CN115339926A - Stepping type automatic discharging method and system - Google Patents
Stepping type automatic discharging method and system Download PDFInfo
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- CN115339926A CN115339926A CN202110530308.7A CN202110530308A CN115339926A CN 115339926 A CN115339926 A CN 115339926A CN 202110530308 A CN202110530308 A CN 202110530308A CN 115339926 A CN115339926 A CN 115339926A
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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
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
- B65G67/22—Loading moving vehicles
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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
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
- B65G67/06—Feeding articles or materials from bunkers or tunnels
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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
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
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Abstract
The application is applied to the technical field of pellet production, and shows a stepping automatic discharging method and a stepping automatic discharging system; controlling a loading bin to discharge according to the advancing position of the locomotive, predicting the loading volume of a carriage of the locomotive in real time, predicting the weight of materials according to the loading volume of the carriage, and realizing automatic discharging operation by adopting step-by-step progressive control; the technical scheme shown in the application can provide a stepwise progressive control method and a stepwise progressive control device with high automation degree and high loading efficiency, and the method and the device can judge the states of underload, full load, overload or overflow and the like of the material level according to the height distribution state, so that the loading of pellets is facilitated.
Description
Technical Field
The invention belongs to the technical field of pellet production, and particularly relates to a stepping automatic discharging method and system.
Background
The discharging process of the pellet finished product bin comprises the following steps: the transport locomotive is loaded manually according to visual inspection and experience, after loading of the transport locomotive is completed, load monitoring is carried out through a rail weighbridge, if detection is within an error allowable range, releasing is allowed, if loading errors are large, the transport locomotive returns to a material discharging room to carry out discharging or material supplementing, and in most cases, the transport locomotive needs to go back and forth twice, consumes 2-3 hours, is low in loading efficiency and wastes locomotive transport capacity.
Although an automatic loading system for finished pellets also exists in the prior art, the adopted mode is to stop the locomotive under a movable distributor and measure the flow rate of finished pellets by adopting flow monitoring so as to control the loading capacity, the prior art cannot realize loading in the running process of the locomotive and cannot measure the distribution state of materials in time, so that underloading, full loading, overloading or overflowing of the materials are easily caused.
Therefore, it is urgently needed to provide a method and a system which can control and load materials step by step in the advancing process of a locomotive, can monitor the material state in time, can judge the states of underload, full load, overload or overflow and the like of the material level, and are convenient for loading pellets.
Disclosure of Invention
Based on the problems, the invention provides a stepping automatic discharging method and a stepping automatic discharging system; can load the material at the locomotive in-process that advances, and can in time monitor the material state, judge the underload of material level, fill overload or overflow the wait state, the loading of the pelletizing of being convenient for.
In a first aspect, the application shows a method for step-by-step automatic discharging, which is used for a finished pellet bin, and the method comprises the following steps:
s1: when a locomotive pushes towards a finished pellet warehouse along a track, an automatic discharging system acquires locomotive carriage number information and carriage rated load information;
s2: the automatic discharging system sets a loading bin of a finished pellet bin according to the car number information of the carriage; the pellet finished product bin comprises N (N is more than or equal to 1, N is a natural number) bins, and the loading bins are X bins selected from the N bins (X is more than or equal to 1 and less than or equal to N, and X is a natural number); the loading feed bin includes: a first loading bin, a second loading bin \8230, the No. X loading bin;
s3: when a locomotive car enters a first loading bin, the automatic discharging system acquires car position information and performs discharging according to the car position information, and in the discharging process, the automatic discharging system acquires vector image information on the surface of a material; predicting the volume of the material according to the vector image information on the surface of the material, and obtaining material weight information according to the density of the material and the predicted volume of the material;
s4: the automatic discharging system compares the material weight information with the rated load information of the carriage, and if the material weight exceeds the rated load of the carriage, an alarm is given; if the weight of the materials does not exceed the rated load of the carriage, the locomotive carriage enters a second loading bin for material supplementing; obtaining the material weight information after material supplementing; the automatic discharging system compares the material weight information after material supplementing with the carriage rated load information, and if the material weight does not exceed the carriage rated load, the locomotive carriage enters a third loading bin for material supplementing; repeating the steps until the locomotive compartment enters an Xth loading bin for material supplement; if the weight of the material is within the error range of the rated load of the carriage, finishing material supplementing;
s5: and when the locomotive car finishes feeding, repeating the steps from S1 to S4 on the next car of the locomotive car.
In one possible design, the first loading bin includes: the device comprises a first feed opening, a second feed opening, \8230;, an Mth feed opening (M is a natural number);
when a locomotive car enters a first loading bin, the method for acquiring car position information and discharging according to the car position information by the automatic discharging system comprises the following steps:
when the locomotive carriage advances to the first feed opening, the automatic feed system controls the first feed opening to be opened; when the locomotive carriage advances to the second feed opening, the automatic discharging system controls the second feed opening to be opened, and so on, and when the locomotive carriage advances to the Mth feed opening, the automatic discharging system controls the Mth feed opening to be opened;
when the tail of the locomotive carriage passes through the first discharging opening, the automatic discharging system controls the first discharging opening to be closed; when the tail of the locomotive carriage passes through the second feed opening, the automatic feeding system controls the second feed opening to be closed; by analogy, when the tail of the locomotive car is about to pass through the Mth feed opening, the automatic feeding system controls the Mth feed opening to be closed.
In a possible design, the method for acquiring the material surface vector image information by the automatic emptying system comprises the following steps:
the automatic discharging system obtains a cross section outline and a longitudinal section outline of a locomotive carriage, and obtains material surface vector image information according to the cross section outline and the longitudinal section outline of the carriage.
In one possible design, the method for predicting the volume of the material according to the material surface vector image information includes:
multiplying the contour area of the cross section of the carriage by the distance of a longitudinal scanning point to obtain a unit volume, and summing the unit volume to obtain the full load volume of the carriage;
subtracting the volume from the bottom of the car to the track from the full load volume of the carriage to obtain the volume of the predicted material;
the calculation formula of the cross section profile area is as follows:
wherein i ∈ [0,n ]]；S j Is the cross-sectional profile area, y i Is the height value, x, of the ith scanning point of the vehicle body i The width value of the ith scanning point of the vehicle body is obtained, and n is the number of scanning points on the cross section of the vehicle body;
the calculation method of the full load volume of the carriage comprises the following steps:
wherein, V f Is the full load volume of the carriage, S j Is the jth cross-sectional area of the vehicle body, Z j Is the mileage along the driving direction of the jth longitudinal cutting scanning point of the vehicle body;
the calculation method for predicting the volume of the material comprises the following steps:
V l ＝V f -V e ；
wherein, V l To predict the volume of material, V e Is the volume from the bottom of the car to the track.
In one possible design, X is preferably 3 out of X bins selected from the N bins.
In a second aspect, the present application shows a system for automatic discharging of a step-by-step type, which is used for a pellet finished product bin, and is characterized in that the automatic discharging system comprises: the system comprises a central processor, a main controller, a laser radar, an ultrasonic probe and a vehicle number identification module;
the train number identification module is used for acquiring train number information of a locomotive carriage and rated load information of the carriage;
the main controller is used for setting a loading bin of the pellet finished product bin according to the carriage number information;
the laser radar includes: a transverse lidar and a longitudinal lidar; the transverse laser radar is used for scanning the cross section profile of the locomotive carriage, and the longitudinal laser radar is used for scanning the longitudinal section profile of the locomotive carriage; obtaining the vector image information of the surface of the material according to the contour of the cross section of the carriage and the contour of the longitudinal section of the carriage;
the longitudinal laser radar and the ultrasonic probe are used for acquiring the position information of the carriage;
the central processor is used for receiving carriage position information and set loading bin information of the finished pellet bin and controlling a loading bin to discharge according to the carriage position information, and is also used for receiving material surface vector image information, predicting material volume according to the material surface vector image information and obtaining material weight information according to material density and the predicted material volume; the central processor is also used for comparing the material weight information with the carriage rated load information, and if the material weight exceeds the carriage rated load, the central processor gives an alarm.
In one possible design, each bin of the lidar is preferably set to 1 transverse lidar, 2 longitudinal lidar, each bin of the ultrasonic probe is preferably set to 5, and the transverse lidar and the longitudinal lidar are arranged perpendicularly.
The beneficial effect of this application does:
according to the technical scheme, materials in a locomotive carriage can be loaded step by a stepping method in the advancing process of the locomotive, and the material state can be monitored in real time by adopting the stepping method; because the material is discharged for many times, the loading state of the locomotive can be recorded in time in the material discharging process every time, the height of the material level in the carriage is obtained, the states of underload, full load, overload or overflow and the like of the material level are judged, the start and stop of the gate can be controlled in time, the driving safety during the material discharging process is ensured, and the loading efficiency of the locomotive is high.
Drawings
In order to more clearly explain the technical solution of the application, the drawings needed to be used in the embodiments are briefly described below, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic view of a stepping automatic discharging system shown in the present application;
FIG. 2 is a schematic diagram illustrating a car number identification module acquiring car number information and car rated load information;
FIG. 3 is a schematic view of a radar scan shown in the present application;
FIG. 4 is a schematic view of a step-by-step automatic discharging method shown in the present application;
FIG. 5 is a schematic illustration of a locomotive shown in the present application about to enter a first loading bin;
FIG. 6 is a schematic illustration of a locomotive entering a first loading bin and initiating a first feed opening, as disclosed herein;
FIG. 7 is a schematic illustration of the locomotive shown in the present application entering a second loading bin and actuating a second feed opening;
fig. 8 is a schematic diagram illustrating a method for predicting a volume of a material according to the information of the material surface vector image.
Detailed Description
Referring to fig. 1, fig. 1 shows a step-by-step automatic discharging system for a finished pellet bin, the automatic discharging system comprises: the system comprises a central processor 1, a main controller 2, a laser radar 3, an ultrasonic probe 4 and a vehicle number identification module 5;
in a feasible embodiment, the automatic discharging system is based on the original structural design of the finished pellet bin, the system installation utilizes the existing space, additional excavation is not needed, the on-site support structure and the rail roadbed are not damaged, the safety is ensured, the construction cost is saved, and the construction difficulty is reduced; in the description of the present application, FIG. 1 shows a spatial coordinate system with one side along the x-axis as the left side of the locomotive and the other side along the z-axis as the front side of the locomotive;
referring to fig. 2, fig. 2 shows a setting manner of a car number identification module in a feasible embodiment, wherein the car number identification module 5 is arranged at a position where the side of a carriage is easy to photograph, and is used for acquiring information of the car number of the locomotive carriage and information of rated load of the carriage; the car number identification module can be arranged on a wall body, a stand column, a wood pole and other fixable carriers.
The main controller 2 is arranged on the spot of the pellet finished product bin, is convenient for personnel to operate and is used for setting a loading bin of the pellet finished product bin according to the car number information of the carriage;
referring to fig. 3, fig. 3 shows a radar scanning schematic, the lidar 3 comprising: a transverse lidar 31 and a longitudinal lidar 32; due to the adoption of the laser radar, the measurement precision can be effectively improved, the influence of fog in winter can be avoided, and all-weather measurement can be realized;
the transverse laser radar 31 is arranged at the front end of the steel frame and used for scanning the cross section outline of the locomotive carriage;
the longitudinal laser radar 32 is arranged on the side surface of the steel frame and used for scanning the profile of the longitudinal section of the locomotive carriage;
in one possible design, the lidar is preferably configured with 1 transverse lidar, 2 longitudinal lidar per bin, and the longitudinal lidar 32 includes: a first longitudinal lidar 321 and a second longitudinal lidar 322,
the transverse laser radar 31 and the longitudinal laser radar 32 are arranged perpendicularly, the transverse laser radar 31 is arranged in the middle of the front end of the steel frame, and can record cross section information of all materials in a locomotive carriage along with the movement of a locomotive in the advancing direction and transmit the cross section information to the central processor, the first longitudinal laser radar 321 is arranged in the middle of the left side of the steel frame and can monitor the movement position of the wall of the left side carriage of the locomotive and the longitudinal section information of the left side material of the locomotive and transmit the information to the central processor, and the second longitudinal laser radar 322 is arranged in the middle of the right side of the steel frame and can monitor the movement position of the wall of the right side carriage of the locomotive and the longitudinal section information of the right side material of the locomotive and transmit the information to the central processor;
the ultrasonic probe 4 is arranged on the inner side of the steel frame and used for acquiring carriage position information and recording height information of materials in the carriage; in one possible design, the number of ultrasonic probes is preferably 5 per magazine, and the ultrasonic probe 4 includes: the steel frame ultrasonic testing device comprises a first ultrasonic probe, a second ultrasonic probe, a third ultrasonic probe, a fourth ultrasonic probe and a fifth ultrasonic probe, wherein the first ultrasonic probe, the second ultrasonic probe, the third ultrasonic probe, the fourth ultrasonic probe and the fifth ultrasonic probe are uniformly arranged on the inner side of the steel frame.
The central controller 1 can be arranged indoors or at any convenient operation place, and is used for receiving carriage position information and set loading bin information of a finished pellet bin and controlling a loading bin to discharge materials according to the carriage position information, the central processor 1 is also used for receiving material surface vector image information, predicting material volume according to the material surface vector image information, and obtaining material weight information according to material density and the predicted material volume; the central processor 1 is further configured to compare the material weight information with the rated load information of the car, and if the material weight exceeds the rated load of the car, the central processor 1 issues an alarm.
Referring to fig. 4, fig. 4 shows a step-by-step automatic discharging method for a finished pellet bin, which includes:
s1: when a locomotive is propelled towards a finished pellet warehouse along a track, a vehicle number identification module in the automatic discharging system acquires locomotive carriage number information and carriage rated load information;
s2: a main controller in the automatic discharging system sets a loading bin of a finished pellet bin according to the car number information of the carriage; the finished pellet bin comprises N bins (N is more than or equal to 1 and N is a natural number), and the loading bin is X bins selected from the N bins (X is more than or equal to 1 and less than or equal to N, and X is a natural number); the loading feed bin includes: a first loading bin, a second loading bin \8230, a \8230, and an Xth loading bin;
in a possible design, pelletizing finished product storehouse includes 5 feed bins, the loading feed bin is 3 feed bins of selecting from 5 feed bins, selects according to current carriage model and feed bin stock volume, and under the conventional conditions, 3 loading feed bins can fill a carriage, and consequently, the loading feed bin is preferred: the technical scheme shown in the application can also be applied to carriages of any type and bins with any loading capacity.
Referring to FIG. 5, FIG. 5 shows a schematic view of a locomotive about to enter a first loading bin;
s3: when a locomotive car enters a first loading bin, the automatic discharging system acquires car position information through a laser radar and an ultrasonic probe and transmits the car position information to a central processor, the central processor performs discharging according to the car position information, and the central controller acquires material surface vector image information in the discharging process; predicting the volume of the material according to the vector image information of the surface of the material, and obtaining material weight information according to the density of the material and the predicted volume of the material;
the longitudinal laser radar is arranged on the side face of the steel frame, and the ultrasonic probe is arranged on the inner side of the steel frame, so that when a locomotive carriage enters a first loading bin, the longitudinal laser radar and the ultrasonic probe can monitor the moving position information of the carriage, when the longitudinal laser radar and the ultrasonic probe monitor the moving position information of the carriage, the position information is immediately transmitted to the central processor, and the central processor carries out blanking according to the position information of the carriage;
the first loading bin comprises: the device comprises a first feed opening, a second feed opening, \8230 \ M feed opening (M is a natural number);
the method for blanking according to the carriage position information comprises the following steps:
referring to fig. 6, fig. 6 is a schematic view of a locomotive entering a first loading bin and initiating a first feed opening, the central processor controlling the first feed opening to open as the locomotive car advances to the first feed opening;
referring to fig. 7, fig. 7 shows a schematic view of a locomotive entering a first loading bin and initiating a second feed opening;
when the locomotive carriage advances to the second feed opening, the central processor controls the opening of the second feed opening, and so on, and when the locomotive carriage advances to the Mth feed opening, the central processor controls the opening of the Mth feed opening;
when the tail of the locomotive carriage passes through the first feed opening, the central processor controls the first feed opening to be closed; when the tail of the locomotive carriage passes through the second feed opening, the central processor controls the second feed opening to be closed; and by analogy, when the tail part of the locomotive car is about to pass through the Mth feed opening, the central processor controls the Mth feed opening to be closed.
The method for acquiring the material surface vector image information by the automatic discharging system comprises the following steps:
the automatic discharging system acquires a cross section profile and a longitudinal section profile of a locomotive carriage, and obtains material surface vector image information according to the cross section profile and the longitudinal section profile of the carriage;
the specific acquisition mode is as follows:
the transverse laser radar is perpendicular to the longitudinal laser radar, the transverse laser radar is arranged in the middle of the front end of the steel frame and can record cross section information of all materials in a locomotive carriage along with the movement of a locomotive in the advancing direction and transmit the cross section information to the central processor, the first longitudinal laser radar is arranged in the middle of the left side of the steel frame and can monitor the movement position of the wall of the left side carriage of the locomotive and the longitudinal section information of the left side material of the locomotive and transmit the information to the central processor, and the second longitudinal laser radar is arranged in the middle of the right side of the steel frame and can monitor the movement position of the wall of the right side carriage of the locomotive and the longitudinal section information of the right side material of the locomotive and transmit the information to the central processor;
the ultrasonic probe is arranged on the inner side of the steel frame and used for acquiring carriage position information and recording height information of materials in the carriage; in one possible design, the ultrasonic probe is preferably provided in 5 per magazine, the ultrasonic probe comprising: the ultrasonic probe comprises a first ultrasonic probe, a second ultrasonic probe, a third ultrasonic probe, a fourth ultrasonic probe and a fifth ultrasonic probe, wherein the first ultrasonic probe, the second ultrasonic probe, the third ultrasonic probe, the fourth ultrasonic probe and the fifth ultrasonic probe are uniformly arranged on the inner side of the steel frame;
because the radar and the ultrasonic probe have the distance measuring function, the height of the material level in the carriage can be obtained, and the height distribution of the material level is obtained, so that the states of underload, full load, overload, overflow and the like of the material level can be judged according to the height distribution state of the material level; because the transverse laser radar can be used for acquiring the cross section profile of the carriage, and the longitudinal laser radar can be used for acquiring the longitudinal section profile of the carriage, the longitudinal position of the corresponding carriage of each cross section profile can be calculated, and the accumulated superposition of the scanning points of each frame of cross section profile forms the surface vector image of the carriage in the process that the locomotive passes through the radar.
Referring to fig. 8, fig. 8 shows that the method for predicting the volume of the material according to the surface vector image information of the material is as follows:
multiplying the cross section area of the carriage by the distance of the longitudinal scanning point to obtain a unit volume, summing the unit volumes to obtain a full-load volume of the carriage, and subtracting the volume from the bottom of the carriage to a track from the full-load volume of the carriage to obtain a predicted material volume;
in the material loading process, the loading bin discharges materials from top to bottom, the scanning surface of the cross section of the carriage for loading the materials is an irregular curve, and the scanning surface is an arc line with a high middle and two low sides under most conditions because the loading position is in the middle; the scanning surface of the laser radar is composed of a plurality of scanning points, so that the cross section area of the vehicle body can be approximate to the sum of a plurality of trapezoids, and the number of the trapezoids of the cross section is the number of the scanning points of the radar transversely cutting the vehicle body;
the calculation formula of the cross section profile area is as follows:
wherein i ∈ [0,n ]]；S j Is the cross-sectional profile area, y i Is the height value, x, of the ith scanning point of the vehicle body i The width value of the ith scanning point of the vehicle body is shown, and n is the number of scanning points of the cross section of the vehicle body.
The calculation method of the full load volume of the carriage comprises the following steps:
wherein, V f Is the full load volume of the carriage, S j Is the jth cross-sectional area of the vehicle body, Z j Is the mileage along the driving direction of the jth longitudinal cutting scanning point of the vehicle body;
the calculation method for predicting the volume of the material comprises the following steps:
V l ＝V f -V e ；
wherein, V l To predict the volume of material, V e Is the volume from the bottom of the car to the track.
S4: the automatic discharging system compares the material weight information with the carriage rated load information, and if the material weight exceeds the carriage rated load, an alarm is given; if the weight of the materials does not exceed the rated load of the carriage, the locomotive carriage enters a second loading bin for material supplement; obtaining the material weight information after material supplementing; the automatic discharging system compares the material weight information after material supplementing with the rated load information of the carriage, and if the material weight does not exceed the rated load of the carriage, the locomotive carriage enters a third loading bin for material supplementing; repeating the steps until the locomotive compartment enters an Xth loading bin for material supplement; if the weight of the material is within the error range of the rated load of the carriage, finishing material supplementing;
s5: and when the locomotive carriage finishes the material supplementing, repeating the steps from S1 to S4 on the next carriage of the locomotive carriage.
The technical scheme shown in the application can ensure that the measurement error of the loading volume is less than or equal to 0.5m 3 (ii) a Because the pellet density is approximately equal to 2.3T (ton)/m 3 (ii) a Therefore, the load error is less than 2T (ton), and the error meets the operation standard; the material loading can be carried out on a locomotive carriage step by a stepping method in the process of advancing of the locomotive, the material state can be monitored in real time by adopting a stepping mode, due to the fact that repeated emptying is adopted, the loading state of the locomotive can be recorded in time in the process of emptying at every time, the height of the material level in the carriage is obtained, the underload state, the full load state, the overload state or the overflow state of the material level are judged, the opening and the closing of a gate can be controlled in time, the driving safety during the emptying period is guaranteed, and the loading efficiency of the locomotive is high.
The present application has been described in detail with reference to specific embodiments and illustrative examples, but the description is not intended to limit the application. Those skilled in the art will appreciate that various equivalent substitutions, modifications or improvements may be made to the embodiments and implementations of the disclosure without departing from the spirit and scope of the disclosure, which is within the scope of the disclosure as defined by the appended claims.
Claims (7)
1. A stepping automatic discharging method is used for a pellet finished product bin and is characterized by comprising the following steps:
s1: when a locomotive is propelled towards a finished pellet warehouse along a track, an automatic discharging system acquires locomotive carriage number information and carriage rated load information;
s2: the automatic discharging system sets a loading bin of a finished pellet bin according to the car number information of the carriage; the pellet finished product bin comprises N (N is more than or equal to 1, N is a natural number) bins, and the loading bins are X bins selected from the N bins (X is more than or equal to 1 and less than or equal to N, and X is a natural number); the loading feed bin includes: a first loading bin, a second loading bin \8230, the No. X loading bin;
s3: when a locomotive car enters a first loading bin, the automatic discharging system acquires car position information and performs discharging according to the car position information, and in the discharging process, the automatic discharging system acquires vector image information on the surface of a material; predicting the volume of the material according to the vector image information of the surface of the material, and obtaining material weight information according to the density of the material and the predicted volume of the material;
s4: the automatic discharging system compares the material weight information with the rated load information of the carriage, and if the material weight exceeds the rated load of the carriage, an alarm is given; if the weight of the materials does not exceed the rated load of the carriage, the locomotive carriage enters a second loading bin for material supplement; obtaining the material weight information after material supplementing; the automatic discharging system compares the material weight information after material supplementing with the rated load information of the carriage, and if the material weight does not exceed the rated load of the carriage, the locomotive carriage enters a third loading bin for material supplementing; repeating the steps until the locomotive compartment enters an Xth loading bin for material supplement; if the weight of the material is within the error range of the rated load of the carriage, finishing material supplementing;
s5: and when the locomotive car finishes feeding, repeating the steps from S1 to S4 on the next car of the locomotive car.
2. The method for automatically discharging in a stepping manner according to claim 1, wherein the first loading bin comprises: the device comprises a first feed opening, a second feed opening, \8230 \ M feed opening (M is a natural number);
when a locomotive car enters a first loading bin, the method for acquiring car position information and discharging according to the car position information by the automatic discharging system comprises the following steps:
when the locomotive carriage advances to the first discharging port, the automatic discharging system controls the first discharging port to be opened; when the locomotive carriage advances to the second feed opening, the automatic discharging system controls the second feed opening to be opened, and in the same way, when the locomotive carriage advances to the Mth feed opening, the automatic discharging system controls the Mth feed opening to be opened;
when the tail of the locomotive carriage passes through the first discharging port, the automatic discharging system controls the first discharging port to be closed; when the tail of the locomotive carriage passes through the second feed opening, the automatic feed system controls the second feed opening to be closed; by analogy, when the tail of the locomotive car is about to pass through the Mth feed opening, the automatic feeding system controls the Mth feed opening to be closed.
3. The method for automatically discharging in a stepping manner according to claim 1, which is used for a finished pellet warehouse, and is characterized in that the method for acquiring the vector image information of the surface of the material by the automatic discharging system comprises the following steps:
the automatic discharging system obtains a cross section profile and a longitudinal section profile of a locomotive carriage, and obtains material surface vector image information according to the cross section profile and the longitudinal section profile of the carriage.
4. The method for automatically discharging materials in a stepping manner according to claim 3, which is used for a finished pellet product bin, and is characterized in that the method for predicting the volume of the materials according to the vector image information of the surfaces of the materials comprises the following steps:
multiplying the contour area of the cross section of the carriage by the distance of the longitudinal scanning point to obtain a unit volume, and summing the unit volume to obtain the full load volume of the carriage;
subtracting the volume from the bottom of the car to the track from the full load volume of the carriage to obtain the volume of the predicted material;
the calculation formula of the cross section profile area is as follows:
wherein i ∈ [0,n ]]；S j Is the cross-sectional profile area, y i Is the height value, x, of the ith scanning point of the vehicle body i The width value of the ith scanning point of the vehicle body is shown, and n is the number of scanning points on the cross section of the vehicle body;
the calculation method of the full load volume of the carriage comprises the following steps:
wherein, V f Is the full load volume of the carriage, S j Is the jth cross-sectional area of the vehicle body, Z j Is the mileage of the jth longitudinal cutting scanning point of the vehicle body along the driving direction;
the calculation method for predicting the volume of the material comprises the following steps:
V l ＝V f -V e ；
wherein, V l To predict the volume of material, V e Is the volume from the bottom of the vehicle to the rail.
5. The method for automatically discharging pellets in a stepping manner according to claim 1 is used for a finished pellet warehouse, and is characterized in that X is preferably 3 in X bins selected from N bins.
6. The utility model provides a system of automatic blowing of marching type for pelletizing finished product storehouse, its characterized in that, automatic blowing system includes: the system comprises a central processor 1, a main controller 2, a laser radar 3, an ultrasonic probe 4 and a vehicle number identification module 5;
the train number identification module 5 is used for acquiring train number information of a locomotive carriage and rated load information of the carriage;
the main controller 2 is used for setting a loading bin of the finished pellet bin according to the car number information of the carriage;
the laser radar 3 includes: a transverse lidar 31 and a longitudinal lidar 32; the transverse laser radar 31 is used for scanning the cross section profile of the locomotive carriage, and the longitudinal laser radar 32 is used for scanning the longitudinal section profile of the locomotive carriage; the material surface vector image information can be obtained according to the carriage cross section profile and the carriage longitudinal section profile;
the longitudinal laser radar 32 and the ultrasonic probe 4 are used for acquiring carriage position information;
the central processor 1 is used for receiving carriage position information and set loading bin information of a finished pellet bin and controlling a loading bin to discharge materials according to the carriage position information, the central processor 1 is also used for receiving material surface vector image information and predicting material volume according to the material surface vector image information, and material weight information is obtained according to material density and the predicted material volume; the central processor 1 is further configured to compare the material weight information with the rated load information of the car, and if the material weight exceeds the rated load of the car, the central processor 1 issues an alarm.
7. The system for the step-by-step automatic emptying as claimed in claim 6, wherein the laser radar 3 is preferably arranged in 1 transverse laser radar and 2 longitudinal laser radars, the ultrasonic probe 4 is preferably arranged in 5 bins, and the transverse laser radar 31 is perpendicular to the longitudinal laser radar 32.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115856923A (en) * | 2023-02-27 | 2023-03-28 | 北京理工大学深圳汽车研究院(电动车辆国家工程实验室深圳研究院) | Measuring method, device, equipment and storage medium for unloading of mine truck |
| CN116424900A (en) * | 2023-05-31 | 2023-07-14 | 中煤科工智能储装技术有限公司 | Full-volume unmanned loading method based on laser radar point cloud identification |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115856923A (en) * | 2023-02-27 | 2023-03-28 | 北京理工大学深圳汽车研究院(电动车辆国家工程实验室深圳研究院) | Measuring method, device, equipment and storage medium for unloading of mine truck |
| CN116424900A (en) * | 2023-05-31 | 2023-07-14 | 中煤科工智能储装技术有限公司 | Full-volume unmanned loading method based on laser radar point cloud identification |
| CN116424900B (en) * | 2023-05-31 | 2023-12-22 | 中煤科工智能储装技术有限公司 | Full-volume unmanned loading method based on laser radar point cloud identification |
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