation core control algorithm and a program of the packaging stacker-reclaimer; customizing and designing a touch screen; customizing an integrated mainstream communication protocol drive; the reliability, vibration resistance and anti-interference electromagnetic capability are high; the aviation plug is connected, the protection level is high, and the system maintenance is convenient. The intelligent controller product integrates data acquisition, control, communication and human-computer interface functions and is used for realizing automatic operation control of the thermal power plant coal yard stacker-reclaimer in actual engineering projects.
Fig. 1 is a schematic diagram of a main system software and hardware architecture of a control system provided in an embodiment of the present application, as shown in fig. 1, an intelligent controller is connected to an external power module, a power processing module is arranged inside the intelligent controller and connected to the power module through the power processing module, the power processing module is connected to a CPU, an auxiliary power supply is connected to the CPU, the GPU is further connected to a real-time network master station, the real-time network master station is connected to a real-time network slave station, and a communication interface of the intelligent controller is connected to an HMI and an upper computer through a serial port/ethernet and connected to an in-situ hardware device through an IO channel. And the internal communication line of the intelligent controller adopts a 485 communication line. In an embodiment of the present application, the field hardware device may include: the system comprises a material height radar, a laser anti-collision radar, a laser flow sensor, an attitude encoder, a calibration video card and a controller of the stacker-reclaimer. Therefore, the accurate positioning, operation safety protection, automatic stacking control logic and automatic material taking control logic of the material taking machine can be realized.
Based on the foregoing control system, an embodiment of the present application provides an intelligent material stacking and reclaiming control method, and fig. 2 is a schematic implementation flow diagram of the intelligent material stacking and reclaiming control method provided in the embodiment of the present application, and as shown in fig. 2, the method includes:
and step S1, acquiring an automatic stacking instruction.
The automatic stacking instruction can be sent through the upper computer or the HMI, so that the intelligent controller can obtain the automatic stacking instruction. In some embodiments, a button may also be directly set on the intelligent controller, and the automatic stacking instruction is obtained by operating the button by a user. In this embodiment of the application, the automatic stacking instruction includes: a walking fixed-point stacking instruction and a turning fixed-point stacking instruction.
And step S2, determining a control mode corresponding to the automatic stacking instruction based on the automatic stacking instruction.
In the embodiment of the application, a control logic, namely a control mode corresponding to the automatic stacking instruction, is preset in the intelligent controller.
And step S3, controlling the stacker-reclaimer to work based on the control mode so as to enable the stacker-reclaimer to automatically stack.
In the embodiment of the application, after the control mode is determined, the stacker-reclaimer can be controlled to work based on the control mode.
According to the intelligent material piling and taking control method provided by the embodiment of the application, an automatic material piling instruction is obtained; determining a control mode corresponding to the automatic stacking instruction based on the automatic stacking instruction; and controlling the stacker-reclaimer to work based on the control mode so that the stacker-reclaimer can automatically stack materials.
In some embodiments, fig. 3 is a schematic flow chart of an implementation of walking fixed-point stacking provided in this application, and as shown in fig. 3, in a case that the automatic stacking instruction is a walking fixed-point stacking instruction, step S3 may be implemented by:
step S31, controlling the stacker-reclaimer to start, and starting fixed-point stacking;
step S32, acquiring the height of the current material pile in real time;
in the embodiment of the application, the height of the current stockpile can be obtained by setting a high-radar material loading device of the stacker-reclaimer.
And step S33, controlling the stacker-reclaimer to retreat by a preset stepping distance under the condition that the current material pile reaches the set height.
In the embodiment of the present application, the preset step distance is preset in the control mode.
And step S34, controlling the stacker-reclaimer to perform fixed-point stacking of the next material pile.
Step S35, acquiring the position information of the stacker-reclaimer;
in the embodiment of the application, the precise positioning of the stacker-reclaimer can be realized by a coding positioning device on the reclaimer and a calibration radio frequency identification card system, so that the position information is determined.
Step S36, determining whether the stacker-reclaimer reaches a set back end position based on the position information;
and a step S37 of controlling the stacker-reclaimer to stop operating when it is determined based on the position information that the stacker-reclaimer reaches the set retreat end position.
In some embodiments, fig. 4 is a schematic flow chart of implementation of a turning stacking provided in an embodiment of the present application, and as shown in fig. 4, in a case that the automatic stacking instruction is a turning fixed-point stacking instruction, the step S3 includes:
step S301, controlling the stacker-reclaimer to start, and starting to rotate the stacker; acquiring the height of the current material pile in real time;
step S302, controlling the stacker-reclaimer to rotate by a preset stepping angle under the condition that the height of the current material pile reaches a set height;
step S303, controlling the stacker-reclaimer to continuously rotate for stacking; acquiring a rotation angle of the stacker-reclaimer;
step S304, controlling the stacker-reclaimer to retreat by a preset stepping distance under the condition that the rotation angle is determined to reach a set maximum rotation angle threshold value; controlling a stacker-reclaimer to rotate to a minimum angle of rotation of the stacker-reclaimer;
and step S305, continuing to rotate the stockpile from the minimum angle.
Step S306, acquiring the position information of the stacker-reclaimer;
in the embodiment of the application, the precise positioning of the stacker-reclaimer can be realized by a coding positioning device on the reclaimer and a calibration radio frequency identification card system, so that the position information is determined.
Step S307, determining whether the stacker-reclaimer reaches a set backward end position based on the position information;
and step S308, controlling the stacker-reclaimer to stop working under the condition that the stacker-reclaimer reaches the set backward end position based on the position information.
In some embodiments, the method further comprises:
step S11, obtaining a rotary layered material taking instruction;
and step S12, controlling the stacker-reclaimer to start based on the layered reclaiming instruction, and controlling the stacker-reclaimer to start rotary reclaiming after reaching the initial position of the ith layer reclaiming.
In the embodiment of the application, the coordinates of the cut-in point of the stacker-reclaimer can be determined based on the control logic, and the intelligent controller realizes the automatic alignment of the stacker-reclaimer.
Step S13, determining whether the ith layer of material taking reaches the termination position of the ith layer of material taking;
step S14, controlling the stacker-reclaimer to retreat to the starting position of the (i + 1) th layer for reclaiming under the condition that the finishing position of the ith layer for reclaiming is determined to be reached and the layer needs to be changed;
step S15, controlling the stacker-reclaimer to continue to rotate for reclaiming materials;
in the embodiment of the application, whether the cantilever of the stacker-reclaimer rotates to reach the boundary is monitored in real time, and if the cantilever rotates reversely to reach the boundary, the cantilever continues to take materials.
And step S16, controlling the stacker-reclaimer to stop working under the condition that the number of reclaiming layers is determined to reach the total number of reclaiming layers.
According to the intelligent material piling and taking control method, after the rotating layered material taking instruction is obtained, automatic material taking is completed by controlling the material piling and taking machine.
In some embodiments, during automatic material extraction, the method further comprises:
step S17, acquiring instantaneous material taking flow information;
step S18, determining the rotation speed of a cantilever of the stacker-reclaimer based on the instantaneous reclaiming flow information and the set reclaiming amount;
and step S19, controlling a cantilever of the stacker-reclaimer to perform rotary reclaiming based on the rotary speed.
In the embodiment of the application, constant flow control can be realized by determining the rotation speed, in the embodiment of the application, closed-loop control is used as a basic control principle, through analysis, an automatic rotation control system of the reclaimer taking constant material taking amount as a control target is established, the input of the closed-loop system is an instantaneous material amount expected value (set material taking flow), and the output is the actual instantaneous material taking amount of the stacker reclaimer. In a single machine control program, the PLC compares the detected instantaneous material taking flow of the cantilever belt with the set material taking amount, and calculates the rotation speed of the cantilever to be adjusted so as to realize the following of the instantaneous material taking amount to the set value.
The intelligent controller is used for acquiring data, calculating an instantaneous material quantity feedback value and calculating a rotation output frequency; the cantilever rotation control system is an execution part of the system, and the intelligent controller realizes the adjustment of the material taking amount in unit time by controlling the rotation speed of the cantilever; the instantaneous flow of the cantilever belt is scanned and calculated and output by a laser detection radar (flow sensor) in real time, and the rotation speed required to be adjusted is calculated by comparing the detected flow with the set material taking amount, so that the follow of the instantaneous material taking amount to a set value is realized. In the adjusting process, when coal dust is large and the laser flow sensor shakes, the real-time detection value of the belt scale is introduced timely to correct data. The current value of the bucket wheel motor or the hydraulic value (hydraulic motor) of the bucket wheel is used for protecting the bucket wheel mechanism in the whole process, and the safety of system operation is improved.
In some embodiments, during reclaiming and stacking, the method further comprises:
acquiring position information of each actuating mechanism in the stacker-reclaimer; and controlling the working state of each executing mechanism based on the position information and the position threshold value so as to realize the limit protection of each executing mechanism.
In the embodiment of the present application, each mechanism includes: the position threshold value can be regarded as a position for protecting limit, and comprises a walking forward limit position and a walking backward limit position; pitching an upper limit position and a lower limit position; a rotation left limit and a rotation right limit.
In some embodiments, the electrical signals of each mechanism can be acquired, and whether each mechanism is overloaded, over-current, over-torque, over-temperature tripping and the like can be determined by comparing the electrical signals with electrical signal thresholds; and under the condition that overload, overcurrent, over-torque and over-temperature tripping are determined, each mechanism is controlled to stop, so that each mechanism is protected.
In some embodiments, the interlocking between the stacker-reclaimer walking and the rail clamping device can be set; the interlocking between the cart walking and the anchoring device; interlocking of the running gear with all its drive brakes, etc.
In some embodiments, the stacking and reclaiming operation further comprises:
detecting whether an object exists in a preset range of the stacker-reclaimer; under the condition that an object exists in a preset range, controlling the stacker-reclaimer to pause and sending an alarm signal; and controlling the stacker-reclaimer to continue working under the condition that the object is detected to be absent in the preset range.
In the embodiment of the application, the object can be a person, a coal pile, a vehicle and the like.
In this application embodiment, when pedestrian protection device detected pedestrian or barrier among the stacker-reclaimer operation process, stacker-reclaimer automatic stop walking and send the warning, the pedestrian leaves or the barrier removes the back automatic recovery walking, effectively prevents the emergence of incident.
In the embodiment of the application, according to the real-time spatial position of the coal pile model and the cantilever of the stacker-reclaimer, the system calculates the relative position relation of the coal pile model and the cantilever in real time, when the position reaches a certain set value, the upper computer performs early warning, when the position reaches a limit value, the upper computer automatically stops rotating and provides an alarm, and the rotation is automatically recovered after manual confirmation and elimination.
In some embodiments, according to 2 material piling and taking machines and the real-time space position between the two under the condition of common rail double machines established in real time, the system calculates the relative position relation between the two in real time, when the position reaches a certain set value, the upper computer carries out early warning, when the position reaches a limit value, the upper computer automatically stops working and provides an alarm, after manual confirmation and elimination, the respective working is automatically recovered, the simultaneous working of multiple machines under the condition of common rail double machines is realized, the mutual interference is avoided, and the effective working rate of a coal yard is improved.
Based on the foregoing embodiments, the present application provides a control apparatus, where each module included in the apparatus and each unit included in each module may be implemented by a processor in a computer device; of course, the implementation can also be realized through a specific logic circuit; in the implementation process, the processor may be a Central Processing Unit (CPU), a Microprocessor Unit (MPU), a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), or the like.
An embodiment of the present application provides a control device, and fig. 5 is a schematic structural diagram of the control device provided in the embodiment of the present application, and as shown in fig. 5, a control device 500 includes:
a first obtaining module 501, configured to obtain an automatic stacking instruction;
a first determining module 502, configured to determine, based on the automatic stacking instruction, a control mode corresponding to the automatic stacking instruction;
the first control module 503 is configured to control the stacker-reclaimer to work based on the control mode, so that the stacker-reclaimer performs automatic stacking.
In some embodiments, in the case that the automatic stacking instruction is a walking fixed point stacking instruction, the first control module 503 includes:
the first control unit is used for controlling the stacker-reclaimer to start and starting fixed-point stacking;
the first acquisition unit is used for acquiring the height of the current material pile in real time;
the second control unit is used for controlling the stacker-reclaimer to retreat by a preset stepping distance under the condition that the current material pile reaches a set height;
and the third control unit is used for controlling the stacker-reclaimer to perform fixed-point stacking of the next material pile.
In some embodiments, in the case that the automatic stacking instruction is a turning fixed-point stacking instruction, the first control module 503 includes:
the third control unit is used for controlling the stacker-reclaimer to start and starting to rotate the stacker; acquiring the height of the current material pile in real time;
the fourth control unit is used for controlling the stacker-reclaimer to rotate by a preset stepping angle under the condition that the height of the current material pile reaches a set height;
the fifth control unit is used for controlling the stacker-reclaimer to continuously rotate for stacking; acquiring a rotation angle of the stacker-reclaimer;
a sixth control unit configured to control the stacker-reclaimer to retreat by a preset step distance in a case where it is determined based on the turning angle that a set maximum turning angle threshold is reached; controlling a stacker-reclaimer to rotate to a minimum angle of rotation of the stacker-reclaimer;
the seventh control unit is used for continuing turning the stockpile from the minimum angle.
In some embodiments, the first control module 503 further comprises:
the second acquisition unit is used for acquiring the position information of the stacker-reclaimer;
a first determination unit configured to determine whether the stacker-reclaimer reaches a set retreat end position based on the position information;
and the eighth control unit is used for controlling the stacker-reclaimer to stop working under the condition that the stacker-reclaimer reaches the set backward end position based on the position information.
In some embodiments, the control device 500 further comprises:
the second acquisition module is used for acquiring a rotary layered material taking instruction;
the second control module is used for controlling the stacker-reclaimer to start based on the layered material taking instruction and controlling the stacker-reclaimer to start rotary material taking after reaching the initial position of the ith layer of material taking;
the second determining module is used for determining whether the ith layer of material taking reaches the termination position of the ith layer of material taking;
the third control module is used for controlling the stacker-reclaimer to retreat to the starting position of the (i + 1) th layer for reclaiming under the condition that the finishing position of the ith layer for reclaiming is determined to be reached and the layer needs to be changed;
the fourth control module is used for controlling the stacker-reclaimer to continue to perform rotary reclaiming;
and the fifth control module is used for controlling the stacker-reclaimer to stop working under the condition that the number of the material taking layers is determined to reach the total number of the material taking layers.
In some embodiments, the control device 500 further comprises:
the third acquisition module is used for acquiring instantaneous material taking flow information;
the third determining module is used for determining the rotation speed of a cantilever of the stacker-reclaimer based on the instantaneous reclaiming flow information and the set reclaiming amount;
and the sixth control module is used for controlling the cantilever of the stacker-reclaimer to perform rotary material taking based on the rotary speed.
In some embodiments, the control device 500 further comprises:
the fourth acquisition module is used for acquiring the position information of each actuating mechanism in the stacker-reclaimer;
and the seventh control module is used for controlling the working state of each executing mechanism based on the position information and the position threshold value so as to realize the limit protection of each executing mechanism.
In some embodiments, the control device 500 further comprises:
the detection module is used for detecting whether an object exists in a preset range of the stacker-reclaimer;
the eighth control module is used for controlling the stacker-reclaimer to pause and send out an alarm signal under the condition that an object exists in a preset range;
and the ninth control module is used for controlling the stacker-reclaimer to continuously work under the condition that no object exists in the preset range.
It should be noted that, in the embodiment of the present application, if the above-mentioned intelligent stacker-reclaimer control method is implemented in the form of a software functional module, and is sold or used as an independent product, it may also be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially implemented or portions thereof contributing to the prior art may be embodied in the form of a software product stored in a storage medium, and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read Only Memory (ROM), a magnetic disk, or an optical disk. Thus, embodiments of the present application are not limited to any specific combination of hardware and software.
Accordingly, an embodiment of the present application provides a storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the steps in the intelligent stacker/reclaimer control method provided in the foregoing embodiment.
The embodiment of the application provides an electronic device; fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application, and as shown in fig. 6, the electronic device 600 includes: a processor 601, at least one communication bus 602, a user interface 603, at least one external communication interface 604, memory 605. Wherein the communication bus 602 is configured to enable connective communication between these components. Wherein the user interface 603 may comprise a display screen and the external communication interface 604 may comprise a standard wired interface and a wireless interface. The processor 601 is configured to execute a program of the intelligent stacker reclaimer control method stored in the memory, so as to implement the steps in the intelligent stacker reclaimer control method provided in the above embodiments.
Here, it should be noted that: the above description of the storage medium and the electronic device embodiments is similar to the description of the method embodiments described above, with similar advantageous effects as the method embodiments. For technical details not disclosed in the embodiments of the storage medium and apparatus of the present application, reference is made to the description of the embodiments of the method of the present application for understanding.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in the various embodiments of the present application, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application. The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, object, or apparatus that comprises the element.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units; can be located in one place or distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, all functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: various media that can store program codes, such as a removable Memory device, a Read Only Memory (ROM), a magnetic disk, or an optical disk.
Alternatively, the integrated units described above in the present application may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as independent products. Based on such understanding, the technical solutions of the embodiments of the present application, which are essentially or partly contributing to the prior art, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a controller to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a removable storage device, a ROM, a magnetic or optical disk, or other various media that can store program code.
The above description is only for the embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (11)
1. An intelligent stacker-reclaimer control method, characterized in that the method comprises:
acquiring an automatic stacking instruction;
determining a control mode corresponding to the automatic stacking instruction based on the automatic stacking instruction;
and controlling the stacker-reclaimer to work based on the control mode so that the stacker-reclaimer can automatically stack materials.
2. The method according to claim 1, wherein in the case that the automatic stacking instruction is a walking fixed point stacking instruction, the controlling the stacker-reclaimer to operate based on the control mode to cause the stacker-reclaimer to perform automatic stacking comprises:
controlling a stacker-reclaimer to start, and starting to stack materials at fixed points;
acquiring the height of the current material pile in real time;
under the condition that the current material pile reaches a set height, controlling the material piling and taking machine to retreat by a preset stepping distance;
and controlling the material piling and taking machine to carry out fixed-point material piling of the next material pile.
3. The method according to claim 1, wherein in the case where the automatic stacking command is a swing setpoint stacking command, the controlling the stacker-reclaimer to operate based on the control pattern to cause the stacker-reclaimer to perform automatic stacking comprises:
controlling the stacker-reclaimer to start and starting to rotate the stacker; acquiring the height of the current material pile in real time;
controlling the stacker-reclaimer to rotate by a preset stepping angle under the condition that the height of the current material pile reaches a set height;
controlling the stacker-reclaimer to continue to rotate for stacking; acquiring a rotation angle of the stacker-reclaimer;
controlling the stacker-reclaimer to retreat by a preset stepping distance under the condition that the preset maximum rotation angle threshold is determined to be reached based on the rotation angle; controlling a stacker-reclaimer to rotate to a minimum angle of rotation of the stacker-reclaimer;
continuing to turn the windrow from said minimum angle.
4. The method of claim 1 or 3, further comprising:
acquiring the position information of the stacker-reclaimer;
determining whether the stacker-reclaimer reaches a set backward end position based on the position information;
and controlling the stacker-reclaimer to stop working under the condition that the stacker-reclaimer reaches a set backward end position based on the position information.
5. The method of claim 1, further comprising:
acquiring a rotary layered material taking instruction;
controlling the stacker-reclaimer to start based on the layered material taking instruction, and controlling the stacker-reclaimer to start rotary material taking after reaching the initial position of the ith layer of material taking;
determining whether the ith layer of material taking reaches the termination position of the ith layer of material taking;
controlling the stacker-reclaimer to retreat to the starting position of the (i + 1) th layer of reclaiming under the condition that the finishing position of the ith layer of reclaiming is determined to be reached and the layer is required to be changed;
controlling the stacker-reclaimer to continue to rotate for reclaiming;
and controlling the stacker-reclaimer to stop working under the condition of determining that the number of the taken material layers reaches the total number of the taken material layers.
6. The method of claim 5, further comprising:
acquiring instantaneous material taking flow information;
determining the rotation speed of a cantilever of the stacker-reclaimer based on the instantaneous material taking flow information and the set material taking amount;
and controlling a cantilever of the stacker-reclaimer to perform rotary reclaiming based on the rotary speed.
7. The method of claim 1, further comprising:
acquiring position information of each actuating mechanism in the stacker-reclaimer;
and controlling the working state of each executing mechanism based on the position information and the position threshold value so as to realize the limit protection of each executing mechanism.
8. The method of claim 1, further comprising:
detecting whether an object exists in a preset range of the stacker-reclaimer;
under the condition that an object exists in a preset range, controlling the stacker-reclaimer to pause and sending an alarm signal;
and controlling the stacker-reclaimer to continue working under the condition that the object is detected to be absent in the preset range.
9. A control device, comprising:
the first acquisition module is used for acquiring an automatic stacking instruction;
the first determination module is used for determining a control mode corresponding to the automatic stacking instruction based on the automatic stacking instruction;
and the first control module is used for controlling the stacker-reclaimer to work based on the control mode so as to enable the stacker-reclaimer to automatically stack.
10. An electronic device, comprising:
a memory and a processor, the memory having stored thereon a computer program that, when executed by the processor, performs the intelligent stacker/reclaimer control method of any one of claims 1 to 8.
11. A storage medium storing a computer program executable by one or more processors and operable to implement the intelligent stacker reclaimer control method of any one of claims 1 to 8.
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| CN202210160910.0A CN114620496A (en) | 2022-02-22 | 2022-02-22 | Intelligent material piling and taking control method and device, electronic equipment and storage medium |
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| CN202210160910.0A CN114620496A (en) | 2022-02-22 | 2022-02-22 | Intelligent material piling and taking control method and device, electronic equipment and storage medium |
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