KR20050001862A - No-manned Operating System and Method of the Materials Loading Facilities - Google Patents

Abstract

PURPOSE: An unmanned automatic driving system in a raw material unloader and a method thereof are provided, which drive a stacker/reclaimer and a reclaimer automatically without a driver. CONSTITUTION: A PC server(10) performs unloading/upper board record management and yard stock management. A MMI and desk(20) performs driving and monitoring. An operation desk and annunciator(30) performs driving and monitoring in the inside. A CCTV(40) monitors yard pile. A laser sensor(50) performs pile detection. A position detection encoder(60) is installed in the center of a hinge and performs driving and slew and position detection. And a wireless system(70) relays a PLC and CCTV signal of a moving vehicle wirelessly.

Description

Unmanned Operating System and Method of the Materials Loading Facilities}

The present invention relates to an unmanned automated operation system and method in a raw material unloader, and in particular, an unmanned automated operation system in a raw material unloader for operating the stacker / reclaimer and the reclaimer of the raw material unloader by unmanned automation; It is about a method.

In general, in the stacker / reclaimer and reclaimer operation of the power plant coal handling system (CHS), the operation desk of the cab installed in the previously supplied stacker / reclaimer and reclaimer. The operator operated manually using the provided lever.

This is a manual driving operation due to the introduction of the automatic driving system, which reduces the work efficiency such as poor working environment and dispersal in the wide area, which leads to excessive travel time of the workers. There were many problems of facility accidents caused by operation in the environment.

SUMMARY OF THE INVENTION In order to solve the problems as described above, the present invention provides an unmanned automated operation system and method in a raw material unloader to operate the stacker / reclaimer and the reclaimer of the raw material unloader unmanned automation, the object is .

In addition, the present invention is to operate the stacker / reclaimer and the reclaimer of the raw material unloader by unmanned automation, the standardization of the operation and operation of the facility by the introduction of automation, stabilization of the equipment and operation of the stabilization of the operation is made, It aims to solve the poor conditions, eliminate excessive travel time and secure competitiveness in production costs.

In addition, the present invention allows the stacker / reclaimer and the reclaimer of the raw material unloader to operate unmannedly, thereby realizing map management for the yard pile, and injecting the proper personnel of the equipment operation personnel (that is, It is possible to reduce the production cost of power generation by 50 (%) of the input personnel.

1 is a block diagram showing an unmanned automated operation system in the raw material unloader according to an embodiment of the present invention.

Figure 2 is a flow chart showing an unmanned automated operation method in the raw material unloader according to an embodiment of the present invention.

Explanation of symbols on the main parts of the drawings

10: PC server 20: MMI and desk

30: operation desk and display unit (Annunciator)

40: CCTV 50: Laser Sensor

60: position detection encoder 70: wireless system

Unmanned automated operation system in the raw material unloader according to an embodiment of the present invention for achieving the object as described above, PC server performing the loading and unloading performance management, yard inventory management, MMI and desk to perform the operation and monitoring And the operation desk and display unit to perform instrument operation and monitoring, CCTV to monitor the yard file, laser sensor to perform file detection, and each axis of the hinge hinge to drive, turn and float It comprises a position detection encoder for performing the detection, and a wireless system for wirelessly relaying the PLC and CCTV signals of the vehicle.

On the other hand, the unmanned automated operation method in the raw material unloader according to an embodiment of the present invention for achieving the above object is to receive the mode and data and stacking preparation command from the raw material unloader to turn on the main and container power and to turn on the rail clamp Opening, driving the hydraulic system and resetting the weighting scale to zero; Moving to the stacking start position and notifying stacking preparation completion, receiving an automatic start command, operating the boom conveyor, and moving and stacking the stacking pile by sensing height; It is characterized in that the process including the step of checking the completion of the stacking amount and stopping the boom conveyor and at the same time notifying the end of the automatic stacking operation.

Alternatively, the unmanned automated operation method in the raw material unloader according to the embodiment of the present invention receives the mode and data and the reclaim preparation command to turn on the main and control power, open the rail clamp, drive the oil supply system, and zero the weighting scale. Resetting to; Moving to a reclaim start closing connection position to detect a reclaiming start position and notifying completion of reclaim preparation, and receiving an auto start command to operate a boom conveyor and a bukkake wheel and attempt to run at a low speed; Performing a reclaiming operation in a fixed amount by turning to confirm that the reclaim rate is equal to the initial data; Performing a reclaiming operation by turning at a fixed speed to confirm whether the final module cutting position is reached and at the same time checking whether the total reclaim rate is achieved; After the reclaim operation is terminated, the bucket wheel and boom conveyor is stopped and moved to the stacker / reclaimer home position, further comprising the step of notifying the automatic reclaim completion. Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Unmanned automated operation system in the raw material unloader according to an embodiment of the present invention, as shown in Figure 1, the PC server 10 performing the loading and unloading performance management, yard inventory management, and MMI to perform the operation and monitoring And a desk 20, an operation desk and annunciator 30 that perform instrumental operation and monitoring, a CCTV 40 that enables the yard file to be monitored, and a laser sensor 50 that performs file detection. And a position detection encoder 60 installed on each hinge center axis to perform driving, turning, and floating position detection, and a wireless system 70 for wirelessly relaying PLC and CCTV signals of a moving vehicle. Is done.

The CCTV 40 moves to a fan / tilt type ITV 41 for Boom (Boom Head Side), which is used for boom collision monitoring and file pile state monitoring in the form of a pan / tilt. ITV (42) for Cab Side (CAS) used for overall monitoring of cars, and ITV (43) for Take Up Side (TUS) used for file bottom monitoring during dispensing and loading in fixed type There is.

The laser sensor 50 automatically arrives to a short change point, to prevent a collision with the boom, to detect a change in the load of the bucket installed at the front end of the boom and to adjust the turning speed according to the detected change of the load. It adjusts, and accordingly it automatically dispenses a certain amount of raw materials.

The laser sensor 50 is installed at the lower end of the tail of the boom and detects when the face of the pile and the end of the bucket are approached when the initial pile or the stage is changed to stop the equipment before initial inching. BOF (Bottom of Front) laser sensor 51, which performs the role of stopping, and TOF (Top of Front) laser sensor, which is installed at the upper end of the boom and used for detecting the upper pile when the short changes. 52) and the left pile end of the boom, which is installed on the left side of the end of the boom, detects the left pile end point so that the inching and slew return operations for the next work can be performed. LPE (Left Pile End) laser sensor 53, and installed on the right side of the distal end of the boom and detecting the right pile end point of the pile stage currently being discharged, inching and turning return operation for the next operation Can be done RPE (Right Pile End) laser sensor 54, and the FOU is installed in the lower front of the distal end of the boom and detects the lower pile when the end change, the FOU (Down) detects the stop point of the down (Down) Laser sensor 55 for front of under and ROU installed at the lower end of the boom and the center of the head and detects the starting end point of the working file and fulfills the condition of short change. Rear sensor sensor for 56, a pile pile height laser sensor 57 for detecting pile left height during stacking operation, and a pile pile for detecting pile light height during stacking operation. Height laser sensor 58.

The position detection encoder 60 is a three-axis encoder, and automatically recognizes the angle of the boom and the slew to perform the step change automatically. In addition, to accomplish this, the laser sensor 50 is installed and used to prevent a collision with coal, iron ore, limestone, and the like.

In addition, the position detection encoder 60 is installed in the derrick part and installed in the position detection encoder 61 for boom up an down (BUD) for detecting the up and down position of the boom at an angle, and in the gantry part. And a travel position detection encoder 62 that detects the travel position by distance, and a swing position detection encoder 63 that is provided in the swing unit and detects the swing position by an angle.

The wireless system 70 is installed in the electric room of the base side to enable wireless communication with the stacker / reclaimer master PLC in the CHS room, and also wirelessly interface the ITV video signal.

On the other hand, the unmanned automated operation system in the raw material unloader according to an embodiment of the present invention to operate the stacker / reclaimer and reclaimer, in addition to the remote automatic operation method, the field manual operation method and remote manual operation method to operate It can be done so that the automatic driving method and the manual driving method can be parallel.

That is, in the CHB central cab, monitoring, automatic operation, and remote operation are possible, and in an emergency, manual operation is made possible by switching from the automatic operation method to the manual operation method at the base side.

The on-site manual driving method is a technique mainly used in the related art. When a control switch of the desk is operated while visually checking the yard situation in the cabin Cabin cab with the naked eye, the control room is operated accordingly.

The remote manual operation method operates the joystick, MMI control icon, etc. of the desk while checking the field yard situation through the MMI 20 and the CCTV 40 in the CHS Operation Room, thereby operating the CHS. To be driven by the room.

The remote automatic operation method inputs data such as work section, work amount, type of coal, file information, etc. based on the yard file based on the loading / unloading work history in the MMI 20 of the CHS operation room and automatically positions the work by the work command. Go to to get coal loading / unloading work.

Looking at the operation of the unmanned automated operation system in the raw material unloader according to an embodiment of the present invention.

First, in the stacker / reclaimer and the reclaimer, the MMI and the desk 20 perform driving and monitoring, and the operation desk and the display unit 30 perform the side driving and monitoring, wherein the CCTV 40 is operated. It allows you to monitor your yard files.

In addition, the BHS ITV 41 in the CCTV 40 performs a boom collision monitoring and file stack state monitoring function in a fan / tilt form, and the fan is operated by the CS ITV 42 in the CCTV 40. It performs the overall monitoring function of the moving car in the form of / tile, and performs the lower end of the file monitoring function when discharging and loading in a fixed form by the IUS 43 for TUS in the CCTV (40).

In addition, the laser sensor 50 performs file detection, and automatically arrives up to a short change point. At this time, the laser sensor 50 to prevent the collision with the boom, detects the load change of the bucket installed in the front of the boom and adjusts the turning speed according to the detected load change, and automatically It allows you to dispense a certain amount of raw materials.

BOF laser sensor 51 in the laser sensor 50 is installed in the lower end of the boom, and detects when the surface of the pile and the end of the bucket is approaching when the initial pile or the stage change, the equipment before the initial inching It serves to stop.

In the laser sensor 52 for TOF in the laser sensor 50, it is installed above the distal end of the boom, and is used for detecting the upper pile when the stage is changed.

The laser sensor 53 for the LPE in the laser sensor 50 is installed on the left side of the distal end of the boom, and detects the left end point of the left pile of the file stage currently being discharged to perform the inching and turning return operation for the next operation. To help.

The RPE laser sensor 54 in the laser sensor 50 is installed on the right side of the distal end of the boom and detects the end point of the light pile of the file stage currently being discharged to perform the inching and turning return operation for the next operation. Make sure

The FOU laser sensor 55 in the laser sensor 50 is installed in front of the lower end of the distal end of the boom and detects a stop point while the boom is down by detecting a lower file when a short change occurs.

The laser sensor 56 for the ROU in the laser sensor 50 is installed at the lower end of the center of the boom and the head of the boom and detects the start end point of the file currently being worked and serves to satisfy the condition of short change.

The LPH laser sensor 57 in the laser sensor 50 detects the pile left height during the stacking operation.

The RPH laser sensor 58 in the laser sensor 50 detects the pile light height during stacking.

In addition, the position detection encoder 60 is a three-axis encoder, which is installed on the hinge center axis of the stacker / reclaimer and the reclaimer, and performs traveling, turning and buoyant position detection. Recognize and perform short change automatically.

Here, the BUD position detection encoder 61 is installed in the derrick part and detects the up and down position of the boom at an angle, and the travel position detection encoder 62 is installed in the gantry part and detects the travel position as a distance, and the turning position detection The encoder 63 is provided in the turning part and detects the turning position at an angle.

Accordingly, the PLC and CCTV signals of the vehicle are relayed to the PC server 10 wirelessly through the wireless system 70, so that the PC server 10 to perform the loading and unloading performance management, yard inventory management and the like.

Meanwhile, a process of performing an operation between the MMI and the desk 20 and the stacker / reclaimer through the wireless system 70 will be described with reference to the flowchart of FIG. 2.

First, the mode and data are set on the MMI and desk 20 side, that is, yard selection, stacking rate value, stacking start position, stacker / reclaimer stacking mode selection, operating mode selection, file height selection. After setting the back light, the set mode and data are notified to the stacker / reclaimer side and the preparation instruction is transmitted to the stacker / reclaimer side.

Accordingly, the stacker / reclaimer side receives the stacking preparation instruction (step S1), turns on the main power and the container power (step S2), opens the rail clamp (step S3), and the hydraulic system. Drive (step S4) and reset the weighting scale to zero (step S5), and then move to the stacking start position to notify the MMI and desk 20 of the stacking preparation completion ( Step S6).

Then, when the MMI and the desk 20 send the auto start command to the stacker / reclaimer side, the stacker / reclaimer side receives the auto start command (step S6) and the boom conveyor (Boom Conveyor) is received. It activates (step S8), automatically moves and stacks by the automatic stacking file height detection (step S9), and confirms that the accumulation amount is completed (step S10).

Thus, when the stacking amount is completed, the stacker / reclaimer side stops the boom conveyor and notifies the MMI and the desk 20 side of the end of the automatic stacking operation (step S11).

And, when the mode is selected on the MMI and desk 20 side, that is, yard selection, reclaim ratio value, reclaim start closed connection position, stacker / reclaimer reclaim mode selection, operating mode selection After performing the file height selection, the reclaim pattern selection, and the like, the stacker / reclaimer is notified of the performed mode and data, and the reclaim preparation instruction is transmitted to the stacker / reclaimer side.

Accordingly, the stacker / reclaimer side receives the reclaim preparation instruction (step S12), turns on the main power and control power (step S13), opens the rail clamp (step S14), and drives the oil lubrication system. (Step S15) reset the weighting scale to zero (step S16), and then move to the reclaim start closure connection position (i.e. approximately 5 (m) from the file) to confirm that the closure connection position has been reached. To automatically detect the reclaiming start position (step S17), i.e., the initial running, turning and buoyant positions.

At this time, the stacker / reclaimer side checks whether the reclaiming start position is made and notifies the MMI and the desk 20 side of the reclaim preparation completion (step S18).

Then, when the MMI and the desk 20 send the auto start command to the stacker / reclaimer side, the stacker / reclaimer side receives the auto start command (step S19) to activate the boom conveyor and the bucket wheel. It activates (Bucket Wheel) and tries to run at low speed (step S20).

Accordingly, the stacker / reclaimer side performs the reclaiming operation in a fixed amount by turning (step S21), where it is checked whether the reclaim ratio is equal to the initial data (step S22).

Therefore, if the reclaim ratio is smaller than the initial data, it is checked whether the load is not loaded or the swing return position. If the reclaim ratio is not the load or the swing return position, the turning speed is increased to repeat the step 21 (S21). In the case of the no-load or the turning return position, after performing the reclaiming operation by the return turning, the twenty-first step S21 is repeatedly performed.

When the reclaim ratio is larger than the initial data, the controller determines whether the reload ratio is the no load or the swing return position. When the reclaim ratio is not the non-load or the swing return position, the turning speed is decreased to repeat the step 21 (S21). In the case of the no-load or the turning return position, after performing the reclaiming operation by the return turning, the twenty-first step S21 is repeatedly performed.

If the reclaim rate is the same as the initial data, the reclaiming operation is performed by turning at a fixed speed. At this time, the final claim position of the module is checked and the total reclaim rate is checked. S23).

Therefore, if the final module cutting position has not been reached, the 20th step (S20) is repeated. If the final module cutting position is reached, it is checked whether the smallest terrace (Terrace) is reached.

Accordingly, if it is not the smallest terrace, after the terrace change operation is performed on the next one step, the step 20 is repeated. If the smallest terrace is, the terrace change operation is performed on the next one step. After performing the step 20 to repeat the step (S20), and if it is not the total reclaim ratio to repeat the step 20 (S20).

On the other hand, in the case of the total ratio of reclaims, it automatically terminates the reclaim operation, stops the bucket wheel and boom conveyor, moves to the stacker / reclaimer home position, and recalls the automatic reclaim completion. The MMI and the desk 20 are notified (step S24).

As described above, the stacker / reclaimer and the reclaimer of the raw material unloader are operated by the unmanned automation according to the present invention, thereby achieving standardization of operation and equipment operation by the introduction of automation, stabilization of equipment, and stabilization of operation. It is possible to solve the poor working conditions, eliminate excessive travel time and secure production cost competitiveness. In addition, the present invention can realize the map management for the yard file, and can reduce the power generation production cost by the appropriate personnel input of the equipment operating personnel.

Claims (3)

PC server for loading / unloading performance management, yard inventory management, MMI and desk for driving and monitoring, operation desk and display for airborne driving and monitoring, and yard files CCTV, a laser sensor for file detection, a position detection encoder installed at each axis of the hinge hinge, and a wireless system for wirelessly relaying PLC and CCTV signals of a vehicle on the road, turning and buoying position detection. Unmanned automated operation system in the raw material unloader, characterized in that made. Receiving mode and data and stacking preparation instructions from the raw material unloader to turn on the main and container power, open the rail clamps, drive the hydraulic system and reset the weighting scale to zero; Moving to the stacking start position and notifying stacking preparation completion, receiving an automatic start command, operating the boom conveyor, and moving and stacking the stacking pile by sensing height; Unmanned automated operation method of the raw material unloader comprising the step of checking the completion of the stacking to stop the boom conveyor and at the same time the end of the automatic stacking operation. The method of claim 2, Receiving mode and data and reclaim preparation instructions to turn on main and control power, open rail clamps, drive the lubrication system and reset the weighting scale to zero; Moving to a reclaim start closing connection position to detect a reclaiming start position and notifying completion of reclaim preparation, and receiving an auto start command to operate a boom conveyor and a bucket wheel and attempt to run at a low speed; Performing a reclaiming operation in a fixed amount by turning to confirm that the reclaim rate is equal to the initial data; Performing a reclaiming operation by turning at a fixed speed to confirm whether the final module cutting position is reached and at the same time checking whether the total reclaim rate is achieved; Unattended automated operation in the raw material unloader further comprising the step of notifying the automatic reclaim completion after terminating the reclaim operation, stopping the bucket wheel and boom conveyor and moving it to the stacker / reclaimer home position. Way.