CN115494788A - Flat coal control system and method - Google Patents

Abstract

The invention provides a coal leveling control system and a method, and relates to the technical field of coal leveling. When coal leveling is carried out, the controller starts the laser radar to carry out coal-charging flatness detection on the train carriage, and the uneven position of the coal bed of the train carriage is determined; starting a speed detection device to detect the running speed of the train carriage and determine the running speed of the train; and controlling the traveling device to drive the coal leveling scraper to move according to the uneven position of the coal bed and the traveling speed of the train, and leveling the coal bed of the train carriage by controlling the coal leveling scraper to descend. So can carry out automatic flat coal at train walking in-process, compare with artifical flat coal mode, reduce the cost of labor, improve flat coal efficiency.

Description

Flat coal control system and method

technical field

The invention relates to the technical field of flat coal, in particular to a flat coal control system and method.

Background technique

The railway is the main force of coal transportation. The railway transportation capacity is large, the train capacity is large, and it runs around the clock. It is most suitable for bulk coal transportation. However, the coal carried in the train carriages of the railway is prone to uneven coal seams. For this problem, it is necessary to manually level the coal after the train is stopped at present. This artificial leveling coal method has high cost and low efficiency.

Contents of the invention

The object of the present invention is to provide a leveling coal control system and method to reduce labor costs and improve leveling coal efficiency.

In the first aspect, an embodiment of the present invention provides a flat coal control system, including a controller, and a laser radar, a speed detection device, a walking device and a flat coal scraper respectively connected to the controller, and the flat coal scraper set on the walking device;

The controller is used to detect the coal loading levelness of the train carriage by starting the laser radar, and determine the uneven position of the coal seam of the train carriage; Traveling speed: according to the uneven position of the coal seam and the traveling speed of the train, control the traveling device to drive the flat coal scraper to move, and control the down of the flat coal scraper to scrape the coal seam of the train carriage .

Further, the controller includes a programmable logic controller PLC; the speed detection device includes a through-beam measurement light curtain, and the through-beam measurement light curtain is connected to the PLC through a 485 communication module; the walking device It includes a traveling trolley, and the traveling trolley walks along the traveling end beams arranged on both sides of the train track.

Further, the flat coal scraper includes a winch cage and a lifting scraper that are fixedly connected; the controller is also used to detect the size of the train car by starting the laser radar, and determine the target height position; control the The lifting scraper descends to the target height position, and controls the winch cage to run at a target rotational speed corresponding to the traveling speed of the train.

Further, the flat coal control system also includes a server, the server is respectively connected with the controller, the laser radar and the speed detection device; cage motor connection;

The laser radar is used to send the detected laser radar data to the server, and the laser radar data includes coal seam height data, carriage width data and carriage length data; the speed detection device is used to send the detected speed data to said server;

The server is used to determine the uneven position of the coal seam according to the height data of the coal seam; determine the train type according to the width data of the carriage and the length data of the carriage; The target height position; according to the speed data, determine the train speed; according to the train speed, determine the train position and the first output frequency, and the uneven position of the coal seam, the target height position, the sending the train position and the first output frequency to the controller;

The controller is also used to control the traveling device to drive the flat coal scraper to move according to the uneven position of the coal seam and the position of the train, control the lifting scraper to descend to the target height position, and control the The first frequency converter works at the first output frequency, so that the winch cage motor drives the winch cage to run at the target speed.

Further, the controller is also used to control the running device to move to the rear of the carriage in the opposite direction of the train running direction when the uneven position of the coal seam is close to the rear of the carriage; when it is detected that the lifting scraper falls to When the target height is at the target height position and the winch cage is running at the target speed, the traveling device is controlled to move quickly along the traveling direction of the train, so as to achieve coal seam leveling.

Further, the controller is connected to the traveling motor of the traveling device through a second frequency converter; an encoder is installed on the lifting motor of the lifting scraper, and the encoder is connected to the controller;

The server is also used to determine a second output frequency according to the train running speed, and send the second output frequency to the controller;

The controller is also used to detect the descending height of the lifting scraper through the encoder; when the encoder detects that the lifting scraper has dropped to the target height position and the winch cage When running at the target speed, the second frequency converter is controlled to work at the second output frequency, so that the traveling device moves rapidly at the target traveling speed along the traveling direction of the train.

Further, the walking device is also provided with a lifting mechanism, and the flat coal scraper is fixed on the lifting mechanism; the controller is also used to control the lifting mechanism and the lifting scraper to descend together, so as to The lifting scraper is rapidly lowered to the target height position.

Further, the front end and the rear end of the walking device are respectively provided with a first ultrasonic sensor and a second ultrasonic sensor, and the first ultrasonic sensor and the second ultrasonic sensor are respectively connected to the controller;

The controller is also used to control the lifting scraper to descend when receiving the first ultrasonic signal sent by the first ultrasonic sensor; when receiving the second ultrasonic signal sent by the second ultrasonic sensor, control The lifting scraper goes up.

Further, the front end and the rear end of the walking device are respectively provided with a first proximity switch, the front end and the rear end of the flat coal scraper are respectively provided with a second proximity switch, and the flat coal scraper is provided with a torque limiter , the torque limiter is equipped with a third proximity switch with a set torque, and the first proximity switch, the second proximity switch and the third proximity switch are respectively connected to the controller;

The controller is also used to control the running device to stop running when receiving the first proximity signal sent by the first proximity switch; when receiving the second proximity signal sent by the second proximity switch or the When the third proximity signal is sent by the third proximity switch, the flat coal scraper is controlled to rise.

In the second aspect, the embodiment of the present invention also provides a leveling coal control method, which is applied to the leveling coal control system of the first aspect; the leveling coal control method includes:

By starting the laser radar to detect the coal loading levelness of the train carriage, determine the uneven position of the coal seam of the train carriage;

By starting the speed detection device to detect the running speed of the train carriage, determine the train running speed;

According to the uneven position of the coal seam and the traveling speed of the train, the traveling device is controlled to drive the flat coal scraper to move, and the coal seam of the train carriage is scraped by controlling the flat coal scraper to descend.

In the flat coal control system and method provided by the embodiments of the present invention, the flat coal control system includes a controller, and a laser radar, a speed detection device, a walking device and a flat coal scraper respectively connected to the controller, and the flat coal scraper is arranged on on the walking gear. When leveling coal, the controller starts the laser radar to detect the coal loading levelness of the train carriage, and determines the uneven position of the coal seam of the train carriage; starts the speed detection device to detect the walking speed of the train carriage, and determines the train walking speed; according to the uneven position of the coal seam And train walking speed, control the walking device to drive the flat coal scraper to move, and control the lowering of the flat coal scraper to scrape the coal seam of the train carriage. In this way, the automatic leveling of the coal seam in the train carriage is realized, and compared with the artificial coal leveling method, the labor cost is reduced and the leveling coal efficiency is improved.

Description of drawings

In order to more clearly illustrate the specific implementation of the present invention or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings that need to be used in the specific implementation or description of the prior art. Obviously, the accompanying drawings in the following description The drawings show some implementations of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative work.

Fig. 1 is a schematic diagram of the module composition of a flat coal control system provided by the embodiment of the invention;

Fig. 2 is the module composition schematic diagram of another kind of flat coal control system that the embodiment of the present invention provides;

Fig. 3 is the circuit diagram of a kind of flat coal control system that the embodiment of the present invention provides;

Fig. 4 is a schematic diagram of the overall structure of a walking device and a flat coal scraper provided by an embodiment of the present invention;

Fig. 5 is a schematic structural view of a flat coal scraper provided by an embodiment of the present invention;

Fig. 6 is a schematic flowchart of a flat coal control method provided by an embodiment of the present invention.

Icons: 101-controller; 102-lidar; 103-speed detection device; 104-traveling device; 105-flat coal scraper; 201-PLC; Light curtain; 205-server; 206-inverter; 207-inverter motor; 208-encoder; 209-proximity switch; 301-traveling trolley; 302-traveling end beam; Lifting scraper; 306-torque limiter; 307-electrical anti-collision device.

detailed description

The technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

At present, for the coal carried in the train carriages, it usually requires 2-3 people to manually level the coal, which is costly and inefficient, and requires the train to stop and level the coal. Based on this, a kind of leveling coal control system and method provided by the embodiment of the present invention can automatically intervene when the train is running, automatically follow the train, and automatically level coal, with high efficiency and good effect of leveling coal; advanced technology, can be based on The loading effect is adaptive flat coal.

In order to facilitate the understanding of this embodiment, a leveling coal control system disclosed in the embodiment of the present invention is first introduced in detail.

Referring to the block diagram of a flat coal control system shown in Figure 1, the flat coal control system includes a controller 101, and a laser radar 102 connected to the controller 101, a speed detection device 103, a walking device 104 and a flat coal scraper The plate 105 and the flat coal scraper 105 are arranged on the traveling device 104 .

Laser radar 102, speed detection device 103 are all arranged on the front of running gear 104, and the train carriage first passes through laser radar 102, speed detecting device 103, and then passes through running gear 104 that flat coal scraper 105 is provided with. There is no position requirement between the laser radar 102 and the speed detection device 103 , that is, the laser radar 102 can be arranged in front of or behind the speed detection device 103 .

The controller 101 is used to detect the coal loading levelness of the train carriage by starting the laser radar 102 to determine the uneven position of the coal seam of the train carriage; to detect the walking speed of the train carriage by starting the speed detection device 103 to determine the train walking speed; then according to the coal seam According to the uneven position and the running speed of the train, the running device 104 is controlled to drive the flat coal scraper 105 to move, and the coal seam of the train carriage is scraped by controlling the flat coal scraper 105 to descend.

When the leveling coal control system provided by the embodiment of the present invention is leveling coal, the controller 101 starts the laser radar 102 to detect the coal loading levelness of the train carriage to determine the uneven position of the coal seam of the train carriage; The walking speed detection determines the train walking speed; according to the uneven position of the coal seam and the train walking speed, the walking device 104 is controlled to drive the flat coal scraper 105 to move, and the coal seam of the train carriage is scraped by controlling the flat coal scraper 105 to descend. In this way, the automatic coal leveling can be carried out during the train running process, which reduces labor costs and improves the leveling coal efficiency compared with the manual leveling coal method.

Optionally, as shown in FIG. 2 and FIG. 3 , the above-mentioned controller 101 may be a PLC201, that is, a Programmable Logic Controller (Programmable Controller), and subsequent descriptions will be made by taking the controller 101 as an example of PLC201.

Optionally, as shown in FIG. 2 and FIG. 3 , the above-mentioned speed detection device 103 may be a through-beam measurement light curtain 204 , and the through-beam measurement light curtain 204 may be communicatively connected with the PLC 201 through the 485 communication module 203 . The through-beam measurement light curtain 204 can effectively detect any opaque objects. It should be noted that the through-beam measurement light curtain 204 can also be connected to the PLC 201 through other types of communication modules, and the type of the communication module is not limited here. Subsequent descriptions will be made by taking the speed detection device 103 as an example of the through-beam measuring light curtain 204 as an example.

What the through-beam measurement light curtain 204 detects is the switching value, and by the moment corresponding to the switch quantity detected at both ends of the through-beam measurement light curtain 204, it can be determined that the time when the train carriage passes through the through-beam measurement light curtain 204 (that is, two moments difference), because the length of the through-beam measurement light curtain 204 is fixed, so its length divided by the time the train carriage passes equals the train travel speed.

Optionally, in order to facilitate the transmission of control commands and data signals, as shown in Figure 2 and Figure 3, the above-mentioned flat coal control system also includes a switch 202, PLC201, laser radar 102, 485 communication module 203 are all connected to the switch 202 through a network cable , so as to realize the connection between the PLC201 and the laser radar 102 and the through-beam measuring light curtain 204 .

Optionally, in order to reduce the calculation pressure of PLC201, as shown in Figure 2 and Figure 3, the above-mentioned flat coal control system also includes a server 205, and the server 205 communicates with the PLC201, the laser radar 102 and the through-beam measurement light curtain 204 respectively via the switch 202 Connection, wherein, the server 205 is connected with the through-beam measurement light curtain 204 via the switch 202 and the 485 communication module 203 . The server 205 can receive the laser radar data detected by the laser radar 102 and the speed data detected by the through-beam measurement light curtain 204 , calculate the uneven position of the coal seam of the train carriage and the running speed of the train, and send it to the PLC 201 . For example, the laser radar 102 can transmit different point values of the plane of the scanned train carriage to the server 205; the server 205 uses the point values to calculate a 3D stereogram, draws the height of the coal seam of the train carriage, and then determines the uneven position of the coal seam of the train carriage.

Optionally, as shown in FIG. 4 , the traveling device 104 may be a traveling trolley 301 , and the traveling trolley 301 travels along traveling end beams 302 arranged on both sides of the train track. Subsequent descriptions will be made by taking the traveling device 104 as the traveling trolley 301 as an example.

Optionally, as shown in FIG. 5 , the flat coal scraper 105 may include a cage 304 and a lifting scraper 305 fixedly connected. The twisted cage 304 is also called the screw conveyor, and the coal seam in the train car is scraped by the lifting scraper 305 after the twisted cage 304 rotates. Lifting scraper 305 is in the rising position in normal state, and will descend when receiving the descending signal sent by PLC201, to realize coal seam scraping, and lifting scraper 305 automatically rises to rising position after completing the compartment coal leveling.

Optionally, in order to realize the automatic descending and rising of the lifting scraper 305, the front end and the rear end of the walking trolley 301 are respectively provided with a first ultrasonic sensor and a second ultrasonic sensor, and the first ultrasonic sensor and the second ultrasonic sensor are respectively connected to the PLC201 PLC201 is also used to control the lifting scraper 305 to descend when receiving the first ultrasonic signal sent by the first ultrasonic sensor; when receiving the second ultrasonic signal sent by the second ultrasonic sensor, control the lifting scraper 305 to rise. The first ultrasonic sensor and the second ultrasonic sensor can send corresponding ultrasonic signal to PLC201 when detecting train carriage, illustrate that train carriage has entered or left the area where walking trolley 301 is located, so the first ultrasonic sensor and the second ultrasonic sensor are respectively used for Triggering the lift scraper 305 to descend and rise provides the opportunity for the PLC 201 to descend and rise the lift scraper 305 .

Considering that there are many kinds of train carriages, and the heights of different train carriages may be different, the PLC 201 is also used to detect the size of the train carriages by starting the laser radar 102, determine the target height position, and control the lifting scraper 305 to descend to the target height position. The size of the detected train carriage can be the width and length of the carriage. At this time, the train type can be determined according to the width and length of the carriage, and then the height of the train can be determined according to the type of train, and then the corresponding target height position can be determined. The target height position is usually not above the height of the train. The impact of the height of the train car is considered when controlling the lifting scraper 305 to descend like this, and the effect of leveling coal is better.

Depending on the carriage width and carriage length, multiple matching train types may be found, but the train heights of these matching train types are usually the same, so a unique train height can be determined. For example, the dimensions (length*width*height) of the train models C62A, C62B, and C62AK are all 12500*2900*2000 (in mm), and the height of the train is 3083mm. When the width and length of the carriage are 12500mm and 2900mm , it can be determined that the train height is 3083mm, and the target height position can be 3080mm. In addition, the coal seam height data detected by the laser radar 102 can also be referred to when determining the target height position, so as to ensure that the coal will not be scraped out of the compartment during the coal leveling process.

Optionally, in order to increase the lifting speed and increase the lifting height, as shown in Figure 4, the above-mentioned walking trolley 301 is also provided with a lifting mechanism 303 connected to the PLC201, and the flat coal scraper 105 is fixed on the lifting mechanism 303; PLC201 also uses The lifting mechanism 303 and the lifting scraper 305 are controlled to descend together, so that the lifting scraper 305 quickly descends to the target height position.

In a possible implementation, the lifting mechanism 303 may include a lifting body, a motor and a contactor, the flat coal scraper 105 is fixed on the lifting body, the motor is mechanically connected to the lifting body, the contactor is electrically connected to the motor, and the contactor also Communication connection with PLC201; after PLC201 sends a start signal to the contactor, the contactor pulls in to make the motor rotate forward or reverse, thereby driving the lifting body and flat coal scraper 105 to rise or fall.

Further, the PLC201 is also used to control the winch cage 304 to run at a target speed corresponding to the train speed, and the winch cage 304 rotates to divide the thick coal seam to both sides of the carriage, so that the leveling coal effect can be further improved.

The above-mentioned flat coal control system also includes driving equipment, which can be multiple sets, such as the driving equipment corresponding to the winch cage 304, the driving equipment corresponding to the lifting scraper 305, and the driving equipment corresponding to the walking trolley 301, etc. As shown in Figure 2 and Figure 3, the drive equipment includes a frequency converter 206, a variable frequency motor 207 (M in Figure 3) and an encoder 208; It is an alternating current with variable frequency, so that the variable frequency motor 207 can obtain different speeds, and the variable frequency motor 207 is used to drive the connected equipment to run (such as moving or rotating); the frequency converter 206 is also connected to the PLC201 through a network cable, and the PLC201 can control the frequency converter 206 output frequency, so as to control the running speed of the equipment connected to the variable frequency motor 207; the encoder 208 is connected to the variable frequency motor 207 and PLC201 respectively, and the encoder 208 is used to detect the running distance of the equipment connected to the variable frequency motor 207 and send corresponding signals to PLC201. Encoder 208 is an optical position detection element, and encoder 208 is directly installed on the rotating shaft of variable frequency motor 207 to measure the rotation angle position and speed change of the shaft, and its output signal is electric pulse.

In some possible embodiments, the drive equipment corresponding to the winch cage 304 may include a first frequency converter and a winch cage motor, the PLC 201 is connected to the winch cage motor through the first frequency converter, and the winch cage motor drives the winch cage 304 to run. The server 205 can calculate the target rotational speed of the cage 304 according to the running speed of the train, such as the target rotational speed is 1.1-1.3 times of the running speed of the train; according to the target rotational speed of the cage 304, calculate the first output frequency corresponding to the first frequency converter , and control the first frequency converter to work at the first output frequency through the PLC201, so as to realize the operation of the cage 304 at the target speed.

Based on this, a possible working process of the above-mentioned flat coal control system is as follows: PLC201 starts the laser radar 102 and the through-beam measurement light curtain 204 through the switch 202, and the laser radar 102 and the through-beam measurement light curtain 204 respectively detect the laser The radar data and speed data are sent to the server 205 through the switch 202, and the lidar data may include coal seam height data, carriage width data and carriage length data. The server 205 determines the uneven position of the coal seam according to the coal seam height data; determines the train type according to the carriage width data and the carriage length data; determines the target height position according to the coal seam height data and the train type; determines the train travel speed according to the speed data; speed, determine the position of the train and the first output frequency, and send the uneven position of the coal seam, the target height position, the position of the train and the first output frequency to PLC201. According to the uneven position of the coal seam and the position of the train, the PLC201 controls the trolley 301 to drive the flat coal scraper 105 to move, controls the lifting scraper 305 to drop to the target height position, and controls the first frequency converter to work at the first output frequency, so that the cage motor drives The cage 304 operates at the target speed. Wherein, the position of the train is calculated according to the speed and time of the train.

Further, the driving device corresponding to the lifting scraper 305 may include a lifting motor and an encoder mounted on the lifting motor, and the encoder is connected to the PLC 201 . The PLC 201 can detect the descending height of the lifting scraper 305 through the electric pulse output by the encoder, and judge whether the lifting scraper 305 has descended to the target height position.

The walking trolley 301 can drive the winch cage 304 and the lifting scraper 305 to walk back and forth, and scrape the coal seam of the train carriage. In order to prevent the coal from being scraped outside the train compartment, the above-mentioned PLC201 is also used to control the walking trolley 301 to move to the rear of the compartment along the opposite direction of the train running direction when the uneven position of the coal seam is close to the rear of the compartment; At the height position and when the winch cage 304 is running at the target speed, the traveling trolley 301 is controlled to move rapidly along the train traveling direction, so as to realize the coal seam scraping.

The running process of the walking trolley 301 can be as follows: the walking trolley 301 first stops at the initial position, detects and calculates the uneven position of the coal seam where the coal is put in the carriage through the laser radar 102, and the laser radar 102 detects, and the walking trolley 301 moves along the opposite direction of the train's traveling direction Quickly walk to the uneven position of the coal seam, drop the lifting scraper 305, and control the rotation of the cage 304; then control the walking direction of the walking trolley 301 according to the uneven position of the coal seam, so as to achieve the leveling of the coal seam. Specifically, if the coal seam at the head of the carriage is uneven (that is, the uneven position of the coal seam is close to the head of the carriage), the walking trolley 301 can walk quickly in the opposite direction of the train's travel direction, and the coal seam in the train carriage is scraped (i.e. from the head of the carriage to the head of the carriage). Car tail is carried out scraping); Or, walking dolly 301 can stop walking, and the coal seam in the train car is scraped by the movement of train car. If the coal seam at the rear of the carriage is not level (i.e. the uneven position of the coal seam is close to the rear of the carriage), the traveling trolley 301 moves quickly along the direction of travel of the train to scrape the coal seam in the carriage (i.e. from the tail of the carriage to the head of the carriage). After the scraping was completed, the lifting scraper 305 rose to the rising position automatically, and the walking trolley 301 got back to the initial position, ready to carry out the scraping operation to the next train carriage.

Further, PLC201 is also connected with the walking motor of walking trolley 301 through the second frequency converter; An encoder is installed on the lifting motor of lifting scraper 305, and encoder is connected with PLC201; On this basis, server 205 is also used for according to train Walking speed determines the second output frequency, and sends the second output frequency to PLC201; PLC201 is also used to detect the descending height of the lifting scraper 305 by the encoder; when the encoder detects that the lifting scraper 305 descends to the target height position And when the winch cage 304 is running at the target speed, the second frequency converter is controlled to work at the second output frequency, so that the traveling trolley 301 moves rapidly along the train traveling direction at the target traveling speed.

Optionally, the target walking speed of the traveling trolley 301 can be determined by multiplying the train walking speed by a preset coefficient. The coefficient is greater than 1, so the target walking speed is greater than the train walking speed. For example, the target traveling speed of the traveling trolley 301 may be 1.1-1.3 times of the traveling speed of the train.

As shown in Fig. 2 and Fig. 3, the above-mentioned level coal control system also includes a proximity switch 209 connected to the PLC 201, the proximity switch 209 can protect the device from traveling beyond the preset travel range. The proximity switch 209 will be introduced in detail below.

In order to prevent damage to the walking dolly 301, the front end and the rear end of the walking dolly 301 are respectively provided with a first proximity switch connected to the PLC201, and the PLC201 is also used to control the walking dolly 301 when receiving the first proximity signal sent by the first proximity switch. stop running. The first proximity switch can ensure that the traveling trolley 301 travels within the travel range corresponding to the traveling end beam 302, preventing the traveling trolley 301 from exceeding the travel range. The rising and falling positions of the lifting scraper 305 and the lifting mechanism 303 can also be provided with limit protection proximity switches connected with the PLC201 to ensure that the lifting scraper 305 and the lifting mechanism 303 are lifted within the corresponding stroke range.

In order to prevent the flat coal scraper 105 from scratching the train carriage, as shown in Figure 5, the front end and the rear end of the flat coal scraper 105 are respectively provided with an electric anti-collision device 307, and the electric anti-collision device 307 includes an electric anti-collision lever and other The second proximity switch installed on the top, the second proximity switch is connected to PLC201; when it touches the front and rear frames of the train car, the electric anti-collision lever moves, and the second proximity switch sends a second proximity signal to PLC201, and PLC201 controls Pingmei The scraper 105 goes up. Therefore, this flat coal control system has the function of electrically protecting the carriage, and when the train carriage touches the electric anti-collision device 307, the flat coal scraper 105 rises immediately, avoiding the flat coal scraper 105 from scratching the train carriage.

The flat coal scraper 105 also has a torque protection function. As shown in Figure 5, the flat coal scraper 105 is provided with a torque limiter 306, and the torque limiter 306 is equipped with a third proximity switch connected to the PLC201 with the set torque, and the PLC201 It is also used to control the flat coal scraper 105 to rise when the third proximity signal sent by the third proximity switch is received.

The torque limiter 306 can be set on the lifting scraper 305. When the lifting scraper 305 is hung on coal or on a train carriage, the lifting scraper 305 will deform and trigger the action of the torque limiter 306. At this time, the third proximity switch will send the first Three proximity signals are given to PLC201, and PLC201 controls lifting scraper 305 to rise immediately, thereby avoiding scratching the train carriage.

In addition, as shown in Figure 3, the above-mentioned flat coal control system also includes a switching power supply, and the switching power supply is used to convert the three-phase alternating current into a direct current with a preset voltage value, which is the laser radar 102, PLC201, switch 202, 485 communication module 203, Power is supplied to the beam measuring light curtain 204 and the proximity switch 209 . The switching power supply can be, but not limited to, a 24V power supply. The server 205 can directly use two-phase AC power.

As shown in FIG. 3 , the above-mentioned Pingdingshan coal control system also includes an industrial computer (that is, a host computer), and the industrial computer is connected to the Ethernet and connected to the switch 202 through a network cable. The industrial computer can be used to set the preset lifting distance of the lifting scraper 305 (in some cases, the PLC201 cannot determine the target height position, at this time, the lifting scraper 305 can be controlled to lift according to the preset lifting distance), and the frequency converter 206 Set the initial frequency; the industrial computer can display the real-time position value of the lifting scraper 305, equipment failure, etc., and the industrial computer can also control the start and stop of the whole machine.

For ease of understanding, the embodiment of the present invention also provides the overall operation process of the above-mentioned flat coal control system, as follows:

1. All the equipment of the flat coal control system are ready, and all the equipment is at the original position, such as the lifting scraper 305 is at the rising position, and the walking trolley 301 is at the front of the train.

2. When the train passes through the Pingmei control system, manually press the start button of the industrial computer, and the start signal is transmitted to PLC201, and PLC201 controls all equipment to start automatic operation.

3. PLC201 starts winch cage 304 to run at a preset speed;

4. PLC201 starts the laser radar 102 to detect the train carriage and obtain the laser radar data;

5. The lidar data is transmitted to the server 205;

6. The server 205 determines the uneven position of the coal seam in the train carriage, the target descent distance and the target height position of the lifting scraper 305 according to the laser radar data, and returns them to the PLC 201;

7. PLC201 starts the through-beam measuring light curtain 204 to detect the train carriage and obtain the detection data;

8. The detection data is transmitted to the server 205;

9. The server 205 calculates the train walking speed according to the detection data; according to the train walking speed, calculates the train position, the first output frequency of the first frequency converter and the target walking speed of the walking trolley 301, and calculates the train position, the first output frequency and The target walking speed is returned to PLC201;

10. According to the position of the train, the uneven position of the coal seam and the target walking speed, the PLC201 controls the walking trolley 301 to move to the position that needs to be scraped;

11. When the PLC201 receives the first ultrasonic signal sent by the first ultrasonic sensor, it controls the lifting scraper 305 to descend with the target descending distance. When the encoder detects that the actual position of the lifting scraper 305 has reached the target height position, according to The first output frequency controls the operation of the first frequency converter, so that the winch cage 304 rotates at the set target speed to achieve coal seam scraping;

12. When the PLC 201 receives the second ultrasonic signal sent by the second ultrasonic sensor, it determines that the scraping operation is completed, controls the encoder to detect the current position of the lifting scraper 305, and sends the position detection data to the server 205;

13. The server 205 calculates the target rising distance of the lifting mechanism according to the current position of the lifting scraper 305, and returns it to the PLC 201;

14. PLC201 controls the lifting scraper 305 to rise to the target rising distance, and then controls the walking trolley 301 to return to the initial position at a specified speed. Wherein, the specified vehicle speed may be a target walking speed, or a preset walking speed.

There is no sequential execution order requirement between the above steps 4-6 and steps 7-9. In other embodiments, steps 7-9 can be performed first, and then steps 4-6 can be performed, and steps 4 and 7 can also be performed first (step 4 and 7 have no sequential execution order requirements), then execute steps 5 and 8 (steps 5 and 8 have no sequential execution order requirements), and finally execute steps 6 and 9 (steps 6 and 9 have no sequential execution order requirements).

To sum up, the flat coal control system provided by the embodiment of the present invention is an unmanned operating system, which can automatically calculate the coal loading height of the train compartment through the three-dimensional scanning of the coal loading of the train compartment, determine the type of train, and automatically calculate the running speed of the train , the flat coal scraper 105 can automatically lift, and the walking trolley 301 can automatically walk, and also has functions such as lifting limit protection and flat coal scraper 105 torque protection.

The embodiment of the present invention also provides a flat coal control method, which is applied to the above flat coal control system. Referring to the schematic flow chart of a flat coal control method shown in Figure 6, the method mainly includes the following steps S602 to S606:

Step S602, by starting the laser radar to detect the coal loading levelness of the train carriage, and determine the uneven position of the coal seam of the train carriage.

In step S604, the running speed of the train carriage is detected by starting the speed detecting device to determine the running speed of the train.

Step S606, according to the uneven position of the coal seam and the traveling speed of the train, control the traveling device to drive the flat coal scraper to move, and control the flat coal scraper to descend to level the coal seam of the train carriage.

The implementation principle and technical effect of the leveling coal control method provided in this embodiment are the same as those of the above-mentioned leveling coal control system embodiment. Corresponding content in the coal control system embodiment.

It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

In addition, in the description of the embodiments of the present invention, unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection , or integrally connected; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, or in a specific orientation. construction and operation, therefore, should not be construed as limiting the invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present invention. scope.

Claims (10)

1. A flat coal control system, characterized in that it includes a controller, and a laser radar, a speed detection device, a walking device and a flat coal scraper connected to the controller respectively, and the flat coal scraper is arranged on the on the walking gear; The controller is used to detect the coal loading levelness of the train carriage by starting the laser radar, and determine the uneven position of the coal seam of the train carriage; Traveling speed: according to the uneven position of the coal seam and the traveling speed of the train, control the traveling device to drive the flat coal scraper to move, and control the down of the flat coal scraper to scrape the coal seam of the train carriage . 2. The flat coal control system according to claim 1, wherein the controller comprises a programmable logic controller PLC; the speed detection device comprises a through-beam measuring light curtain, and the through-beam measuring light The curtain is connected with the PLC through the 485 communication module; the walking device includes a walking trolley, and the walking trolley walks along the traveling end beams arranged on both sides of the train track. 3. flat coal control system according to claim 1, is characterized in that, described flat coal scraper comprises winched cage and lifting scraper that are fixedly connected; Described controller is also used for by starting described laser radar The size of the train car is detected to determine the target height position; the lifting scraper is controlled to descend to the target height position, and the cage is controlled to run at a target speed corresponding to the train speed. 4. the flat coal control system according to claim 3, is characterized in that, the flat coal control system also includes a server, and the server is connected with the controller, the laser radar and the speed detection device respectively; The controller is connected to the cage motor of the cage through a first frequency converter; The laser radar is used to send the detected laser radar data to the server, and the laser radar data includes coal seam height data, carriage width data and carriage length data; the speed detection device is used to send the detected speed data to said server; The server is used to determine the uneven position of the coal seam according to the height data of the coal seam; determine the train type according to the width data of the carriage and the length data of the carriage; The target height position; according to the speed data, determine the train speed; according to the train speed, determine the train position and the first output frequency, and the uneven position of the coal seam, the target height position, the sending the train position and the first output frequency to the controller; The controller is also used to control the traveling device to drive the flat coal scraper to move according to the uneven position of the coal seam and the position of the train, control the lifting scraper to descend to the target height position, and control the The first frequency converter works at the first output frequency, so that the winch cage motor drives the winch cage to run at the target speed. 5. The flat coal control system according to claim 4, wherein the controller is also used to control the traveling device to move to The rear part of the car; when it is detected that the lifting scraper has dropped to the target height position and the winch cage is running at the target speed, control the running device to move quickly along the train running direction, so as to realize The coal seam is scraped. 6. The flat coal control system according to claim 5, wherein the controller is connected with the traveling motor of the traveling device through a second frequency converter; an encoder is installed on the lifting motor of the lifting scraper , the encoder is connected to the controller; The server is also used to determine a second output frequency according to the train running speed, and send the second output frequency to the controller; The controller is also used to detect the descending height of the lifting scraper through the encoder; when the encoder detects that the lifting scraper has dropped to the target height position and the winch cage When running at the target speed, the second frequency converter is controlled to work at the second output frequency, so that the traveling device moves rapidly at the target traveling speed along the traveling direction of the train. 7. The flat coal control system according to claim 3, characterized in that, the walking device is also provided with a lifting mechanism, and the flat coal scraper is fixed on the lifting mechanism; the controller is also used for Controlling the lifting mechanism and the lifting scraper to descend together, so that the lifting scraper quickly descends to the target height position. 8. The flat coal control system according to claim 3, characterized in that, the front end and the rear end of the traveling device are respectively provided with a first ultrasonic sensor and a second ultrasonic sensor, and the first ultrasonic sensor and the second ultrasonic sensor Two ultrasonic sensors are respectively connected with the controller; The controller is also used to control the lifting scraper to descend when receiving the first ultrasonic signal sent by the first ultrasonic sensor; when receiving the second ultrasonic signal sent by the second ultrasonic sensor, control The lifting scraper goes up. 9. The flat coal control system according to claim 1, characterized in that, the front end and the rear end of the traveling device are respectively provided with a first proximity switch, and the front end and the rear end of the flat coal scraper are respectively provided with a first proximity switch. Two proximity switches, the flat coal scraper is provided with a torque limiter, the torque limiter is equipped with a third proximity switch with a set torque, the first proximity switch, the second proximity switch and the second proximity switch Three proximity switches are respectively connected with the controller; The controller is also used to control the running device to stop running when receiving the first proximity signal sent by the first proximity switch; when receiving the second proximity signal sent by the second proximity switch or the When the third proximity signal is sent by the third proximity switch, the flat coal scraper is controlled to rise. 10. A flat coal control method, characterized in that, it is applied to the flat coal control system described in any one of claims 1-9; the flat coal control method comprises: By starting the laser radar to detect the coal loading levelness of the train carriage, determine the uneven position of the coal seam of the train carriage; By starting the speed detection device to detect the running speed of the train carriage, determine the train running speed; According to the uneven position of the coal seam and the traveling speed of the train, the traveling device is controlled to drive the flat coal scraper to move, and the coal seam of the train carriage is scraped by controlling the flat coal scraper to descend.

Images