CN114803391B - Unmanned automatic material taking method for bucket wheel machine of intelligent fuel system - Google Patents
Unmanned automatic material taking method for bucket wheel machine of intelligent fuel system Download PDFInfo
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- 239000000463 material Substances 0.000 title claims abstract description 135
- 239000000446 fuel Substances 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000009826 distribution Methods 0.000 claims abstract description 20
- 239000003245 coal Substances 0.000 claims abstract description 15
- 238000004364 calculation method Methods 0.000 claims abstract description 3
- 230000002159 abnormal effect Effects 0.000 claims description 10
- 238000011156 evaluation Methods 0.000 claims description 6
- 238000004140 cleaning Methods 0.000 claims description 5
- 206010063385 Intellectualisation Diseases 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 239000000109 continuous material Substances 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Chemical compound O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
- B65G65/04—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with pick-up shovels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
- B65G65/16—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with rotary pick-up conveyors
- B65G65/20—Paddle wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/04—Bulk
- B65G2201/045—Sand, soil and mineral ore
Abstract
The application provides an unmanned automatic material taking method of an intelligent fuel system bucket wheel machine, which comprises the following steps: step 1, realizing real-time acquisition of coal yard fuel distribution data through a laser scanning system, and acquiring point cloud data of full-yard fuel distribution; and step 2, calculating task data of the bucket wheel machine material taking operation based on the point cloud data of the full-field fuel distribution. The method realizes the calculation of the automatic material taking task of the bucket wheel machine, and controls the bucket wheel machine equipment in real time to complete the automatic rotary material taking task. The user only needs to send an operation command to the system, the bucket wheel machine automatically calculates material taking task data according to the operation command, and evaluates the rationality of the material taking task through an algorithm, and the on-site bucket wheel machine equipment is controlled to operate in real time, so that the operation efficiency of the bucket wheel machine is improved, the labor capacity of on-site personnel can be reduced, and unmanned and intelligent system is achieved.
Description
Technical Field
The application relates to an automatic material taking technology of a cantilever type bucket wheel machine, in particular to an unattended automatic material taking method of an intelligent fuel system bucket wheel machine.
Background
The bucket-wheel stacker-reclaimer (bucket-wheel machine) is a continuous and efficient coal production machine. All running mechanisms of the conventional bucket wheel machine are required to be manually operated, so that the bucket wheel machine is frequent to operate, long in equipment running time and high in loss, and requires personnel to concentrate for a long time, and is long in time and high in labor intensity, and coal flow stability control difficulty is high, so that the working efficiency is reduced. The manual operation mode cannot meet the increasingly developed demands of social economy under the influence of factors such as globalization of international trade, great fluctuation of raw material price, rising of labor cost and the like.
Disclosure of Invention
The application aims to provide an unmanned automatic material taking method for an intelligent fuel system bucket wheel machine, which aims to solve the problems of low material taking efficiency and low intellectualization of the existing bucket wheel machine, reduce the workload of personnel and realize the remote and unmanned control of bucket wheel machine equipment.
The following presents a simplified summary of one or more aspects in order to provide a basic understanding of such aspects. This summary is not an extensive overview of all contemplated aspects, and is intended to neither identify key or critical elements of all aspects nor delineate the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that is presented later.
According to one aspect of the application, an unattended automatic material taking method of an intelligent fuel system bucket wheel machine is provided, comprising the following steps: step 1, realizing real-time acquisition of coal yard fuel distribution data through a laser scanning system, and acquiring point cloud data of full-yard fuel distribution; and step 2, calculating task data of the bucket wheel machine material taking operation based on the point cloud data of the full-field fuel distribution.
In one embodiment, the step 2 includes:
acquiring a material taking instruction issued by a user, traversing point cloud data of full-field fuel distribution, and acquiring the point cloud data of a designated coal yard in a range from a starting position to a terminating position;
layering point cloud data to be taken;
calculating the absolute height of the lower plane of each material taking layer;
calculating the pitching angle of each material taking layer cantilever according to the absolute height of the lower plane of each material taking layer;
calculating the horizontal turning radius of each material taking layer cantilever according to the pitching angle of the cantilever;
cleaning point cloud data higher than a preset threshold value of the lower plane height of each material taking layer according to the absolute height of the lower plane of each material taking layer;
calculating to obtain point cloud data of bulk materials which can be obtained by each rotation of the cantilever according to the pitching angle of the cantilever of each material taking layer, the horizontal rotation radius of the cantilever, the material taking depth of the bucket wheel machine and the point cloud data after cleaning;
calculating the maximum rotation angle and the minimum rotation angle of the cantilever according to the point cloud data of the bulk cargo and the position data of the bucket wheel machine, which can be obtained by each rotation of the cantilever, so as to obtain a material taking task data list;
and outputting a material taking task data list.
In one embodiment, the pitch angle theta = arcsin ((H-R)/(dl_r+r)) of each take-off level cantilever, where H is the current take-off level height, H is the relative height of the center of rotation of the bucket wheel machine cantilever, dl_r is the bucket wheel machine cantilever length, and R is the bucket take-off radius.
In one embodiment, each take-off layer cantilever horizontal turning radius dl_hz_r= (dl_r+r) cos (theta).
In one embodiment, the pick-up instructions include a pick-up coal yard, a start location, and an end location.
In an embodiment, the material taking task Data List includes a material taking rotation task List (dl_x, minAngle, maxAngle, data (X, y, z)), where dl_x is a bucket position of each rotation material taking task, min Angle is a minimum rotation Angle, max Angle is a maximum rotation Angle, and Data (X, y, z) is point cloud Data of the material taking task.
In one embodiment, the method for calculating the List of reclaiming tasks List (dl_x, min Angle, max Angle, data (X, y, z)) is as follows:
acquiring fuel distribution point cloud Data (X, y, z) of a material taking current layer, wherein the point cloud Data set projected on a horizontal plane XOY is Data' (X, y), and the current position of a bucket wheel machine is assumed to be dl_X;
angle of revolution angle=arctan (Data' (y) i )/Data′(x i )-dl_X)；
After the first material taking and rotating task is calculated, the bucket wheel machine moves forwards at the current dl-X position for a fixed distance X', the steps are repeated, and all material taking and rotating task lists (dl_X, min Angle, max Angle and Data (X, y and z)) of the current material taking layer are calculated.
In one embodiment, after obtaining the material taking task list, the method further includes:
and judging the rationality of the material taking task in the material taking task data list through a material taking task evaluation algorithm, and deleting unreasonable material taking task data.
In one embodiment, the take-out task evaluation algorithm includes:
traversing all point cloud Data (x, y, z) of the material taking task, and calculating the height difference alpha between all point cloud Data and the lower plane h of the material taking layer i ＝z i -h, when alpha i When the Data is smaller than the set threshold value, the point is considered as an abnormal Data point, and the point is automatically deleted to obtain Data' (x, y, z);
traversing all the point cloud Data '(x, y, z) of the material taking task, calculating the quantity of the point cloud Data within a fixed radius range of each point cloud Data, and when the quantity is smaller than a set threshold value, considering the point as an abnormal Data point, automatically deleting the point and outputting Data' (x, y, z);
combining Data '(X, y, z) and bucket wheel position dl_X, calculating a maximum swing Angle max Angle' and a minimum swing Angle min Angle 'to obtain an updated material taking swing task List (dl_X, min Angle', max Angle ', data' (X, y, z)).
The embodiment of the application has the beneficial effects that: the high-precision positioning system and the laser scanning system are utilized to calculate task data of the bucket wheel machine material taking operation based on the point cloud data depth of the fuel distribution acquired in a full field, the problems of low material taking efficiency and low intellectualization of the existing bucket wheel machine are solved, the workload of personnel is reduced, the remote, unmanned control and automatic operation of the bucket wheel machine equipment are realized, meanwhile, the production efficiency can be improved, and the operation cost is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
The above features and advantages of the present application will be better understood after reading the detailed description of embodiments of the present disclosure in conjunction with the following drawings. In the drawings, the components are not necessarily to scale and components having similar related features or characteristics may have the same or similar reference numerals.
FIG. 1 is a schematic flow diagram of a method according to an embodiment of the present application;
FIG. 2 is a schematic side view of a bucket wheel machine take out model;
FIG. 3 is a schematic top view of a bucket wheel machine take out model;
fig. 4 is a schematic diagram of the material taking task data in an embodiment of the present application.
Detailed Description
The application is described in detail below with reference to the drawings and the specific embodiments. It is noted that the aspects described below in connection with the drawings and the specific embodiments are merely exemplary and should not be construed as limiting the scope of the application in any way.
As shown in fig. 1, the embodiment of the application provides an unattended automatic material taking method of an intelligent fuel system bucket wheel machine, which comprises the following steps:
step 1, realizing real-time acquisition of coal yard fuel distribution data through a laser scanning system, and acquiring point cloud data of full-yard fuel distribution;
and step 2, calculating task data of the bucket wheel machine material taking operation based on the point cloud data of the full-field fuel distribution.
The step 2 specifically includes:
step 2.1, acquiring a material taking instruction issued by a user, traversing point cloud data of full-field fuel distribution, and acquiring the point cloud data of a designated coal yard in a range from a starting position to a terminating position;
the material taking command at least comprises a material taking coal yard, a starting position and a stopping position.
Step 2.2, layering the point cloud data to be taken according to the maximum depth principle that the bucket can take the material;
step 2.3, calculating the absolute height of the lower plane of each material taking layer;
step 2.4, calculating the pitching angle of each material taking layer cantilever according to the absolute height of the lower plane of each material taking layer;
referring to fig. 2, assuming that the height of the lower plane of the current material taking layer is H, the relative height of the rotation center of the cantilever of the bucket wheel machine is H, the material taking radius of the bucket wheel machine is R, and the length of the cantilever of the bucket wheel machine is dl_r, the pitching angle of the bucket wheel machine at the current layer is theta=arcsin ((H-R)/(dl_r+r)).
Step 2.5, calculating the horizontal turning radius of each material taking layer cantilever according to the pitching angle of the cantilever;
after obtaining the pitching angle theta, the radius of gyration of the current layer can be obtained to be
dl_hz_R＝(dl_R+r)*Cos(theta)。
Step 2.6, cleaning point cloud data higher than a preset threshold value of the lower plane height of each material taking layer according to the absolute height of the lower plane of each material taking layer;
step 2.7, calculating to obtain point cloud data of bulk materials which can be obtained by each rotation of the cantilever according to the pitching angle of the cantilever of each material taking layer, the horizontal rotation radius of the cantilever, the material taking depth of the bucket wheel machine and the cleaned point cloud data;
step 2.8, calculating the maximum rotation angle and the minimum rotation angle of the cantilever according to the point cloud data of the bulk cargo and the position data of the bucket wheel machine, which can be obtained by each rotation of the cantilever, so as to obtain a material taking task data list;
and 2.10, outputting a material taking task data list.
In this embodiment, the material taking task Data List includes a material taking rotation task List (dl_x, min Angle, max Angle, data (X, y, z)), where dl-X is the bucket wheel position of each rotation material taking task, min Angle is the minimum rotation Angle, max Angle is the maximum rotation Angle, and Data (X, y, z) is the point cloud Data of the material taking task.
Referring to fig. 3, the method for calculating the material taking swing task List (dl_x, min Angle, max Angle, data (X, y, z)) is as follows:
the fuel distribution point cloud Data (X, y, z) of the current layer of material taking can be obtained from the laser scanning system, the point cloud Data set projected on the horizontal plane XOY is Data' (X, y), and the position of the bucket wheel machine is assumed to be dl_x. The bucket wheel machine is used for continuously digging a coal bed through the rotation of bucket teeth to realize continuous material taking, wherein the material taking mechanism is a part from the center of a bucket wheel to the extension part of the bucket wheel. It can be calculated that if the bucket wheel is at the current position dl-X, the cloud data of the fuel distribution points of the current layer of material taking is in the bucket tooth rotation range, the rotation material taking task is determined, and the rotation angle is calculated as
angle＝arctan(Data′(y i )/Data′(x i )-dl_X)。
After the first material taking rotation task is calculated, the bucket wheel machine moves forward at the current dl-X position by a fixed distance X', and the steps are repeated, so that a material taking rotation task List (dl_X, min Angle, max Angle, data (X, y, z)) of all material taking rotation tasks of the current material taking layer is calculated.
As shown in fig. 4, the bucket wheel machine rotates at a minimum angle and a maximum angle to achieve fuel pick-up within the respective ranges. In the field application process, abnormal data often exist, and although the z coordinate of the abnormal data is higher than the lower plane height of the material taking layer, the abnormal data is isolated or has smaller height difference with the lower plane of the material taking layer, and the abnormal data is possibly caused by smoke dust, water vapor and the like or is slightly higher than a small coal pile of the lower plane of the material taking layer in the actual storage state of a coal yard. This situation can severely impact the take off efficiency, so such points should be filtered out.
Therefore, further, after obtaining the material taking task list, the method further includes step 2.9: and judging the rationality of the material taking task in the material taking task data list through a material taking task evaluation algorithm, and deleting unreasonable material taking task data.
The material taking task evaluation algorithm comprises the following steps:
step 2.9.1, traversing all the point cloud Data (x, y, z) of the material taking task, and calculating the height difference alpha between all the point cloud Data and the lower plane h of the material taking layer i ＝z i -h, when alpha i When the Data is smaller than the set threshold value, the point is considered as an abnormal Data point, and the point is automatically deleted to obtain Data' (x, y, z);
step 2.9.2, traversing all point cloud Data' (x, y, z) of the material taking task, calculating the number of the point cloud Data in a fixed radius range of each point cloud Data, and when the number is smaller than a set threshold value, considering the point as an abnormal Data point, automatically deleting the point and outputting Data (x, y, z);
step 2.9.3, combining Data ' (X, y, z) and the bucket wheel machine position dl_X, calculating a maximum swing angle ' and a minimum swing angle minAngle ', and obtaining an updated material taking swing task List ' (dl_X, minAngle ', maxAngle ', data ' (X, y, z)).
Through the algorithm, the rotation material taking task data of the bucket wheel machine can be evaluated, material taking idling of the bucket wheel machine is reduced, energy consumption is reduced, and operation efficiency is improved.
In summary, the application provides an unattended automatic material taking method for an intelligent fuel system bucket wheel machine, which is used for realizing calculation of an automatic material taking task of the bucket wheel machine and controlling bucket wheel machine equipment in real time to complete the automatic rotary material taking task. The user only needs to send an operation command to the system, the bucket wheel machine automatically calculates material taking task data according to the operation command, and evaluates the rationality of the material taking task through an algorithm, and the on-site bucket wheel machine equipment is controlled to operate in real time, so that the operation efficiency of the bucket wheel machine is improved, the labor capacity of on-site personnel can be reduced, and unmanned and intelligent system is achieved.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other variations without departing from the spirit or scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description is only of preferred embodiments of the application and is not intended to limit the application to the particular embodiments disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the application.
Claims (4)
1. An unattended automatic material taking method of an intelligent fuel system bucket wheel machine is characterized by comprising the following steps:
step 1, realizing real-time acquisition of coal yard fuel distribution data through a laser scanning system, and acquiring point cloud data of full-yard fuel distribution;
step 2, calculating task data of the bucket wheel machine material taking operation based on point cloud data of full-field fuel distribution; the step 2 comprises the following steps:
acquiring a material taking instruction issued by a user, traversing point cloud data of full-field fuel distribution, and acquiring the point cloud data of a designated coal yard in a range from a starting position to a terminating position;
layering point cloud data to be taken;
calculating the absolute height of the lower plane of each material taking layer;
calculating the pitching angle of each material taking layer cantilever according to the absolute height of the lower plane of each material taking layer;
calculating the horizontal turning radius of each material taking layer cantilever according to the pitching angle of the cantilever;
cleaning point cloud data higher than a preset threshold value of the lower plane height of each material taking layer according to the absolute height of the lower plane of each material taking layer;
calculating to obtain point cloud data of bulk materials which can be obtained by each rotation of the cantilever according to the pitching angle of the cantilever of each material taking layer, the horizontal rotation radius of the cantilever, the material taking depth of the bucket wheel machine and the point cloud data after cleaning;
calculating the maximum rotation angle and the minimum rotation angle of the cantilever according to the point cloud data of the bulk cargo and the position data of the bucket wheel machine, which can be obtained by each rotation of the cantilever, so as to obtain a material taking task data list;
the material taking task data list comprises a material taking rotation task list: list (dl_x, min Angle, max Angle, data (X, y, z));
wherein dl_X is the bucket wheel position of each rotary material taking task, min Angle is the minimum rotary Angle, max Angle is the maximum rotary Angle, and Data (X, y, z) is the point cloud Data of the material taking task;
the calculation method of the material taking rotation task List (dl_x, min Angle, max Angle, data (X, y, z)) is as follows:
acquiring fuel distribution point cloud Data (X, y, z) of a material taking current layer, wherein the point cloud Data set projected on a horizontal plane XOY is Data' (X, y), assuming that the current position of a bucket wheel machine is dl_X,
angle of revolution angle=arctan (Data' (y) i )/Data′(x i )-dl_X)；
After the first material taking and rotating task is calculated, the bucket wheel machine moves forwards at the current dl_X position for a fixed distance X', the steps are repeated, and all material taking and rotating task lists (dl_X, min Angle, max Angle, data (X, y, z)) of the current material taking layer are calculated;
after obtaining the material taking rotation task list, the method further comprises the following steps:
judging the rationality of the material taking task in the material taking task data list through a material taking task evaluation algorithm, and deleting unreasonable material taking task data;
the material taking task evaluation algorithm comprises the following steps:
traversing all point cloud Data (x, y, z) of the material taking task, and calculating the height difference alpha between all point cloud Data and the lower plane h of the material taking layer i ＝z i -h, when alpha i When the Data is smaller than the set threshold value, the point is considered as an abnormal Data point, and the point is automatically deleted to obtain Data' (x, y, z);
traversing all the point cloud Data '(x, y, z) of the material taking task, calculating the quantity of the point cloud Data within a fixed radius range of each point cloud Data, and when the quantity is smaller than a set threshold value, considering the point as an abnormal Data point, automatically deleting the point and outputting Data' (x, y, z);
combining Data ' (x, y, z) with the bucket wheel machine position dl_x, calculating a maximum rotation Angle max Angle ' and a minimum rotation Angle min Angle ' to obtain an updated material taking rotation task list
List′(dl_X，min Angle′，max Angle′，Data″(x，y，z))；
And outputting a material taking task data list.
2. The unattended automatic material taking method of an intelligent fuel system bucket wheel machine according to claim 1, wherein the pitching angle theta = arcsin ((H-R)/(dl_r+r)) of each material taking layer cantilever, wherein H is the current material taking layer lower plane height, H is the relative height of the rotation center of the bucket wheel machine cantilever, dl_r is the bucket wheel machine cantilever length, and R is the bucket wheel material taking radius.
3. The method of claim 2, wherein each take-off level cantilever horizontal turning radius dl_hz_r= (dl_r+r) cos (theta).
4. The intelligent fuel system bucket wheel machine unattended automatic reclaiming method according to claim 1, wherein the reclaiming instruction comprises a reclaiming coal yard, a starting position and a stopping position.
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