CN115309097A - Control system and control method for blast furnace mud gun mud-adding load-carrying unmanned vehicle - Google Patents
Control system and control method for blast furnace mud gun mud-adding load-carrying unmanned vehicle Download PDFInfo
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- CN115309097A CN115309097A CN202210800766.2A CN202210800766A CN115309097A CN 115309097 A CN115309097 A CN 115309097A CN 202210800766 A CN202210800766 A CN 202210800766A CN 115309097 A CN115309097 A CN 115309097A
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- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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Abstract
A control system and a control method for a blast furnace mud gun mud-adding load-carrying unmanned vehicle belong to the technical field of robot control and solve the problem that the prior art can not realize complete unmanned and automatic blast furnace mud gun mud adding work. The system of the present invention comprises: the system comprises a blast furnace front monitoring center, a mud gun operation system, an unmanned vehicle and a charging control system; the mud gun operation system comprises a signal transmission module, a furnace front PLC control system, a furnace front automatic door, a mud gun state monitoring and controlling system, a tapping machine control system and a cover lifting machine control system; the unmanned vehicle comprises a load-carrying unmanned vehicle information processing system, a charging control system, SLAM navigation, a visual 6-degree-of-freedom mechanical arm, a vehicle-mounted stemming multilayer storage mechanism, a high-sensitivity horizontal self-stabilizing device, a regional human body security detection system, a vehicle-mounted display screen, an audible and visual alarm and a traveling system. The method is suitable for adding the mud in the blast furnace mud gun during smelting.
Description
Technical Field
The application relates to the technical field of robot control, in particular to a control system and a control method for a blast furnace mud gun mud loading unmanned vehicle.
Background
As important equipment for reducing iron ore into iron in smelting, a blast furnace adopts manual operation modes for filling a mud gun and transporting the mud gun, so that the efficiency is not high, the labor intensity is high, the working temperature is high, the working environment is dangerous and the like. If can replace with the machine, will improve post personnel's safety index on the basis of reducing the cost of labor, reduce the human cost and improve production efficiency.
The automatic stemming feeding and beating machine has the advantages that functions of independent stemming transportation, independent feeding, independent beating and the like are limited in the prior art, complete unmanned and automatic cannot be achieved, the automatic stemming feeding and beating machine has the advantages that modes such as a transportation device and the like are increased in innovation, the functions of independent stemming transportation, independent feeding, independent beating and the like are carried out, devices such as a tapping machine need to be secondarily transformed, space is occupied, and flexibility is low.
Disclosure of Invention
The invention aims to solve the problem that the prior art cannot realize completely unmanned and automatic mud adding work of a blast furnace mud gun, and provides a control system and a control method of a blast furnace mud gun mud adding unmanned truck.
The invention is realized by the following technical scheme, and on one hand, the invention provides a control system of a blast furnace mud gun mud loading unmanned vehicle, which comprises the following components: the system comprises a blast furnace front monitoring center, a mud gun operation system, an unmanned vehicle and a charging control system;
the blast furnace stokehole monitoring center performs information interaction with the stokehole PLC control system, and is used for monitoring the running states of the mud gun operation system, the charging control system and the unmanned vehicle and sending a control instruction according to the running states;
the mud gun operation system comprises a signal transmission module, a furnace front PLC control system, a furnace front automatic door, a mud gun state monitoring and control system, a tapping machine control system and a cover lifting machine control system;
the stokehole PLC control system sends control signals to the stokehole automatic door, the mud gun state monitoring and control system, the tapping machine control system, the cover lifting machine control system, the charging control system and the unmanned vehicle through the signal transmission module, processes feedback signals and sends the control signals according to the processed feedback signals;
the automatic door in front of the furnace is opened or closed according to a control signal;
the tapping machine control system is used for controlling the tapping machine;
the cover lifting machine control system is used for controlling the cover lifting machine;
the clay gun state monitoring and controlling system is used for acquiring the clay amount in the clay gun and sending a signal of the clay amount in the clay gun to the stokehole PLC control system;
the unmanned vehicle comprises a load-carrying unmanned vehicle information processing system, a vehicle-mounted power supply system, SLAM navigation, a vision 6-degree-of-freedom mechanical arm, a vehicle-mounted stemming multi-layer storage mechanism, a high-sensitivity horizontal self-stabilizing device, a regional human body security detection system and a walking system;
the load-carrying unmanned vehicle information processing system is used for sending control signals to the vehicle-mounted power supply system, the SLAM navigation system, the visual 6-degree-of-freedom mechanical arm, the vehicle-mounted stemming multilayer storage mechanism, the regional human body security detection system and the walking system according to the signals sent by the stokehole PLC control system, processing feedback signals and sending the control signals according to the processed feedback signals;
the walking system controls the unmanned vehicle to travel according to a pre-planned route by utilizing the SLAM navigation;
the vehicle-mounted stemming multi-layer storage mechanism is used for loading stemming;
the region human body security detection system is used for detecting obstacles in real time, and when an obstacle exists in front of the unmanned vehicle, the information of the obstacle in front is fed back to the load-carrying unmanned vehicle information processing system;
the vision 6-degree-of-freedom mechanical arm is used for loading mud to the vehicle-mounted stemming multi-layer storage mechanism;
and the charging control system is used for charging the vehicle-mounted power supply system according to the control signal.
Further, the signal transmission module comprises a stokehole base station and an industrial ring network switch, the stokehole base station utilizes the wireless receiving end of the industrial ring network switch to acquire signals, and the stokehole PLC control system transmits the signals with the unmanned vehicle through the stokehole base station and the industrial ring network switch.
Further, the unmanned vehicle further comprises a high-sensitivity horizontal self-stabilizing device, wherein the high-sensitivity horizontal self-stabilizing device comprises a supporting structure and is used for leveling the unmanned vehicle.
Further, the unmanned vehicle further comprises: when abnormal conditions occur, the information processing system of the loaded unmanned vehicle sends instructions to control the audible and visual alarm to change color and flash for alarming, and current error information and a processing method are displayed on the vehicle-mounted display screen.
Further, the walking system comprises a walking controller, a walking motor and a shaft encoder;
the walking controller is used for controlling the walking motor to drive the unmanned vehicle to move according to a control instruction sent by the load unmanned vehicle information processing system;
the shaft encoder is used for acquiring information of the walking motor and sending the information of the walking motor to the information processing system of the load-carrying unmanned vehicle, and the information of the walking motor refers to the number of rotation turns of an output shaft of the walking motor.
Further, the charging control system includes a non-contact charging unit, and the vehicle-mounted power supply system includes a non-contact charging unit.
In another aspect, the invention provides a control method for a blast furnace gun mud-adding unmanned truck, comprising the following steps:
step 2, in a stemming storage area, the load-carrying unmanned vehicle information processing system controls the vision 6-degree-of-freedom mechanical arm to load mud to the vehicle-mounted stemming multi-layer storage mechanism according to the mud adding amount control signal;
step 4, the walking system controls the unmanned vehicle to travel according to a pre-planned route by utilizing SLAM navigation according to the mud adding target iron notch instruction, meanwhile, controls the regional human body security detection system to detect obstacles in real time, when an obstacle exists in front of the unmanned vehicle, the information of the obstacle in front is fed back to the load-carrying unmanned vehicle information processing system, and the load-carrying unmanned vehicle information processing system replans the route by utilizing SLAM navigation to avoid the obstacle;
step 6, when the unmanned vehicle travels to a mud bubble position, the load-carrying unmanned vehicle information processing system controls the vision 6-degree-of-freedom mechanical arm to grab the stemming from the vehicle-mounted stemming multi-layer storage mechanism and move to a material port to throw in the mud material until the specified mud bag number is completed, and a single mud beating action is completed;
and 8, after the mud adding is finished, returning the unmanned vehicle to the stemming storage area to carry out self-loading mud and charging under the control of the charging control system.
Further, the step 6 further includes: the mud gun state monitoring and controlling system monitors the work of the blast furnace mud gun in real time, and when the mud is monitored to overflow, the electromagnetic directional valve is controlled to unload, and the mud-beating hydraulic action is stopped.
Further, the step 6 further comprises that the load-carrying unmanned vehicle information processing system sends a working instruction to the high-sensitivity horizontal self-stabilizing device, and the high-sensitivity horizontal self-stabilizing device opens the supporting structure and levels the vehicle body.
Further, the step 8 specifically includes: the mud gun state monitoring and controlling system feeds back mud adding completion information to the stokehole PLC control system;
when the unmanned vehicle leaves the mud bubble position, a closing signal is sent to the furnace front PLC control system to the furnace front automatic door, the tapping machine control system and the cover lifting machine control system;
and the stokehole PLC control system controls the SLAM navigation control system for the unmanned vehicle to return to the stemming storage area according to a pre-planned route for self-loading and charging under the control of the charging control system.
The invention has the beneficial effects that:
the invention aims to provide a control method of a blast furnace mud gun mud-adding unmanned truck, which realizes the functions of autonomous transport, autonomous feeding, autonomous mud beating and the like of the mud gun through a control unit and various sensing elements so as to realize complete unmanned and automatic operation. Meanwhile, the function of no influence on the original control system of the tapping machine, the clay gun and the uncovering machine can be realized.
The invention is suitable for adding mud in the smelting blast furnace mud gun.
Drawings
In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a control system for a blast furnace gun mud loading unmanned vehicle;
FIG. 2 is a schematic view of the unmanned vehicle of the present invention;
FIG. 3 is a schematic flow chart of a control method of a blast furnace mud gun mud loading unmanned vehicle;
fig. 4 is a distribution diagram of the working area of 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 function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the present invention and are not to be construed as limiting the present invention.
Embodiment one, as shown in fig. 1 and 2, a control system of a blast furnace mud gun mud loading unmanned vehicle comprises: the system comprises a blast furnace front monitoring center, a mud gun operation system, an unmanned vehicle and a charging control system;
the blast furnace stokehole monitoring center performs information interaction with the stokehole PLC control system, and is used for monitoring the running states of the mud gun operation system, the charging control system and the unmanned vehicle and sending a control instruction according to the running states;
the mud gun operation system comprises a signal transmission module, a furnace front PLC control system, a furnace front automatic door, a mud gun state monitoring and control system, a tapping machine control system and a cover lifting machine control system;
the stokehole PLC control system sends control signals to the stokehole automatic door, the mud gun state monitoring and control system, the tapping machine control system, the cover lifting machine control system, the charging control system and the unmanned vehicle through the signal transmission module, processes feedback signals and sends the control signals according to the processed feedback signals;
the automatic door in front of the furnace is opened or closed according to a control signal;
the tapping machine control system is used for controlling the tapping machine;
the cover lifting machine control system is used for controlling the cover lifting machine;
the mud gun state monitoring and controlling system is used for acquiring the mud gun amount in a mud gun and sending a signal of the mud gun amount in the mud gun to the stokehole PLC control system;
the unmanned vehicle comprises a load unmanned vehicle information processing system, a vehicle-mounted power supply system, SLAM navigation, a visual 6-degree-of-freedom mechanical arm, a vehicle-mounted stemming multilayer storage mechanism, a high-sensitivity horizontal self-stabilizing device, a regional human body security detection system and a walking system;
the load-carrying unmanned vehicle information processing system is used for sending control signals to the vehicle-mounted power supply system, the SLAM navigation system, the visual 6-degree-of-freedom mechanical arm, the vehicle-mounted stemming multilayer storage mechanism, the regional human body security detection system and the walking system according to the signals sent by the stokehole PLC control system, processing feedback signals and sending the control signals according to the processed feedback signals;
the walking system controls the unmanned vehicle to travel according to a pre-planned route by utilizing the SLAM navigation;
the vehicle-mounted stemming multi-layer storage mechanism is used for loading stemming;
the region human body security detection system is used for detecting obstacles in real time, and when an obstacle exists in front of the unmanned vehicle, the information of the obstacle in front is fed back to the load-carrying unmanned vehicle information processing system;
the vision 6-degree-of-freedom mechanical arm is used for loading mud to the vehicle-mounted stemming multi-layer storage mechanism;
and the charging control system is used for charging the vehicle-mounted power supply system according to the control signal.
In this embodiment, the automatic mud-adding and loading unmanned vehicle for the blast furnace mud gun judges the amount of the remaining mud gun in the mud gun through the pressure sensor in the mud gun state monitoring and controlling system in combination with the hydraulic flowmeter, and outputs a signal for reflecting the amount of the remaining mud gun through the PLC controlling system.
It should be noted that, in the present embodiment, the unmanned vehicle moves to the designated position according to the path planned in advance and the monte carlo positioning method, so that the unmanned vehicle can be accurately positioned, and further, the unmanned vehicle can travel according to the path planned in advance, wherein a monte carlo advantage algorithm is easy to implement, and the requirements of robustness and rapidity in an industrial scene are met.
In the embodiment, the functions of independent transport, independent feeding, independent mud beating and the like of the stemming are realized through the control unit and various sensing elements, so that the complete unmanned and automatic stemming is realized. Meanwhile, the function of no influence on the original control system of the tapping machine, the clay gun and the uncovering machine can be realized.
In a second embodiment, the present invention is further limited to the control system of the unmanned vehicle for loading mud into a blast furnace gun according to the first embodiment, and the signal transmission module in the present embodiment is further limited to specifically include:
the signal transmission module comprises a furnace front base station and an industrial ring network switch, the furnace front base station utilizes the wireless receiving end of the industrial ring network switch to obtain signals, and the furnace front PLC control system transmits the signals with the unmanned vehicle through the furnace front base station and the industrial ring network switch.
The embodiment provides a specific composition of a signal transmission module, signal transmission can be realized by establishing a stokehole base station, a wireless receiving end of an industrial ring network switch is used for acquiring signals, and the signals are transmitted to the information processing system of the load-carrying unmanned vehicle through a vehicle-mounted wireless client on the unmanned vehicle.
In a third embodiment, the present invention provides a control system for a blast furnace mud gun mud loading unmanned vehicle according to the first embodiment, wherein the control system further comprises:
the unmanned vehicle further comprises a high-sensitivity horizontal self-stabilizing device, wherein the high-sensitivity horizontal self-stabilizing device comprises a supporting structure and is used for leveling the unmanned vehicle.
In this embodiment, at the in-process that 6 degrees of freedom robotic arms of vision shifted mud cannon, need ensure the stability of unmanned car, if unmanned car is unstable, can take place to fall phenomenons such as mud, and then lead to adding mud operation mistake, this problem can be solved to this high sensitivity level self-stabilization device.
In a fourth embodiment, the present invention provides a control system for a blast furnace mud gun mud loading unmanned vehicle according to the first embodiment, wherein the control system further comprises:
the unmanned vehicle further comprises: when abnormal conditions occur, the information processing system of the loaded unmanned vehicle sends instructions to control the audible and visual alarm to change color and flash for alarming, and current error information and a processing method are displayed on the vehicle-mounted display screen.
According to the implementation mode, automatic abnormity prompting of the unmanned vehicle can be realized, and further, completely unmanned and automatic loading of the blast furnace gun is realized.
Fifth embodiment is further directed to the control system for the blast furnace gun mud loading unmanned vehicle according to the first embodiment, and in the fifth embodiment, the traveling system is further defined, and specifically includes:
the walking system comprises a walking controller, a walking motor and a shaft encoder;
the walking controller is used for controlling the walking motor to drive the unmanned vehicle to move according to a control instruction sent by the information processing system of the load-carrying unmanned vehicle;
the shaft encoder is used for acquiring information of the walking motor and sending the information of the walking motor to the information processing system of the load-carrying unmanned vehicle, and the information of the walking motor refers to the number of rotation turns of an output shaft of the walking motor.
In the embodiment, the real movement distance of the vehicle can be fed back by utilizing the information of the number of rotation turns of the wheels, which is acquired by the walking system, so that the automatic advance of the unmanned vehicle is realized by utilizing the distance information, and the movement accuracy of the unmanned vehicle can be improved.
In a sixth embodiment, the control system for a blast furnace gun mud loading unmanned vehicle according to the first embodiment is further defined, and the charging control system in the sixth embodiment specifically includes:
the charging control system comprises a non-contact charging unit, and the vehicle-mounted power supply system comprises a non-contact charging unit.
The charging mode of this embodiment can realize promoting the flexibility of unmanned car's relevant operation, avoids because the contact charges, increases the unnecessary setting to and can not realize full automated performance.
Seventh embodiment, as shown in fig. 3, the present embodiment is a control method of a control system for a blast furnace mud gun mud loading unmanned vehicle, the method including:
step 2, in a stemming storage area, the load-carrying unmanned vehicle information processing system controls the vision 6-degree-of-freedom mechanical arm to load mud to the vehicle-mounted stemming multi-layer storage mechanism according to the mud adding amount control signal;
step 4, the walking system controls the unmanned vehicle to travel according to a pre-planned route by utilizing SLAM navigation according to the mud feeding target iron notch instruction, meanwhile, controls the regional human body security detection system to detect obstacles in real time, feeds back information of the obstacles in front to the load-carrying unmanned vehicle information processing system when the obstacles are in front of the unmanned vehicle, and the load-carrying unmanned vehicle information processing system replans the route by utilizing SLAM navigation to avoid the obstacles;
step 6, when the unmanned vehicle walks to a mud bubble position, the load unmanned vehicle information processing system controls the vision 6-degree-of-freedom mechanical arm to grab the stemming from the vehicle-mounted stemming multilayer storage mechanism and move to a material port to throw in the mud material until the specified mud pack number is completed, and a single mud beating action is completed;
and 8, after the mud adding is finished, returning the unmanned vehicle to the stemming storage area to carry out self-loading mud and charging under the control of the charging control system 7.
It should be noted that the total volume of the stemming machine is consistent, the measurement unit of the stemming is a block, and the size of each block of the stemming is fixed, so that the required mud adding amount can be calculated according to the obtained residual stemming amount.
In the embodiment, the functions of independent transport, independent feeding, independent mud beating and the like of the stemming are realized through the control unit and various sensing elements, so that the complete unmanned and automatic stemming is realized. Meanwhile, the function of no influence on the original control system of the tapping machine, the clay gun and the uncovering machine can be realized.
Eighth embodiment is further limited to the method for controlling a blast furnace mud gun mud loading unmanned vehicle according to seventh embodiment, and in the present embodiment, the step 6 is further limited, and specifically includes:
the step 6 further comprises: the mud gun state monitoring and controlling system monitors the work of the blast furnace mud gun in real time, and when the mud is monitored to overflow, the electromagnetic directional valve is controlled to unload, and the mud-beating hydraulic action is stopped.
The embodiment belongs to a safety measure in the mud adding operation, and the mud adding amount is monitored in real time.
Ninth embodiment is further limited to the method for controlling a blast furnace gun mud loading unmanned vehicle according to the seventh embodiment, and in the present embodiment, the step 6 is further limited, and specifically includes:
and step 6, the information processing system of the load-carrying unmanned vehicle sends a working instruction to the high-sensitivity horizontal self-stabilizing device, and the high-sensitivity horizontal self-stabilizing device opens the supporting structure and levels the vehicle body.
This embodiment, at the in-process that 6 degrees of freedom robotic arms of vision shifted mud big gun, need ensure the stability of unmanned car, if unmanned car is unstable, can take place to fall phenomenons such as mud, and then lead to adding mud operation mistake, this problem can be solved to this high sensitivity level self-stabilization device.
Tenth embodiment, the present embodiment is further limited to the method for controlling a blast furnace mud gun mud loading unmanned vehicle according to seventh embodiment, and in the present embodiment, the step 8 is further limited, and specifically includes:
the step 8 specifically includes: the mud gun state monitoring and controlling system feeds back mud adding completion information to the stokehole PLC control system;
when the unmanned vehicle leaves the mud bubble position, a closing signal is sent to the furnace front PLC control system to the furnace front automatic door, the tapping machine control system and the cover lifting machine control system;
and the stokehole PLC control system controls the SLAM navigation for the unmanned vehicle to control the unmanned vehicle to return to a stemming storage area according to a pre-planned route for self-loading and charging under the control of the charging control system 7.
The implementation mode provides an automatic return method of an unmanned vehicle, and further realizes the full automation of the mud adding of the blast furnace mud gun.
In an eleventh embodiment, the present embodiment is directed to a specific example of the control method for a blast furnace mud gun mud loading unmanned vehicle, and specifically includes:
firstly, the automatic mud adding load unmanned vehicle of blast furnace mud gun passes through mud gun state monitoring and control system 9, combines stokehold PLC control system 5 to judge surplus big gun mud volume in the mud gun, calculates required mud adding quantity and sends out control signal according to the vacant volume of stemming machine, and stokehold base station 3 utilizes the wireless receiving terminal of industry looped netowrk switch 4 to obtain the signal to transmit it to load unmanned vehicle information processing system 1 through on-vehicle wireless client 2.
Secondly, the unmanned load-carrying vehicle information processing system 1 sends an instruction to the vision 6-freedom-degree mechanical arm 14 after receiving the mud adding control signal to control the unmanned load-carrying vehicle to carry out self-mud loading in the mud storage area by utilizing the vehicle-mounted mud multilayer storage mechanism 15
And thirdly, an operator selects a mud adding target iron notch on a host computer of a blast furnace front monitoring center 6 and sends a starting instruction, the intelligent mud adding unmanned vehicle sends a motion instruction to a walking controller 20 to control a walking motor 21 to drive the vehicle to move forwards, a shaft encoder 22 collects information of the walking motor 21 and sends the information back to the load-carrying unmanned vehicle information processing system 1, SLAM navigation 13 is utilized to move according to a pre-planned route, signals are sent to a furnace front automatic door 8, a tapping machine control system 10 and a cover lifting machine control system 11 in the driving route of the mud adding unmanned vehicle through a furnace front PLC control system 5 to control the furnace front automatic door 8 to open or close in a linkage mode, the tapping machine control system 10 enables the tapping machine to rotate, and the cover lifting machine control system 11 enables the cover lifting machine to lift so that the mud adding unmanned vehicle moves to a mud gun position. Meanwhile, the regional human body and security detection system 17 detects obstacles in real time, when an obstacle exists in front of the operation, the information is transmitted back to the information processing system 1 of the load-carrying unmanned vehicle, and the vehicle can utilize the SLAM navigation 13 to plan a route again to avoid the obstacle.
And fourthly, automatically walking to a corresponding mud adding position, sending a working instruction to the high-sensitivity horizontal self-stabilizing device 16 by the information processing system 1 of the unmanned load-carrying vehicle, opening the supporting structure, automatically leveling the vehicle body, sending a working instruction to the vision six-degree-of-freedom mechanical arm 14, grabbing one stemming in the material box, moving to a material port, putting the mud into the material port, and delivering to finish the designated mud bag number. After the single mud-beating action is finished, the furnace-front PLC control system 5 sends an instruction to the mud gun state monitoring and controlling system 9 to control the hydraulic cylinder to return, the spare volume of the stemming machine at the moment is calculated, and the process is repeated until the stemming machine is completely full of the stemming.
And fifthly, synchronously monitoring the work of the blast furnace mud gun in real time by adopting a mud gun state monitoring and controlling system 9, communicating the mud gun with a stokehole PLC control system, and controlling an electromagnetic directional valve to unload when the monitored mud overflows, so as to stop the mud-hitting hydraulic action. The electromagnetic directional valve and the manual valve are connected in parallel in a pipeline to meet the requirements of automatic/manual mud-beating hydraulic control. After the mud adding is finished, the intelligent mud adding trolley automatically returns to the stemming storage area to carry out self-mud loading and carries out non-contact charging 12 under the control of the charging control system 7. When an abnormal condition occurs, the load-carrying unmanned vehicle information processing system 1 sends an instruction to control the audible and visual alarm 19 to change color and flash for alarm, and the current error information and the processing method are displayed on the vehicle-mounted display screen 18.
It should be noted that, as shown in fig. 4, the stemming storage area is far from the stemming operation area, the unmanned load-carrying vehicle transports stemming therein according to a pre-planned route, the charging control system is close to the stemming storage area, and the blast furnace front monitoring center is close to the stemming operation area. The mud gun operation area comprises a furnace front base station 3, an industrial ring network switch 4, a furnace front PLC control system 5, a furnace front automatic door 8, a mud gun state detection and control system 9, an opening machine control system 10 and a cover lifting machine control system 11.
In the embodiment, firstly, a stability stopping trolley of a high-sensitivity horizontal self-stabilizing device is controlled by a load-carrying unmanned vehicle information processing system, and a mechanical arm is controlled to load stemming; secondly, according to a sub-control room or field work instruction, the furnace front automatic door is controlled to be opened through SLAM autonomous navigation movement to the furnace front of the blast furnace, the position states of the tapping machine and the cover lifting machine are detected, the tapping machine and the cover lifting machine are controlled to run to the designated position, the unmanned vehicle runs to the position 30cm outside the mud gun in parallel, and mud is added to the mud gun according to the mud amount state of the mud gun until the mud gun is fully added; after the mud gun mud adding work is completed, the mud gun moves to the mud storage area again to add mud, and after the load-carrying unmanned vehicle is filled with mud, the load-carrying unmanned vehicle automatically moves to a charging position to charge, and meanwhile waits for a mud adding instruction next time.
This embodiment can realize mud gun machine stemming automatic storage and distribution, unmanned car snatchs automatically, transports, carries out automatic filling to the mud gun machine according to the stemming demand, returns by oneself after the end and carries out from dress mud and charging, and an automatic dress mud cycle shortens to about twenty minutes. Meanwhile, the automatic/manual mud-pumping hydraulic control switching can be realized. The automatic feeding and mud-filling integrated machine is beneficial to realizing automation, productization and unmanned mud filling of mud guns, and integrally coordinates and controls the whole processes of independent transport, independent feeding and independent mud beating of the mud guns.
Claims (10)
1. The utility model provides a control system of blast furnace mud gun mud loading unmanned vehicle which characterized in that, the system includes: the system comprises a blast furnace front monitoring center, a mud gun operation system, an unmanned vehicle and a charging control system;
the blast furnace stokehole monitoring center performs information interaction with the stokehole PLC control system, and is used for monitoring the running states of the mud gun operation system, the charging control system and the unmanned vehicle and sending a control instruction according to the running states;
the mud gun operation system comprises a signal transmission module, a furnace front PLC control system, a furnace front automatic door, a mud gun state monitoring and control system, a tapping machine control system and a cover lifting machine control system;
the stokehole PLC control system sends control signals to the stokehole automatic door, the mud gun state monitoring and control system, the tapping machine control system, the cover lifting machine control system, the charging control system and the unmanned vehicle through the signal transmission module, processes feedback signals and sends the control signals according to the processed feedback signals;
the automatic door in front of the furnace is opened or closed according to a control signal;
the tapping machine control system is used for controlling the tapping machine;
the cover lifting machine control system is used for controlling the cover lifting machine;
the mud gun state monitoring and controlling system is used for acquiring the mud gun amount in a mud gun and sending a signal of the mud gun amount in the mud gun to the stokehole PLC control system;
the unmanned vehicle comprises a load-carrying unmanned vehicle information processing system, a vehicle-mounted power supply system, SLAM navigation, a vision 6-degree-of-freedom mechanical arm, a vehicle-mounted stemming multi-layer storage mechanism, a high-sensitivity horizontal self-stabilizing device, a regional human body security detection system and a walking system;
the load-carrying unmanned vehicle information processing system is used for sending control signals to the vehicle-mounted power supply system, the SLAM navigation system, the vision 6-degree-of-freedom mechanical arm, the vehicle-mounted stemming multi-layer storage mechanism, the regional human body security detection system and the walking system according to the signals sent by the stokehole PLC control system, processing feedback signals and sending the control signals according to the processed feedback signals;
the walking system utilizes the SLAM navigation to control the unmanned vehicle to travel according to a pre-planned route;
the vehicle-mounted stemming multi-layer storage mechanism is used for loading stemming;
the region human body security detection system is used for detecting obstacles in real time, and when an obstacle exists in front of the unmanned vehicle, the information of the obstacle in front is fed back to the load-carrying unmanned vehicle information processing system;
the vision 6-degree-of-freedom mechanical arm is used for loading mud to the vehicle-mounted stemming multi-layer storage mechanism;
and the charging control system is used for charging the vehicle-mounted power supply system according to the control signal.
2. The control system of the blast furnace mud gun mud loading unmanned vehicle as claimed in claim 1, wherein the signal transmission module comprises a furnace base station and an industrial ring network switch, the furnace base station obtains signals by using a wireless receiving end of the industrial ring network switch, and the furnace PLC control system performs signal transmission with the unmanned vehicle through the furnace base station and the industrial ring network switch.
3. The control system of a blast furnace mud gun mud loading unmanned vehicle of claim 1, further comprising a high sensitivity level self-stabilizing device comprising a support structure for leveling the unmanned vehicle.
4. The control system of the blast furnace gun mud-adding unmanned vehicle as claimed in claim 1, wherein the unmanned vehicle further comprises: when abnormal conditions occur, the information processing system of the load-carrying unmanned vehicle sends an instruction to control the audible and visual alarm to change color and flash for alarming, and current error information and a processing method are displayed on the vehicle-mounted display screen.
5. The control system of the blast furnace mud gun mud-adding unmanned vehicle as claimed in claim 1,
the walking system comprises a walking controller, a walking motor and a shaft encoder;
the walking controller is used for controlling the walking motor to drive the unmanned vehicle to move according to a control instruction sent by the information processing system of the load-carrying unmanned vehicle;
the shaft encoder is used for acquiring information of the walking motor and sending the information of the walking motor to the information processing system of the load-carrying unmanned vehicle, and the information of the walking motor refers to the number of rotation turns of an output shaft of the walking motor.
6. The control system of the blast furnace mud gun mud loading unmanned vehicle as claimed in claim 1, wherein the charging control system comprises a non-contact charging unit, and the vehicle-mounted power supply system comprises a non-contact charging unit.
7. A control method for a blast furnace mud gun mud-adding load-carrying unmanned vehicle is characterized by comprising the following steps:
step 1, a stokehole PLC control system controls a mud gun state monitoring and control system to obtain the amount of residual mud in a mud gun, obtains and calculates the amount of mud required to be added according to the amount of residual mud in the mud gun, and sends a mud adding amount control signal to an information processing system of the unmanned truck;
step 2, in a stemming storage area, the load-carrying unmanned vehicle information processing system controls the vision 6-degree-of-freedom mechanical arm to load mud to the vehicle-mounted stemming multi-layer storage mechanism according to the mud adding amount control signal;
step 3, selecting a mud adding target iron notch by the blast furnace stokehole monitoring center, sending a mud adding target iron notch instruction to the load-carrying unmanned vehicle information processing system through the stokehole PLC control system, and sending the mud adding target iron notch instruction to the traveling system by the load-carrying unmanned vehicle information processing system;
step 4, the walking system controls the unmanned vehicle to travel according to a pre-planned route by utilizing SLAM navigation according to the mud adding target iron notch instruction, meanwhile, controls the regional human body security detection system to detect obstacles in real time, when an obstacle exists in front of the unmanned vehicle, the information of the obstacle in front is fed back to the load-carrying unmanned vehicle information processing system, and the load-carrying unmanned vehicle information processing system replans the route by utilizing SLAM navigation to avoid the obstacle;
step 5, when the unmanned vehicle advances to the blast furnace and reaches the position near the blast furnace, the stokehold PLC control system sends opening signals to the stokehold automatic door, the tapping machine control system and the cover lifting machine control system, the tapping machine control system controls the tapping machine to rotate, and the cover lifting machine control system controls the cover lifting machine to lift;
step 6, when the unmanned vehicle walks to a mud bubble position, the load unmanned vehicle information processing system controls the vision 6-degree-of-freedom mechanical arm to grab the stemming from the vehicle-mounted stemming multilayer storage mechanism and move to a material port to throw in the mud material until the specified mud pack number is completed, and a single mud beating action is completed;
step 7, sending an instruction to the mud gun state monitoring and controlling system through a furnace PLC control system to control the hydraulic cylinder to return, calculating the vacant volume of the mud gun at the moment, and repeating the steps 1-5 until the mud gun is completely filled with the mud gun;
and 8, after the mud adding is finished, returning the unmanned vehicle to the stemming storage area to carry out self-loading mud and charging under the control of the charging control system.
8. The method for controlling the blast furnace mud gun mud loading unmanned vehicle according to claim 7, wherein the step 6 further comprises: the mud gun state monitoring and controlling system monitors the work of the blast furnace mud gun in real time, and when the mud is monitored to overflow, the electromagnetic directional valve is controlled to unload, and the mud-beating hydraulic action is stopped.
9. The method as claimed in claim 7, wherein said step 6 further comprises the step of said unmanned truck information processing system sending an operation instruction to said high sensitivity level self-stabilizing device, said high sensitivity level self-stabilizing device opening the support structure and leveling the truck body.
10. The control method of the control system of the blast furnace mud gun mud loading unmanned vehicle according to claim 7, wherein the step 8 specifically comprises: the mud gun state monitoring and controlling system feeds back mud adding completion information to the stokehole PLC control system;
when the unmanned vehicle leaves the mud bubble position, a closing signal is sent to the furnace front PLC control system, the furnace front automatic door, the tapping machine control system and the cover lifting machine control system;
and the stokehole PLC control system controls the SLAM navigation for the unmanned vehicle to control the unmanned vehicle to return to a stemming storage area according to a pre-planned route for self-loading and charging under the control of the charging control system.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210800766.2A CN115309097A (en) | 2022-07-08 | 2022-07-08 | Control system and control method for blast furnace mud gun mud-adding load-carrying unmanned vehicle |
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| CN202210800766.2A CN115309097A (en) | 2022-07-08 | 2022-07-08 | Control system and control method for blast furnace mud gun mud-adding load-carrying unmanned vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116042940A (en) * | 2023-01-03 | 2023-05-02 | 中冶南方工程技术有限公司 | Method for automatically adding stemming in front of blast furnace |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116042940A (en) * | 2023-01-03 | 2023-05-02 | 中冶南方工程技术有限公司 | Method for automatically adding stemming in front of blast furnace |
| CN116042940B (en) * | 2023-01-03 | 2024-04-16 | 中冶南方工程技术有限公司 | Method for automatically adding stemming in front of blast furnace |
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