CN106044253B - A kind of method for fetching - Google Patents
A kind of method for fetching Download PDFInfo
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- CN106044253B CN106044253B CN201610373114.XA CN201610373114A CN106044253B CN 106044253 B CN106044253 B CN 106044253B CN 201610373114 A CN201610373114 A CN 201610373114A CN 106044253 B CN106044253 B CN 106044253B
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- feeding
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- fetching
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- 239000000463 material Substances 0.000 claims abstract description 226
- 238000001514 detection method Methods 0.000 claims description 26
- 230000035515 penetration Effects 0.000 claims description 21
- 239000012530 fluid Substances 0.000 claims description 13
- 238000007599 discharging Methods 0.000 claims description 7
- 230000035611 feeding Effects 0.000 description 164
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- 238000012360 testing method Methods 0.000 description 5
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- 238000003708 edge detection Methods 0.000 description 2
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/005—Control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
- B65G65/04—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with pick-up shovels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/04—Bulk
- B65G2201/045—Sand, soil and mineral ore
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Conveyors (AREA)
Abstract
The present invention relates to control engineering fields, disclose a kind of method for fetching, which includes the threedimensional model for obtaining material heap；Identification threedimensional model determines feeding starting point and feeding terminating point；And control reclaimer carries out feeding from the feeding starting point to the feeding terminating point.The control process that so can rationally control reclaimer, improves the stability and feeding efficiency of material extracting operation, and reduces cost of labor.
Description
Technical field
The present invention relates to control engineering fields, and in particular, to a kind of method for fetching.
Background technique
Reclaimer is the important equipment in bulk transportation machinery, its major function is that the material in stockyard (is referred generally to coal
Charcoal or ore, are described by taking coal as an example below) it gets on belt feeder, it is had bad luck by belt feeder and is carried out on ship loader again
Shipment transport.In general, all manually feedings of reclaimer at home, when each material extracting operation, driver passes through eyes and sees
The shape of dump is examined, dump is layered and (is generally divided into three layers) first, judges reclaimer bucket wheel to which layer of dump
It carries out feeding and probably determines specific point of penetration；Then the movement such as walking, revolution, pitching of reclaimer is manually controlled, feeding is made
Machine bucket wheel is registered on dump, starts bucket wheel and cantilever belt conveyor, to start feeding.In general, take revolution feeding, i.e., it is first left
Turn, turn left to reclaimer behind side and move ahead 1-2 meters, then turn right, reclaimer moves ahead 1-2 meters again after turning right to side, repeatedly, directly
To current layer feeding, manual control reclaimer is retreated to next layer of feeding position, and declining large arm keeps bucket wheel alignment next
Layer dump point of penetration, starts again at revolution material extracting operation.After equal ship loaders cabin reaches the coal quantity of needs, stop feeding,
And manually control the big revolution of arm of reclaimer, pitching zero.
In above-mentioned reclaiming process, all information require operator and carry out observation acquisition by eyes, to complete to take
Material, in this process, operator needs trick to combine, and the most of the time is in high-intensitive operation process, because rather than
It is often easy fatigue, and operating efficiency is affected by fatigue；In addition, under the weather conditions such as strong wind, sleet mist, operator's view
Line do not know and can not normal observation, thus must stop operation, so greatly affected working efficiency.
Summary of the invention
The object of the present invention is to provide a kind of method for fetching, which improves the stability and feeding of material extracting operation
Efficiency, and reduce cost of labor.
To achieve the goals above, the present invention provides a kind of method for fetching, which includes: the three-dimensional for obtaining material heap
Model；Identification threedimensional model determines feeding starting point and feeding terminating point；And control reclaimer from the feeding starting point to
The feeding terminating point carries out feeding.
Preferably, in the case where the reclaimer is revolution feeding, the method for fetching further include: control the feeding
Machine is turned round to first direction to carry out feeding；When the bucket wheel of the reclaimer reaches material heap edge, controls the reclaimer and stop
Non-return turns and controls its preset distance of walking；And the control reclaimer is turned round to direction opposite to the first direction.
Preferably, method for fetching further include: according to the angle of revolution of the reclaimer, the height of the bucket wheel of the reclaimer
The pitch angle of the cantilever of degree and the reclaimer calculates the variation of the threedimensional model of material heap, and updates material heap according to the variation
Threedimensional model.
Preferably, the method for fetching further include: the material heap is divided by multiple feeding layers according to the volume of the material heap；Really
The feeding starting point and feeding terminating point of fixed each feeding layer；And control reclaimer takes from each in accordance with the order from top to bottom
The feeding starting point of the bed of material carries out feeding to the feeding terminating point of the feeding layer.
Preferably, in the case of the volume of the feeding layer is less than preset vol, determine that the feeding layer feeding terminates.
Preferably, the feeding starting point is first point on the feeding layer on the reclaimer direction of travel,
And the feeding terminating point is the last one point on the feeding layer on the reclaimer direction of travel.
Preferably, whether the method for fetching further includes detecting the edge of the material heap to be moved to the determination reclaimer
Material heap edge.
Preferably, the reclaimer meet in feeding it is following at least one in the case where determine that the reclaimer is moved to
The material heap edge: the material heap margin signal reflected through material is not received；Pressure in the bucket wheel fluid pressure line of the reclaimer
Power is less than preset pressure；Difference between the angle of revolution of this feeding and the angle of revolution of last time feeding is greater than predetermined angle；
And the medial angle of the reclaimer is greater than or equal to default inner angle or lateral angle is greater than or equal to default lateral angle
Degree.
Preferably, other than determining material point of penetration side-draw be the center of circle, the reclaimer cantilever be that the circle of radius takes with described
First intersection point of the walking track centerline of material machine on the reclaimer direction of travel is somebody's turn to do the walking rail with the reclaimer
The line of first intersection point and the outside feeding point of penetration of the road center line on the reclaimer direction of travel takes with described
The angle of the walking track centerline of material machine is lateral angle；Within determination material point of penetration side-draw be the center of circle, the reclaimer it is outstanding
Arm is first intersection point on the reclaimer direction of travel of the circle of radius and the walking track centerline of the reclaimer,
First intersection point on the reclaimer direction of travel of the walking track centerline with the reclaimer and the inside
The angle of the walking track centerline of the line of feeding point of penetration and the reclaimer is medial angle.
Preferably, whether there is by sonic sensor or microwave radar detection material.
Preferably, the method for fetching further includes stack collapse detection.
Preferably, the stack collapse detection includes: detection bucket wheel pressure；When bucket wheel pressure is greater than the first preset pressure, really
Fixed serious stack collapse；And it when bucket wheel pressure is greater than the second preset pressure and is less than or equal to first preset pressure, determines light
Micro- stack collapse.
Preferably, in the case where serious stack collapse, the method for fetching further include: control the reclaimer stop revolution or
Walking；It controls the reclaimer and retreats pre-determined distance；The reclaimer is controlled to carry out feeding in the predetermined time and forbid reclaimer
Revolution and walking；And the control reclaimer turns round or walking.
Preferably, in the case where slight stack collapse, the method for fetching further include: control the reclaimer stop revolution or
Walking；The reclaimer is controlled to carry out feeding in the predetermined time and reclaimer is forbidden to turn round and walk；And the control feeding
Machine revolution or walking.
Through the above technical solutions, controlling reclaimer by the feeding starting point and feeding terminating point of identification threedimensional model
Feeding is carried out from the feeding starting point to the feeding terminating point.The control process that so can rationally control reclaimer, mentions
The high stability and feeding efficiency of material extracting operation, and reduce cost of labor.
Other features and advantages of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
The drawings are intended to provide a further understanding of the invention, and constitutes part of specification, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the flow chart of the method for fetching provided according to the present invention；
Fig. 2 is the schematic diagram of windrow machine operation；
Fig. 3 is the flow chart of the material heap modeling method provided according to the present invention；
Fig. 4 is the effect picture of Neosinocalamus affinis；
Fig. 5 is the modelling effect figure in reclaiming process；
Fig. 6 is to provide the structural schematic diagram of material heap model building device according to the present invention；
Fig. 7 is the flow chart of the recognition methods of the Neosinocalamus affinis for reclaimer feeding provided according to the present invention；
Fig. 8 is the figure of the feeding starting point of each layer of determining material heap and feeding terminating point according to an embodiment of the present invention
Show；
Fig. 9 is the lateral angle of material heap top layer and the schematic diagram of medial angle；
Figure 10 is the structural schematic diagram of the material heap edge detecting device provided according to the present invention；
Pressure curve schematic diagram when Figure 11 is different situations in the bucket wheel fluid pressure line of reclaimer；
Figure 12 shows the flow chart of stack collapse detection method according to an embodiment of the present invention；
Figure 13 is the structural schematic diagram of the stack collapse detection device in the reclaiming process provided according to the present invention；And
Figure 14 is the flow chart of the method for fetching provided according to an embodiment of the present invention.
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
Fig. 1 is the flow chart of the method for fetching provided according to the present invention, as shown in Figure 1, method for fetching provided by the invention
It may include: to obtain the threedimensional model of material heap at step 10；At step 11, identification threedimensional model determines feeding starting point
With feeding terminating point；And at step 12, control reclaimer is taken from the feeding starting point to the feeding terminating point
Material.The control process that so can rationally control reclaimer, improves the stability and feeding efficiency of material extracting operation, and reduces
Cost of labor.
The model of the material heap can be stored in advance in the database, for the ease of material extracting operation or windrow operation again
When obtain material heap three-dimensional information need to model the material heap on stockyard during the windrow of stacker.Material heap is built
Mould, which refers to, embodies the data of material heap three-D profile by normalized data, i.e. digital elevation model, mathematic(al) representation
Are as follows: z=f (x, y).
The three-dimensional modeling of material heap is vital basis for work such as material stack volume calculating, full-automatic heap material extracting operations
Sex work.Modeling method traditional at present is using the method for laser scanning modeling, specifically by two dimension or three-dimensional laser
Scanner carries out entire scan to material heap, finally calculates material heap by the coordinate that scanning obtains point cloud data combination scan origin
The three-dimensional coordinate information of each location point realizes three-dimensional modeling.The advantages of laser scanning models is high for data accuracy, and single-point misses
Difference can control in Centimeter Level, and by taking 20,000 tons of dump as an example, the error of volume be can control within 1% after laser scanning.It lacks
Point are as follows: sweep time is long, scans a dump and usually requires to be stitched together after different position scanning, the dependence to weather
It is relatively strong, it encounters under big greasy weather or the larger environment of dust, the penetrability of laser, which will receive, to be seriously affected, and laser scanner can not
It works normally.
The stacker in stockyard, reclaimer need to carry out Real-time modeling set to the dump of operation in operation process, so as to
Realize full automatic heap material extracting operation.But in operation process, be typically due to the dust of material (such as coal) it is too big or
Situations such as big greasy weather and cause laser scanner that can not model, to influence to produce.
For material characteristic, the present invention also provides a kind of material heap modeling methods, for example, coal belongs to bulk cargo, according to coal
The of different sizes of particle, water content are different, and the angle of repose of coal is different, in addition, the initial velocity difference of dishing out of coal, dump
Discharging point also can be different.But the angle of repose of similar coal material is essentially identical.Fig. 2 gives windrow machine operation
Schematic diagram.
As shown in Fig. 2, the material heap modeling method may include: at step 30, according to the pitch angle of stacker boom
And the speed of arm belt obtains the discharging point of material；At step 31, angle of repose is obtained according to material characteristic；In step 32
Place obtains the volume for having unloaded material；And at step 33, established according to the discharging point, the angle of repose and the volume
Neosinocalamus affinis.The threedimensional model for being more truly reflected material heap can be so established, use when so as to material extracting operation promotes to take
Expect the stability of operation and improves the efficiency of material extracting operation.Wherein Fig. 4 shows the effect picture of Neosinocalamus affinis.
Wherein, by that can be weighed by arm belt scale to material during windrow, thus can be according to institute
It states material characteristic and has unloaded the weight of material and obtain the volume of the material.
If continuing windrow in existing material heap, the material heap modeling method includes: to obtain the existing Neosinocalamus affinis,
And Neosinocalamus affinis is established based on the existing Neosinocalamus affinis during windrow.
During windrow, what the weight of institute's heap material was obtained by the belt balance weighing being mounted on stacker boom,
Its accuracy is higher.Therefore in order to further increase the accuracy of model built, the material heap modeling method can also include: root
The volume that the material heap is calculated according to model built corrects the model based on volume calculated and the weight of institute's heap material.Example
Volume is such as calculated by weight, the model is then adjusted and the volume of model is made to approach the volume calculated by weight.
In reclaiming process, reclaimer carries out material extracting operation by bucket wheel rotation.In general, the ground that bucket wheel is dug up
Side, material can be cut.In this way, passing through the left and right angle of revolution of each reclaimer material, in conjunction with the height and cantilever pitch angle of bucket wheel
Degree, can calculate the variation of dump model.
Therefore, in reclaiming process, the material heap modeling method can also include: to obtain the data of original Neosinocalamus affinis；
According to the material data for the position that the bucket wheel that the operating parameter of reclaimer obtains the reclaimer passes through；In the original material heap mould
The material data is eliminated in type to obtain Neosinocalamus affinis.Modelling effect figure in reclaiming process is as shown in Figure 5.
Wherein, the operating parameter of the reclaimer include: the walking position of the reclaimer, pitch angle, angle of revolution,
The height of the bucket wheel.
Correspondingly, the present invention also provides a kind of material heap model building devices, as shown in fig. 6, material heap provided by the invention modeling dress
Setting may include: that discharging point obtains module 61, obtain material according to the speed of the pitch angle of stacker boom and arm belt
Discharging point；Angle of repose obtains module 62, for obtaining angle of repose according to material characteristic；Volume obtains module 63, for obtaining
Unload the volume of material；And processing module 64, for establishing material heap mould according to the discharging point, the angle of repose and the volume
Type.The threedimensional model for being more truly reflected material heap can be so established, use when so as to material extracting operation promotes material extracting operation
Stability and improve the efficiency of material extracting operation.
If continuing windrow in existing material heap, the material heap model building device may include: that model obtains module, be used for
The existing Neosinocalamus affinis is obtained, and the processing module 64 establishes material based on the existing Neosinocalamus affinis during windrow
Heap model.
The material heap model building device further include: correction module, for calculating the volume of the material heap, base according to model built
The model is corrected in volume calculated and the weight of institute's heap material.
In reclaiming process, the material heap model building device can also include: that model obtains module, for obtaining original material heap
The data of model；Material data obtains module, and the bucket wheel for obtaining the reclaimer for the operating parameter according to reclaimer passes through
Position material data；The processing module 64 eliminates the material data on the original Neosinocalamus affinis to obtain material heap
Model.
Material heap modeling method provided by the invention and device can pass through the parameter and reclaimer during stacker windrow
Parameter in reclaiming process realizes the modeling of mathematical simulation, reaches the pure mathematics modeling independent of laser scanning, so can be with
It realizes round-the-clock material heap modeling, and then improves work efficiency.Moreover, the material heap modeling method provided through the invention is modeled
The error of type volume improves job stability less than 1%.
In addition, if the reclaimer is revolution feeding, the method for fetching can also include: in reclaiming process
The reclaimer is controlled to turn round to first direction to carry out feeding；When the bucket wheel of the reclaimer reaches material heap edge, control
The reclaimer stops turning round and controlling its preset distance of walking；And the control reclaimer is to opposite to the first direction
Direction revolution.
The method for fetching can also include: the height of angle of revolution according to the reclaimer, the bucket wheel of the reclaimer
The pitch angle of the cantilever of degree and the reclaimer calculates the variation of the threedimensional model of material heap, and updates material heap according to the variation
Threedimensional model.
In one embodiment of the invention, material heap can be layered to control feeding, i.e., the described method for fetching
It can also include: that the material heap is divided by multiple feeding layers according to the volume of the material heap；Determine the feeding starting of each feeding layer
Point and feeding terminating point；And control reclaimer takes from the feeding starting point of each feeding layer to this in accordance with the order from top to bottom
The feeding terminating point of the bed of material carries out feeding.It, can be using middle layer as current top layer, to incite somebody to action i.e. after the completion of top layer feeding
It is determined as feeding layer and carries out feeding.
Wherein, the feeding starting point is first point on the feeding layer on the reclaimer direction of travel, and
The feeding terminating point is the last one point on the feeding layer on the reclaimer direction of travel.
As described above, control reclaimer carries out automatic material taking and needs to realize Neosinocalamus affinis after the threedimensional model of material heap is built up
Intelligent recognition.For example, reclaimer is for taking simultaneously the material in stockyard away in the open storage ground operating system of bulk cargo terminals
The equipment for being transferred to ship loader.Under traditional handicraft, usually manual operation, operator are taken by observing the Adjusting Shape of material heap
The large arm position of material machine carries out feeding.With development in science and technology, the dimensional Modeling Technology of material heap is graduallyd mature, and the three of material heap
Dimension data can be acquired by way of laser scanning, and can produce the dem data of specification.But three-dimensional modeling
Data be generally used to carry out the measurement of volume and it is visual show, operator can be carried out according to threedimensional model manually or
Semi-automatic material extracting operation is difficult to realize full-automatic material extracting operation, the reason is that coming without a kind of intelligent Neosinocalamus affinis recognition methods
It is automatic to carry out material heap identification and control reclaimer progress automatic material taking operation.
Therefore, the present invention also provides a kind of recognition methods of Neosinocalamus affinis for reclaimer feeding, as shown in fig. 7, this
The recognition methods that invention provides may include: to obtain the Neosinocalamus affinis at step 70；At step 71, according to the material
The material heap is divided into multiple feeding layers by the volume of heap；And at step 72, determines the feeding starting point of each feeding layer and take
Expect terminating point.The stability of material extracting operation can so be promoted and improve feeding efficiency.
Wherein, since the height of each feeding of bucket wheel cannot be too high, stack collapse situation otherwise can occur.Therefore, according to described
It may include: to be layered the material heap according to predetermined altitude that the material heap is divided into multiple feeding layers by the volume of material heap；It calculates
Each layer of volume；And in the case where one layer of volume is greater than preset vol, using the layer as a feeding layer.That is, institute
The volume for stating feeding layer is less than in the case of preset vol, determines that the feeding layer feeding terminates.
Wherein, the volume for calculating each layer may include: that the layer is divided into the matrix grid of predetermined size；And it is right
The volume of matrix grid in the layer is integrated to obtain the volume of this layer.
In addition, determine the feeding starting point of each feeding layer and feeding terminating point may include: by the material heap project to
In the plane parallel with the reclaimer direction of travel；Determine two of the projection of the material heap and the bottom surface projection of a feeding layer
Intersection point, wherein being the feeding starting point of the feeding layer along first intersection point on reclaimer direction of travel, another intersection point is
The feeding terminating point of the feeding layer.
In addition, the recognition methods further include: the lateral angle and medial angle of each feeding layer are determined, to be used for subsequent feeding
Judge whether to get material heap edge in the process.
Wherein it is determined that the lateral angle and medial angle of each feeding layer comprise determining that material point of penetration side-draw is the center of circle in addition, institute
Stating the cantilever of reclaimer is the circle of radius and the walking track centerline of the reclaimer on the reclaimer direction of travel
First intersection point, should with first intersection point of the walking track centerline of the reclaimer on the reclaimer direction of travel and
The angle of the walking track centerline of the line and reclaimer of the outside feeding point of penetration is lateral angle；It determines with inside
Feeding point of penetration be the center of circle, the reclaimer cantilever be radius circle and the reclaimer walking track centerline in institute
First intersection point on reclaimer direction of travel is stated, it should be with the walking track centerline of the reclaimer in the reclaimer row
Walk the walking track centerline of the line and reclaimer of first intersection point on direction and the inside feeding point of penetration
Angle is medial angle.
Wherein, feeding point of penetration in outside is to be directed to reclaimer during outside-in revolution, gets object at first
The point of material；And inside feeding point of penetration is to be directed to reclaimer during turning round from Inside To Outside, gets material at first
Point.
The Neosinocalamus affinis for being used for reclaimer feeding that will be provided below by specific embodiment come the present invention is described in detail
Recognition methods.
In this embodiment, it can be, but not limited to for material heap being divided into 20 centimetres * 20 centimetres of matrix grid, each net
The height value of lattice point is exactly digital elevation.In the case where the ranks subscript of data point on knowing grid, just according to elevation model
The corresponding height value of mesh point can be found.
Wherein, the principle for calculating volume is as follows:
The volume of each grid is integrated, since Neosinocalamus affinis is not regular geometric figure, simplification side can be used
Formula carries out volume calculating.For example, the height of each mesh point is summed, then it is multiplied again with the floor space of single grid
Obtain the volume of material heap.In the present embodiment, the side length of grid is set as 20 centimetres, then floor space is 0.04 square metre.Material
The volume s=Σ hi*0.04 of heap, wherein hi is the height value of each point.
For layering after top layer volume calculating it is similar with above-mentioned calculating process, can only count first top layer (such as
Elevation be more than or equal to 11.5 meters) altitude data, the height value of mesh point is then subtracted 11.5, then sum, finally multiplied by
You can get it the top layer volume of floor space 0.04.
The calculating of middle layer volume calculates the volume that middle layer or more includes top layer first, and then subtracting top layer volume can obtain
Middle layer volume out.
Wherein, it is as follows that starting point, terminating point principle are calculated:
Due to the material extracting operation generally operation since material heap centre, a line that can choose Neosinocalamus affinis center row is high
Number of passes is according to being analyzed.The case where according to every, general material heap are divided into three layers, and first layer is 0-5.5 meters, second layer 5.5-11
Rice, third layer are 11-16 meters, according to three it is high layer by layer the altitude data point of center row is divided into three parts, the two of each part
End column subscript just reflects the starting point and ending point position of current layer, as shown in Figure 8.Wherein F and A is the feeding of material heap bottom
Starting point and feeding terminating point, E and B are the feeding starting point and feeding terminating point in material heap middle layer, and D and C are taking for material heap top layer
Expect starting point and feeding terminating point.
Calculate the principle of lateral angle, medial angle:
By taking material heap top layer as an example, the height of feeding is 11.5 meters, can determine that feeding is cut on the outside of material heap top layer by model
Then access point and inside feeding point of penetration are the center of circle by outside point of penetration within calculating, using reclaimer jib-length as radius
Camber line is drawn, the intersection point of obtained camber line and walking track centerline connects point of penetration and intersection point, then calculating line and row
The angle of center line is walked, as shown in figure 9, medial angle β and lateral angle α can be determined.
As above determine top layer volume, middle layer volume, bottom volume, top layer starting point, top layer terminating point, middle layer starting point,
Middle layer terminating point, bottom starting point, bottom terminating point, top layer lateral angle, top layer medial angle, middle layer medial angle, middle layer lateral angle,
After bottom medial angle, bottom lateral angle, the control device (such as PLC) of reclaimer can be driven to, control device can
To carry out automatic material taking operation according to above-mentioned parameter.
Correspondingly, the present invention also provides a kind of identification device of Neosinocalamus affinis for reclaimer feeding, the identification dresses
Setting may include: that model obtains module, for obtaining the Neosinocalamus affinis；Hierarchical block, for the volume according to the material heap
The material heap is divided into multiple feeding layers；And feeding point obtains module, for determining the feeding starting point of each feeding layer and taking
Expect terminating point.
Wherein, the hierarchical block is used for: being layered the material heap according to predetermined altitude；Calculate each layer of body
Product；And in the case where one layer of volume is greater than preset vol, using the layer as a feeding layer.
The volume for calculating each layer includes: that the layer is divided into the matrix grid of predetermined size；And in the layer
The volume of matrix grid integrated to obtain the volume of this layer.
The feeding point obtains module and is used for: the material heap is projected to the plane parallel with the reclaimer direction of travel
On；Two intersection points that the bottom surface of the projection for determining the material heap and a feeding layer projects, wherein along on reclaimer direction of travel
First intersection point be the feeding layer feeding starting point, another intersection point be the feeding layer feeding terminating point.
In addition, the identification device further include: feeding angle obtain module, for determine each feeding layer lateral angle and
Medial angle.
Wherein, the feeding angle obtains module and is used for: material point of penetration side-draw is the center of circle, the reclaimer other than determining
Cantilever is the intersection point of the circle of radius and the walking track centerline of the reclaimer, the intersection point and the outside feeding point of penetration
The angle of the walking track centerline of line and the reclaimer is lateral angle；Within determination material side-draw incision be the center of circle, it is described
The cantilever of reclaimer is the intersection point of the circle of radius and the walking track centerline of the reclaimer, the intersection point and the outside feeding
The angle of the walking track centerline of the line of incision and the reclaimer is medial angle.
The recognition methods of the Neosinocalamus affinis for reclaimer feeding provided through the invention and identification device can be automatic
Material stack volume, feeding starting point, feeding terminating point, medial angle, lateral angle are calculated, the operator having wide experience can be replaced
Member, realizes the intelligent recognition of dump information, and control reclaimer realizes entire roboticized work, improves operating efficiency.
In reclaiming process, the detection to dump edge is vital.Domestic reclaimer is typically all people at present
Work feeding, the method for feeding are revolution feedings, that is, pass through revolution reclaimer cantilever, make bucket wheel can be with material extracting operation.Manually taking
It is starting and stopping for revolution to be determined by the eyes observation of driver, but the limitation of artificial observation exists under material mode
Operation level difference in everyone causes not judging dump when feeding efficiency reduces, sight is unclear under greasy weather and bad weather
Boundary can not carry out material extracting operation substantially.For this purpose, the method for fetching further includes detecting the edge of the material heap to determine
State whether reclaimer is moved to material heap edge.
The reclaimer meet in feeding it is following at least one in the case where determine that the reclaimer is moved to the material
Heap edge: the material heap margin signal reflected through material is not received；Pressure in the bucket wheel fluid pressure line of the reclaimer is less than
Preset pressure；Difference between the angle of revolution of this feeding and the angle of revolution of last time feeding is greater than predetermined angle；And institute
The medial angle for stating reclaimer is greater than or equal to default inner angle or lateral angle is greater than or equal to default outside angle.
Wherein it is possible to whether there is by sonic sensor or microwave radar detection material.
Correspondingly, the present invention also provides a kind of material heap edge detecting devices, and the material heap edge detecting device is in reclaimer bucket
Wheel feeding arrive material heap edge when can detect automatically, testing result can be used to control reclaimer stopping revolution acting and switch to go
Movement is walked, to realize semi-automatic or automatic material taking operation.
As shown in Figure 10, material heap edge detecting device provided by the invention may include: edge detector 101, be mounted on
On reclaimer, for detecting material heap margin signal；And processor 102, it is connect with the material heap edge detector 101, in institute
It states in the case that the material heap margin signal detected meets predetermined condition, determines that the reclaimer is operated to the side of the material heap
Edge.It so can be realized the automatic detection to material heap edge, improve the feeding efficiency of reclaimer.
In one embodiment, the edge detector may be mounted on the bucket wheel of the reclaimer；The edge
Detector receives the material heap margin signal reflected through material for emitting detection signal；The predetermined condition is the edge
Detector does not receive the material heap margin signal reflected through material；Wherein, the edge detector includes one in following device
Person: sound wave detector, microwave radar and laser range finder.
In this embodiment, when reclaimer feeding is to material heap edge, such as sonic sensor can detect that front does not have
There is object blocking, then sound wave reflection is not returned, can so determining reclaimer bucket wheel, feeding is to adjacent edges, due to material
Heap itself has angle of repose, when sonic sensor detects edge, reclaimer often there are no the material at edge is taken completely,
The feeding that reclaimer carries out the ticket reserving time can be controlled by increasing delay command at this time, to take only material.
In revolution feeding mode, the bucket wheel two sides of the reclaimer are mounted on the edge detector.
In another embodiment of the present invention, the edge detector can be pressure sensor, be mounted on the feeding
In the bucket wheel fluid pressure line of machine, the pressure in bucket wheel fluid pressure line for detecting the reclaimer, wherein the predetermined condition
It is less than preset pressure for pressure detected.
In this embodiment, increase analog quantity pressure sensor in bucket wheel fluid pressure line, bucket wheel pressure can be led to
It crosses 4-20 milliamperes of signal and is transferred to PLC Analog input mModule, by the real-time pressure that bucket wheel is calculated.It in advance can be into
Row no load test and heavy duty test, determine the difference between heavy duty pressure and unloaded pressure, to be detected.Such as bucket wheel is empty
Load pressure is 50bar, and heavily loaded pressure is 70-120bar, therefore, can be determined when detecting that bucket wheel pressure is less than 60bar
Edge through feeding to material heap.
In another embodiment of the invention, the edge detector can be angle of revolution detector, be mounted on institute
It states on the slewing equipment of reclaimer, for detecting the angle of revolution of the reclaimer, wherein the predetermined condition is examined by this
The angle of revolution of survey and the difference of last time angle of revolution detected are greater than default angle of revolution.
In general, outside angle of revolution, inside revolution according to the profile characteristic of dump, after 1-2 meters of reclaimer stepping
Angle differs very little with outside angle of revolution, the inside angle of revolution of last feeding, by surveying, generally no greater than 5 degree.Such as
This, when the difference of this angle of revolution and last time angle of revolution is greater than 5 degree, it is determined that the edge of feeding to material heap.
In a further embodiment of the invention, the edge detector can be angle detector, be mounted on described take
On the slewing equipment of material machine, for detecting the medial angle or lateral angle of the reclaimer, wherein the predetermined condition is is detected
Medial angle be greater than or equal to default inner angle or lateral angle is greater than or equal to default outside angle.
According to the maximum volume of cargo in storage of material heap, the bucket wheel of certain altitude can be calculated on the outside of the maximum when taking the big pile of standard
Angle and minimum medial angle, can be true when returning back to maximum lateral angle or minimum medial angle as predetermined condition
Fixed feeding is to the edge of material heap.
Wherein, maximum lateral angle and minimum medial angle can be set according to the case where practical material heap.For example, in a kind of reality
It applies in mode, for top layer, maximum lateral angle can be set to 70 degree, and for middle layer, maximum lateral angle can be set to 80 degree,
For bottom, maximum lateral angle can be set to 90 degree.For top layer, minimum medial angle can be set to 20 degree, for middle layer,
Minimum medial angle can be set to 15 degree, and for bottom, minimum medial angle can be set to 10 degree.
In addition, the material heap edge detecting device can also include alarm, for the processor determine described in take
Material machine is alarmed in the case where operating to the edge of the material heap.
Wherein, the processor can be comparator, meet predetermined condition for judging whether.
The edge that material heap is detected by above-mentioned methods and apparatus can be realized automatic detection, and then may be implemented
Automatically or semi-automatically material extracting operation, and can mutually be checked between various means, guarantee the safety of operation；The detection side
Method and device response are fast, and operating efficiency can be improved.
During the material extracting operation of reclaimer, since the feeding height of single layer is too high, the distance of single into vehicle is excessive etc.
Often there is the case where material heap stack collapse in reason.Reclaimer in material extracting operation, generally by the rotation of bucket wheel, suspending arm rotary with
And the mode walked into vehicle carries out rotary or walking material taking operation.So-called stack collapse refers to that material heap is dashed forward in reclaiming process
Right avalanche causes the bucket wheel of reclaimer to load increase suddenly, bucket wheel stall and stop operation.Currently, reclaimer is all artificial hand
The case where movement industry, stack collapse, is observed by human eye, and the processing of stack collapse, which relies on, manually to be adjusted.This has the disadvantage in that people
Work observe stability it is poor, artificial observation there are visual fatigue, especially night work sight it is unclear in the case where often cannot and
Shi Faxian increases the difficulty of processing to cause the putty of bucket wheel serious；In addition, manually handling low-response, efficiency
It is low, after operator sees stack collapse, first to judge the degree of stack collapse, reselection processing method, the dependence to artificial experience
Property it is too strong, often result in processing not in time after personnel's fatigue, and there are security risks.
Therefore, method for fetching provided by the invention can also include that stack collapse detects, to detect material heap stack collapse situation automatically
And it can be automatically processed according to stack collapse situation, to improve operating efficiency, avoid security risk.
Since the bucket wheel driving of reclaimer is usually hydraulic motor driving, when there is stack collapse situation in material heap, bucket wheel liquid
Pressure in pressure pipe road can increase.Therefore, it is possible to being overloaded according to the zero load of bucket wheel, underloading, rated load, slight stack collapse, being serious
The similar pressure curve for testing out bucket wheel work of situations such as stack collapse is overloaded.As shown in figure 11, bucket wheel is hydraulic when A point is bucket wheel zero load
Pressure in pipeline, pressure when B point is bucket wheel rated load in bucket wheel fluid pressure line, bucket wheel when C point is material heap slight stack collapse
Pressure in fluid pressure line, pressure when D is material heap serious stack collapse in bucket wheel fluid pressure line,
Based on above content, the stack collapse detection may include: detection bucket wheel pressure；It is default to be greater than first in bucket wheel pressure
When pressure, serious stack collapse is determined；And it is greater than the second preset pressure in bucket wheel pressure and is less than or equal to first preset pressure
When, determine slight stack collapse.
In the case where serious stack collapse, the method for fetching further include: control the reclaimer and stop revolution or walking；Control
It makes the reclaimer and retreats pre-determined distance；The reclaimer is controlled to carry out feeding in the predetermined time and reclaimer is forbidden to turn round and go
It walks；And the control reclaimer turns round or walking.
In the case where slight stack collapse, the method for fetching further include: control the reclaimer and stop revolution or walking；Control
The reclaimer is made to carry out feeding in the predetermined time and reclaimer is forbidden to turn round and walk；And the revolution of the control reclaimer or
Walking.
The stack collapse detection method that will be provided below by specific embodiment come the present invention is described in detail.
As shown in figure 11, bucket wheel zero load pressure in 50bar or so, slightly collapse between 80bar-120bar by normal load
Pile load is in 120bar or more, and serious stack collapse load is in 160bar or more.According to test curve, it can be deduced that current dump collapses
Pile situation, and since pressure sensor response is fast, parameter stability can be improved with automatic identification compared with eye-observation.
Slight stack collapse and serious stack collapse can be detected automatically by above-mentioned stack collapse detection method and detection device, be not necessarily to people
Work observation judgement, saves manpower, and improve detection efficiency；And can be automatically processed according to stack collapse situation, to be
Full-automatic material extracting operation carries out basis, improves treatment effeciency.
Figure 12 shows the flow chart of stack collapse detection method according to an embodiment of the present invention.As shown in figure 12, exist
Step 121 place, bucket wheel are started to work；At step 122, the pressure in bucket wheel fluid pressure line is detected；At step 123, judgement
Whether pressure is greater than 160bar；If pressure is greater than 160bar, at 124, determine that serious stack collapse occurs in material heap；If pressure
It is not greater than 160bar and judges whether pressure is greater than 120bar then at step 125；If pressure is greater than 120bar, 126
Place determines that slight stack collapse occurs in material heap；If pressure is not greater than 120bar, at step 127, the non-stack collapse of material heap is determined；After
It is continuous that pressure is detected.
The case where for slight stack collapse, after detecting stack collapse, control device (such as PLC) can be automatically stopped feeding
Machine revolution or walking, and control after reclaimer original place carries out feeding such as 3 seconds, it is again started up revolution or walking, it is so logical
Cross of short duration revolution, walking stops to take the material of slight stack collapse completely, then normal feeding again.
In serious stack collapse, it can stop currently turning round first or walking motion, PLC can control reclaimer retrogressing
Such as 1 meter or so, it then controls reclaimer original place and carries out feeding such as 5 seconds, then in current location according to the side before interruption
To revolution or walking motion is carried out, start normal operation.
Correspondingly, the present invention also provides the stack collapse detection devices in a kind of reclaiming process.As shown in figure 13, the present invention provides
Reclaiming process in stack collapse detection device may include: signal detector 131, be mounted on reclaimer, for detecting material heap
Stack collapse signal；And processor 132, it is connect with the signal detector 131, reaches predetermined in detected stack collapse signal
When condition, material heap stack collapse is determined.
In one embodiment of the invention, the signal detector 131 can be pressure detector, be mounted on described
The pressure signal in bucket wheel fluid pressure line in the bucket wheel fluid pressure line of reclaimer, for detecting the reclaimer.
In another embodiment of the invention, the signal detector 131 can be moment inspecting device, be mounted on institute
It states on the bucket wheel of reclaimer, the torque of the bucket wheel for detecting the material machine.
In another embodiment of the invention, the signal detector 131 can be current detector, with driving institute
The motor connection for stating the bucket wheel of reclaimer, for detecting the electric current of the motor.
Wherein, the processor 132 can be comparator, reach predetermined condition for judging whether.
In addition, the processor 132 can be PLC.
In order to further ensure the timely processing to stack collapse situation, the stack collapse detection device can also include alarm,
It is connect with the processor 132, for alarming in the case where material heap stack collapse.
The method for fetching that will be provided below by specific embodiment come the present invention is described in detail, it should be noted that sheet
Invention is not restricted to this.
Figure 14 is the flow chart of the method for fetching provided according to an embodiment of the present invention.As shown in figure 14, in step
At 141, Neosinocalamus affinis is obtained；At step 142, the volume of each layer of material heap (for example, top layer, middle layer, bottom) is calculated, according to body
Product is to determine feeding layer；At step 143, the feeding starting point and feeding terminating point of each layer are determined；At step 144, control
The bucket wheel of reclaimer is to the starting point of feeding layer；At step 145, control reclaimer carries out feeding；Current layer is being taken, is being taken
Material machine reselects feeding layer, and carries out automatic layer-changing feeding；At step 149, after completing feeding amount, Neosinocalamus affinis is updated,
To be used when next feeding；In reclaiming process, at step 146, stack collapse detection is carried out in real time；And in step 147
Place carries out material heap edge detection in real time.
The method for fetching provided through the invention breaches the round-the-clock modeling problem of material heap, solves dump model
Intelligent recognition proposes new dump edge detection method, device and stack collapse detection processing method, apparatus, the above method and dress
Artificial feeding can be replaced completely and carry out intelligent decision, handle the various problems in reclaiming process by setting, and be realized round-the-clock
Under the conditions of full-automatic unmanned material extracting operation on duty, saved personnel cost in process of production, improved operating efficiency and steady
It is qualitative, efficiently avoid safety accident.
It is described the prefered embodiments of the present invention in detail above in conjunction with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, a variety of letters can be carried out to technical solution of the present invention
Monotropic type, these simple variants all belong to the scope of protection of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, can be combined in any appropriate way, in order to avoid unnecessary repetition, the present invention to it is various can
No further explanation will be given for the combination of energy.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention, it should also be regarded as the disclosure of the present invention.
Claims (14)
1. a kind of method for fetching, which is characterized in that the method for fetching includes:
Obtain the threedimensional model of material heap；
Identification threedimensional model determines feeding starting point and feeding terminating point；And
It controls reclaimer and carries out feeding from the feeding starting point to the feeding terminating point,
Wherein, the threedimensional model for obtaining material heap includes according to the discharging point of material, angle of repose and having unloaded the volume of material and building
Found the threedimensional model.
2. the method according to claim 1, wherein the reclaimer be revolution feeding in the case where, it is described
Method for fetching further include:
The reclaimer is controlled to turn round to first direction to carry out feeding；
When the bucket wheel of the reclaimer reaches material heap edge, controls the reclaimer and stop turning round and controlling its pre- spacing of walking
From；And
The reclaimer is controlled to turn round to direction opposite to the first direction.
3. according to the method described in claim 2, it is characterized in that, the method for fetching further include: according to returning for the reclaimer
Gyration, the reclaimer bucket wheel height and the reclaimer cantilever pitch angle calculate material heap threedimensional model
Variation, and according to the variation update material heap threedimensional model.
4. method for fetching according to claim 1, which is characterized in that the method for fetching further include:
The material heap is divided into multiple feeding layers according to the volume of the material heap；
Determine the feeding starting point and feeding terminating point of each feeding layer；And
Reclaimer is controlled to terminate from the feeding starting point of each feeding layer to the feeding of the feeding layer in accordance with the order from top to bottom
Point carries out feeding.
5. method for fetching according to claim 4, which is characterized in that when the volume of the feeding layer is less than preset vol
In the case where, determine that the feeding layer feeding terminates.
6. method for fetching according to claim 4, which is characterized in that the feeding starting point on the feeding layer in institute
First point on reclaimer direction of travel is stated, and the feeding terminating point is on the feeding layer in the reclaimer walking side
The last one upward point.
7. method for fetching according to claim 2, which is characterized in that the method for fetching further includes detecting the material heap
Whether edge is moved to material heap edge with the determination reclaimer.
8. method for fetching according to claim 7, which is characterized in that the reclaimer meets following at least one in feeding
Determine that the reclaimer is moved to the material heap edge in the case where person:
The material heap margin signal reflected through material is not received；
Pressure in the bucket wheel fluid pressure line of the reclaimer is less than preset pressure；
Difference between the angle of revolution of this feeding and the angle of revolution of last time feeding is greater than predetermined angle；And
The medial angle of the reclaimer is greater than or equal to default inner angle or lateral angle is greater than or equal to default lateral angle
Degree.
9. method for fetching according to claim 8, which is characterized in that other than determining material point of penetration side-draw be the center of circle, it is described
The cantilever of reclaimer be radius circle and the reclaimer walking track centerline on the reclaimer direction of travel the
One intersection point is somebody's turn to do first intersection point and institute with the walking track centerline of the reclaimer on the reclaimer direction of travel
The angle for stating the line of outside feeding point of penetration and the walking track centerline of the reclaimer is lateral angle；It is side-draw within determination
Material point of penetration be the center of circle, the reclaimer cantilever be radius circle and the reclaimer walk track centerline described
First intersection point on reclaimer direction of travel, should be with the walking track centerline of the reclaimer in reclaimer walking
The folder of the walking track centerline of the line and reclaimer of first intersection point and the inside feeding point of penetration on direction
Angle is medial angle.
10. method for fetching according to claim 7, which is characterized in that pass through sonic sensor or microwave radar detection object
Material whether there is.
11. method for fetching according to any one of claim 1 to 10, which is characterized in that the method for fetching further includes
Stack collapse detection.
12. method for fetching according to claim 1, which is characterized in that the stack collapse, which detects, includes:
Detect bucket wheel pressure；
When bucket wheel pressure is greater than the first preset pressure, serious stack collapse is determined；And
When bucket wheel pressure is greater than the second preset pressure and is less than or equal to first preset pressure, slight stack collapse is determined.
13. method for fetching according to claim 12, which is characterized in that in the case where serious stack collapse, the feeding side
Method further include:
It controls the reclaimer and stops revolution or walking；
It controls the reclaimer and retreats pre-determined distance；
The reclaimer is controlled to carry out feeding in the predetermined time and reclaimer is forbidden to turn round and walk；And
Control the reclaimer revolution or walking.
14. method for fetching according to claim 12, which is characterized in that in the case where slight stack collapse, the feeding side
Method further include:
It controls the reclaimer and stops revolution or walking；
The reclaimer is controlled to carry out feeding in the predetermined time and reclaimer is forbidden to turn round and walk；And
Control the reclaimer revolution or walking.
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| CN108045973B (en) * | 2017-12-13 | 2022-02-01 | 泰富智能科技有限公司 | Automatic stacking method of stacking system |
| CN108147147B (en) * | 2017-12-13 | 2022-04-01 | 泰富重工制造有限公司 | Automatic intelligent material piling and taking system |
| CN108033279B (en) * | 2017-12-13 | 2021-12-07 | 泰富重工制造有限公司 | Automatic material stacking and taking system |
| CN108128638B (en) * | 2017-12-13 | 2021-12-07 | 泰富重工制造有限公司 | Automatic material taking method of material taking system |
| CN109650090A (en) * | 2019-02-27 | 2019-04-19 | 莱芜钢铁集团电子有限公司 | A kind of reclaimer feeding control method and device |
| CN109928223A (en) * | 2019-03-28 | 2019-06-25 | 华电电力科学研究院有限公司 | A kind of the feeding control method and Related product of coal yard stacker-reclaimer |
| CN109911643B (en) * | 2019-04-02 | 2020-09-15 | 上海快仓智能科技有限公司 | Material putting method, control device, equipment and system |
| CN111115289A (en) * | 2019-12-05 | 2020-05-08 | 神华粤电珠海港煤炭码头有限责任公司 | Automatic material piling and taking wharf control method and system based on three-dimensional modeling |
| CN111285127B (en) * | 2020-02-24 | 2021-08-31 | 中冶东方工程技术有限公司 | Intelligent control system and method for scraper reclaimer |
| CN111324095A (en) * | 2020-02-27 | 2020-06-23 | 金陵科技学院 | Unmanned shipment system of dry bulk material intelligent industrial robot |
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| CN113291843B (en) * | 2020-06-24 | 2023-03-10 | 中冶长天国际工程有限责任公司 | Material taking control method and device of material taking machine |
| CN111792396B (en) * | 2020-07-17 | 2021-12-28 | 湖南长天自控工程有限公司 | Material taking system and method for circular stock ground |
| CN113003149B (en) * | 2021-02-24 | 2022-08-05 | 中冶南方工程技术有限公司 | Control method for automatic material taking of cantilever type bucket-wheel stacker-reclaimer |
| CN113548488A (en) * | 2021-06-16 | 2021-10-26 | 华能(浙江)能源开发有限公司玉环分公司 | Full-automatic control system of bucket wheel machine |
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