CN108016891A - A kind of windrow method - Google Patents
A kind of windrow method Download PDFInfo
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- CN108016891A CN108016891A CN201711332834.2A CN201711332834A CN108016891A CN 108016891 A CN108016891 A CN 108016891A CN 201711332834 A CN201711332834 A CN 201711332834A CN 108016891 A CN108016891 A CN 108016891A
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- heap
- windrow
- point
- panel cutting
- control module
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/005—Control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- 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
- B65G65/06—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with endless scraping or elevating pick-up conveyors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
- B65G65/34—Emptying devices
- B65G65/40—Devices for emptying otherwise than from the top
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Processing Of Solid Wastes (AREA)
Abstract
The present invention relates to a kind of windrow method, include the following steps：(1) Optimum panel cutting point is definite；(2) the cutting agency blanking point of material stocking device is positioned at Optimum panel cutting point；(3) material stocking device carries out windrow until completing this windrow operation.Windrow operation is carried out using this method, when can ensure that supplied materials is not abundant during windrow, optimal blanking point is calculated according to the workload of windrow, ensure heap-type close to discharge port on the premise of windrow is met, the material for ensureing to scrape when material fetching mechanism starts to take on charge level is dropped down onto to the bottom in feeding face from discharge port to be transferred out on material conveying device, material heap can be contacted by ensureing the work surface of its bottom in the work of scraper reclaimer structure, the problem of preventing from doing virtual work, the operating efficiency being so greatly improved in reclaiming process, section improves equipment feeding efficiency, save energy consumption, reduce equipment attrition, increase the equipment availability service life, reduce plant maintenance workload, reduce the use cost of factory.
Description
Technical field
The invention belongs to handling technique field, and in particular to a kind of windrow method.
Background technology
During the windrow of bedding plant, it will usually the maximum accumulation capacity of design, then by the blanking component of material stocking device
The vertex for being fixed on maximum accumulation capacity carries out blanking, and after the completion of blanking, scrapper conveyor carries out feeding；But often bedding plant come
Material is not the maximum accumulation capacity of design, or is not reaching to maximum reserves and just needs feeding, or takes partial material away and carry out heap again
When expecting that being not reaching to maximum reserves just needs feeding, such as Fig. 5~7, expect that heap causes material to pile with stock ground completely, expects heap at this time
Heap-type be not close to discharge port, the work surface of its bottom can not contact material heap, the portion of scraping when reclaimer is started to work
Divide material to be fetched into system belt conveyor to transport, rake can only be transported in stock ground to discharge port, and then ask in the presence of virtual work
Topic, this process industry is interior to be known as flat material, this process takes, and consumes energy, waste of manpower, and increase equipment attrition, reduces equipment and make
In the industry service life, increase plant maintenance workload.
To sum up, it is urgent to provide a kind of operating efficiency improved in reclaiming process, equipment feeding efficiency is improved, saves energy consumption,
Equipment attrition is reduced, increases the equipment availability service life, reduces plant maintenance workload, reduces the windrow side of the use cost of factory
Method.
The content of the invention
The object of the present invention is to provide a kind of operating efficiency improved in reclaiming process, equipment feeding efficiency is improved, is saved
Energy consumption, reduces equipment attrition, increases the equipment availability service life, reduces plant maintenance workload, reduces the use cost of factory
Windrow method.
Above-mentioned purpose is to be achieved through the following technical solutions：A kind of windrow method, the cutting agency of material stocking device include material
Struggle against body, and the top of the hopper body is equipped with feed inlet, and the lower part of the hopper body is equipped with blanking funnel, the blanking chute
The bottom of bucket is equipped with feed opening, and the blanking funnel can carry out rotary motion along the hopper body and drive the feed opening to exist
Horizontal plane is rotated, and the windrow method includes the following steps：
(1) Optimum panel cutting point is definite：Material maximum storage, windrow length and the material heap designed according to bedding plant is rested in peace
Angle calculates the first geometric cross section of material heap in the width direction determined in bedding plant under material maximum storage, first geometry
Expect that the intersection point of heap contour line and bedding plant discharge port is set to discharge point in section, vertex is connected in first geometric cross section with going out
The length of side of shots is set to the first side；Then the second geometric cross section of material heap in the width direction under this workload is calculated：Determine
The discharge point of second geometric cross section is overlapped with the discharge point of the first geometric cross section and the vertex of second geometric cross section
Basic principle on the first side in first geometric cross section, then determines more than the second according to the workload of this subjob
The specific location on the vertex in what section, the surface on the vertex in second geometric cross section is Optimum panel cutting point；
(2) feed opening of cutting agency is positioned at Optimum panel cutting point；
(3) material stocking device carries out windrow until completing this windrow operation.
Windrow operation is carried out using this method, it is ensured that when supplied materials is not abundant during windrow, according to the workload of windrow
Optimal blanking point is calculated, ensures heap-type on the premise of windrow is met close to discharge port, when guarantee scrapes material fetching mechanism and starts to take
Material on charge level is dropped down onto to the bottom in feeding face from discharge port to be transferred out on material conveying device, ensures scraper reclaimer structure
The work surface of its bottom can contact material heap in work, the problem of preventing from doing virtual work, the work that is so greatly improved in reclaiming process
Industry efficiency, improves equipment feeding efficiency, saves energy consumption, reduces equipment attrition, increases the equipment availability service life, reduces plant maintenance work
Measure, reduce the use cost of factory.It will be appreciated by those skilled in the art that the material heap that heap goes out during windrow is in strip
Shape, is bar material heap.
Preferably, further technical solution is：The hopper body is equipped with revolving platform, and the revolving platform is connected to material
The lower part of bucket body, the blanking funnel are connected with the revolving platform, and the revolving platform is equipped with gear, the gear of the revolving platform
The gear for mutually stinging drive bearing is mutually engaged, and the drive bearing is connected with driving motor.
Further technical solution is：In the step (2) and step (3), the floor stock amount of bedding plant is first determined,
Then determine the Optimum panel cutting point of floor stock amount according to the floor stock amount of bedding plant, its computational methods with step (1)
Optimum panel cutting point calculating method is consistent；The Optimum panel cutting point that blanking point is moved to floor stock amount further according to result of calculation carries out
Blanking operation, after discharge quantity reaches floor stock amount, the Optimum panel cutting point that blanking point is moved under this workload is carried out
Blanking operation.The floor stock amount meets that the principle of minimum reserve amount calculates according to materials department, so set, working as blanking
When amount reaches floor stock amount, you can control material fetching mechanism carries out operation, improves operating efficiency.
Further technical solution is：The material stocking device is equipped with detection module and control module, the detection module
Including at least for detecting the geographical Shape measure device of bedding plant geography shape characteristic and for detecting under blanking funnel
The position detecting device of material mouth position, the geography shape characteristic includes at least the surface topography of bedding plant material heap and it is predetermined
Coordinate value of the position in default coordinate system；The detection module gives the data information transfer of detection to the control module,
The data message of acquisition is drawn control result by the control module by control computing, and the control module is according to control result
The material stocking device and its cutting agency is controlled to carry out corresponding motion action and the target that fulfils assignment.
The present invention can be used for realize that large-scale bulk goods material stockyard realizes stacker device at the scene without operation driver's comprehensively
In the case of overall process automatic stockpiling operation.The present invention can be in the heap feeding for fully ensuring that stock ground utilization rate, playing heap reclaimer device
On the basis of ability and other functions, operated and monitored without operation driver in heap reclaimer device, also without people in Central Control Room
Member carries out whole control operation, so as to overcome, existing bulk cargo stock yard the degree of automation is low, operator's labor intensity is high, makees
The defects of industry efficiency is low low with utilization of area rate.The geography Shape measure device can be including 3D laser scanners
Measurement and modeling.
Further technical solution is：The control module receives job instruction and presses step according to this workload
(1) computational methods in calculate the Optimum panel cutting point under this workload, and the control module is obtained by position detecting device
Position coordinates of the feed opening of current cutting agency in stock ground, and the position coordinates of reception and the calculating in step (1) are obtained
The coordinate of the Optimum panel cutting point obtained is compared, and is sent order control motor operation according to comparative result and driven blanking funnel to return
Transhipment is dynamic and its feed opening is moved to Optimum panel cutting point, then controls material stocking device operation to carry out windrow.
Further technical solution is：In the step (3), the geography Shape measure device will detect data in real time
Send to control module, the control module is handled the bedding plant geography shape characteristic data of reception to obtain the heap of material heap
Shape profile information, and material heap the second geometric cross section in the width direction under this workload with being calculated in step (1) into
Row compares, and judges to expect whether the vertex of the real-time heap shape profile of heap with the vertex of the second geometric cross section is in same vertical curve
On, no, then control module control blanking funnel rotary motion is finely adjusted blanking point, until completing this windrow operation.
Further technical solution is：In the step (2) and step (3), controller module is first according to bedding plant
Floor stock amount, the Optimum panel cutting point of floor stock amount, the control are determined according to the Optimum panel cutting point calculating method in step (1)
Molding block obtains position coordinates of the feed opening of current cutting agency in stock ground by position detecting device, and by the position of reception
Compared with the coordinate for putting Optimum panel cutting point of the coordinate with calculating the floor stock amount obtained, and order is sent according to comparative result
Control motor operation drives blanking funnel rotary motion and its feed opening is moved to the Optimum panel cutting point of floor stock amount, controls
Material stocking device operation carries out windrow；Geographical Shape measure device obtains the geographical shape characteristic of bedding plant material heap in real time, and will inspection
Data sending is surveyed to control module, after the data that control module receives show that discharge quantity reaches floor stock amount, control module
Control command control motor operation is sent to drive blanking funnel rotary motion and its feed opening is moved under this workload
Optimum panel cutting point carries out blanking operation.
Further technical solution is：The stock ground is using the method for gridding by the region division in effective stockpiling area
For continuous grid surface, the vertex of each grid cell possesses a three dimensional space coordinate value (x, y, z), the seat on curved surface
For scale value static three dimensions point predetermined using in stock ground as co-ordinate zero point is referred to, wherein x and y coordinates represent material heap surface mesh
The positional value of vertex in the horizontal direction, z values represent the height on material heap surface mesh vertex.
Further technical solution is：The geography Shape measure device can detect the geography in the measurable region of bedding plant
Shape characteristic can simultaneously calculate and obtain the geographical shape characteristic in immeasurability region, and the immeasurability region is the geographical shape
The blind area of looks detection device, wherein the computation model in the geographical shape characteristic acquisition process in the immeasurability region is：Z=
tan(θ)(x-xp)+zp+z0, in formula, θ is the angle of repose of material heap material, x and z be respectively geographical Shape measure device in material heap not
Abscissa and ordinate of the arbitrary point in measurable region in default coordinate system, xpWith zpRespectively geographical Shape measure dress
Put abscissa and ordinate in default coordinate system, institute in the focus p in the measurable region of material heap and immeasurability region
State z0For adjustment factor, the adjustment factor can be according to the coordinate and rickyard coordinate of the installation site of geographical Shape measure device
Relative position relation determine.So set, in predetermined coordinate system, abscissa and ordinate to discharging heap any point
The height value of discharging heap surface specified point can be calculated, so as to obtain whole shape characteristic data that material heap can obtain surface, so
Control module is based on the data and carries out relevant control operation to heap reclaimer device afterwards, realizes the automatic intelligent of windrow.
Further technical solution is：The data message of reception is stored in data server and real by the control module
Shi Gengxin, wherein, the geographical topographic data of bedding plant is stored in data server with DEM terrain data forms, the control
Bedding plant geography topographic data can be converted into 2D or 3D heap shapes by computing module and shown by module, 2D the or 3D heaps shape is shown
Including at least the name of material of each material heap, heap annular volume, heap shape angle of repose, heap shape profile information in bedding plant；Wherein, entirely
Stock ground geography topographic data is converted into the calculating process that 2D or 3D heap shapes are shown, the computation model of the heap annular volume of the material heap
ForIn formula, m and n are the grid number under the DEM terrain data forms of stock ground, wherein, m is for DEM
Stock ground line number under graphic data form, n be DEM terrain data forms under stock ground columns, hijCorresponding under being arranged for the i-th row j
Grid height value, V be material heap heap annular volume.
The present invention can record complete feed field material statistical information in real time by the system, and be inquired about entirely by control module
Stock ground material statistical information, realizes the function of making an inventory of goods in a warehouse of complete feed field.
Further technical solution is：The control module obtains bedding plant geography topographic data by computing module
Including the name of material of each material heap in complete feed field, heap annular volume, heap shape angle of repose, heap shape profile information 2D or 3D heap shapes
It has been shown that, and in show according to the information to prestore in the control module to 2D or 3D heap shapes each material heap progress name of material mark
Note.
Brief description of the drawings
The attached drawing for forming the part of the present invention is used for providing a further understanding of the present invention, schematic reality of the invention
Apply example and its explanation is used to explain the present invention, do not form inappropriate limitation of the present invention.
Fig. 1 is a kind of structure diagram of cutting agency involved by one embodiment of the present invention；
Fig. 2 is the schematic diagram of the bedding plant involved by one embodiment of the present invention；
Fig. 3 is the schematic diagram of the bedding plant maximum capacity accumulation full with substance state involved by one embodiment of the present invention；
Fig. 4 is the reclaiming process signal of material fetching mechanism when bedding plant maximum capacity of the present invention accumulates full with substance state
Figure；
Fig. 5 is to expect heap after maximum capacity accumulates the blanking point blanking of full with substance when bedding plant is not reaching to maximum reserves
Schematic shapes；
Fig. 6 is that bedding plant takes partial material away and carries out windrow again, and is not reaching to maximum reserves and just needs the material of feeding
Heap shape；
The reclaiming process schematic diagram of material fetching mechanism in the case that Fig. 7 is Fig. 5 shown；
Fig. 8 is that the bedding plant involved by one embodiment of the present invention selects Optimum panel cutting point blanking solid accumulation state
Schematic diagram；
Fig. 9 is that the geographical Shape measure device involved by one embodiment of the present invention detects the geographical pattern that heap is expected in stockyard
The schematic diagram of feature；
Figure 10 is the schematic diagram of the material heap shaped grid representation of a surface method involved by one embodiment of the present invention.Figure
In：
13 feed inlet of geographical Shape measure 2 hopper body of device, 4 blanking funnel
5 revolving platform, 11 material fetching mechanism, 12 transmission device, 13 material extracting operation face
14 repose angle of material, 15 grid vertex, 16 grades of walls, 17 maximum storage material heap
18 discharge port, 19 20 cutting agency of floor stock amount material heap, 21 workload material heap
The measurable region A2 immeasurabilities region B material heaps of A1
Embodiment
The present invention will be described in detail below in conjunction with the accompanying drawings, and the description of this part is only exemplary and explanatory, should not
There is any restriction effect to protection scope of the present invention.In addition, description of the those skilled in the art according to this document, can be right
Feature in this document in embodiment and in different embodiments carries out respective combination.
The embodiment of the present invention is as follows, and such as Fig. 1~4 and Fig. 8, a kind of windrow method, the cutting agency 20 of material stocking device includes
Hopper body 2, the top of the hopper body 2 are equipped with feed inlet 3, and the lower part of the hopper body 2 is equipped with blanking funnel 4, institute
The bottom for stating blanking funnel 4 is equipped with feed opening, and the blanking funnel 4 can carry out rotary motion and drive along the hopper body 2
The feed opening is rotated in horizontal plane, and the windrow method includes the following steps：
(1) Optimum panel cutting point is definite：Material maximum storage, windrow length and the material heap designed according to bedding plant is rested in peace
Angle calculates the first geometric cross section of material heap in the width direction determined in bedding plant under material maximum storage, first geometry
Expect that the intersection point of heap contour line and bedding plant discharge port 18 is set to discharge point in section, connected in first geometric cross section vertex with
The length of side of discharge point is set to the first side；Then the second geometric cross section of material heap in the width direction under this workload is calculated：Really
The discharge point of fixed second geometric cross section is overlapped with the discharge point of the first geometric cross section and the top of second geometric cross section
Point is located at the basic principle on the first side in first geometric cross section, then determines second according to the workload of this subjob
The specific location on the vertex of geometric cross section, the surface on the vertex in second geometric cross section is Optimum panel cutting point；
(2) feed opening of cutting agency 20 is positioned at Optimum panel cutting point；
(3) material stocking device carries out windrow until completing this windrow operation.
Windrow operation is carried out using this method, it is ensured that when supplied materials is not abundant during windrow, according to the workload of windrow
Optimal blanking point is calculated, ensures that heap-type is scraped material fetching mechanism 11 and started close to discharge port 18, guarantee on the premise of windrow is met
Material when taking on charge level is dropped down onto to the bottom in feeding face from discharge port 18 to be transferred out on material conveying device 12, ensures scraper plate
The work surface of its bottom can contact material heap during material fetching mechanism 11 works, and the problem of preventing from doing virtual work, so be greatly improved feeding
During operating efficiency, improve equipment feeding efficiency, save energy consumption, reduce equipment attrition, increase the equipment availability service life, reduce
Plant maintenance workload, reduces the use cost of factory.It will be appreciated by those skilled in the art that the material that heap goes out during windrow
Heap is elongated, is bar material heap.
On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 1, the hopper body 2 is equipped with revolving platform
5, the revolving platform 5 is connected to the lower part of hopper body 2, and the blanking funnel 4 is connected with the revolving platform 5, the revolving platform 5
Equipped with gear, the gear that the gear of the revolving platform 5 mutually stings drive bearing is mutually engaged, the drive bearing and driving motor phase
Even.
On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 8, in the step (2) and step (3),
First determine the floor stock amount of bedding plant, the Optimum panel cutting of floor stock amount is then determined according to the floor stock amount of bedding plant
Point, its computational methods are consistent with the Optimum panel cutting point calculating method in step (1)；Blanking point is moved to further according to result of calculation
The Optimum panel cutting point of floor stock amount carries out blanking operation, and after discharge quantity reaches floor stock amount, blanking point is moved to this
Optimum panel cutting point under subjob amount carries out blanking operation.The floor stock amount meets minimum reserve amount according to materials department
Principle calculates, so set, when discharge quantity reaches floor stock amount, you can control material fetching mechanism 11 carries out operation, improves
Operating efficiency.
On the basis of above-described embodiment, in another embodiment of the present invention, the material stocking device is equipped with detection module and control
Molding block, the detection module include at least be used for detect bedding plant geography shape characteristic geographical Shape measure device 1 and
Position detecting device for the feed opening position for detecting blanking funnel 4, the geography shape characteristic include at least bedding plant material
The coordinate value of the surface topography of heap and its precalculated position in default coordinate system；The detection module believes the data of detection
Breath passes to the control module, and the data message of acquisition is drawn control result by the control module by control computing, institute
Control module is stated to control the material stocking device and its cutting agency 20 to carry out corresponding motion action according to control result and complete
Operative goals.
The present invention can be used for realize that large-scale bulk goods material stockyard realizes stacker device at the scene without operation driver's comprehensively
In the case of overall process automatic stockpiling operation.The present invention can be in the heap feeding for fully ensuring that stock ground utilization rate, playing heap reclaimer device
On the basis of ability and other functions, operated and monitored without operation driver in heap reclaimer device, also without people in Central Control Room
Member carries out whole control operation, so as to overcome, existing bulk cargo stock yard the degree of automation is low, operator's labor intensity is high, makees
The defects of industry efficiency is low low with utilization of area rate.The geography Shape measure device 1 can be including 3D laser scanners
Measurement and modeling.
On the basis of above-described embodiment, in another embodiment of the present invention, the control module receives job instruction and root
The Optimum panel cutting point under this workload is calculated by the computational methods in step (1) according to this workload, the control module is led to
Cross position detecting device and obtain position coordinates of the feed opening of current cutting agency 20 in stock ground, and by the position coordinates of reception
Order control electricity is sent compared with the coordinate for the Optimum panel cutting point that the calculating in step (1) obtains, and according to comparative result
Machine operation drives 4 rotary motion of blanking funnel and its feed opening is moved to Optimum panel cutting point, then controls material stocking device operation
Carry out windrow.
On the basis of above-described embodiment, in another embodiment of the present invention, in the step (3), the geography pattern inspection
Survey device 1 in real time will detection data sending to control module, the control module is by the bedding plant geography shape characteristic number of reception
According to the heap shape profile information for being handled to obtain material heap, and the material heap under this workload with being calculated in step (1) is along wide
Degree direction the second geometric cross section be compared, judge expect the real-time heap shape profile of heap vertex whether with the second geometric cross section
Vertex be on same vertical curve, no, then 4 rotary motion of control module control blanking funnel is finely adjusted blanking point, directly
To this windrow operation of completion.
On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 8, in the step (2) and step (3),
Controller module first according to the floor stock amount of bedding plant, determines substantially according to the Optimum panel cutting point calculating method in step (1)
The Optimum panel cutting point of storage level, the feed opening that the control module obtains current cutting agency 20 by position detecting device are being expected
Position coordinates in, and the position coordinates of reception and the coordinate for the Optimum panel cutting point for calculating the floor stock amount obtained are carried out
Compare, and send 4 rotary motion of order control motor operation drive blanking funnel according to comparative result and move its feed opening
To the Optimum panel cutting point of floor stock amount, control material stocking device operation carries out windrow；Geographical Shape measure device 1 obtains storage in real time
The geographical shape characteristic of heap is expected in stock ground, and will detect data sending to control module, when the data that control module receives are shown down
After doses reaches floor stock amount, control module sends control command control motor operation and drives 4 rotary motion of blanking funnel simultaneously
The Optimum panel cutting point that its feed opening is moved under this workload is subjected to blanking operation.
On the basis of above-described embodiment, in another embodiment of the present invention, such as Figure 10, the stock ground uses the side of gridding
Region division in effective stockpiling area is continuous grid surface by method, and the vertex of each grid cell possesses one on curved surface
Three dimensional space coordinate value (x, y, z), the coordinate value static three dimensions point predetermined using in stock ground as referring to co-ordinate zero point, its
Middle x and y coordinates represent 15 positional value in the horizontal direction of material heap surface mesh vertex, and z values represent material heap surface mesh vertex
15 height.
On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 9,1 energy of geography Shape measure device
The geographical shape characteristic in the measurable region of detection bedding plant can simultaneously calculate and obtain the geographical shape characteristic in immeasurability region, institute
Blind area of the immeasurability region for the geographical Shape measure device 1 is stated, wherein the geographical pattern in the immeasurability region is special
Sign acquisition process in computation model be：Z=tan (θ) (x-xp)+zp+z0, in formula, θ is the angle of repose of material heap material, x and z points
Not Wei geographical Shape measure device 1 in abscissa of the arbitrary point in material heap immeasurability region in default coordinate system and perpendicular sit
Mark, xpWith zpRespectively geographical Shape measure device 1 is being preset in the measurable region of material heap and the focus p in immeasurability region
Coordinate system in abscissa and ordinate, the z0For adjustment factor, the adjustment factor can be filled according to geographical Shape measure
The relative position relation of the coordinate and rickyard coordinate of putting 1 installation site determines.So set, in predetermined coordinate system,
Abscissa and ordinate to discharging heap any point can calculate the height value of discharging heap surface specified point, so as to obtain material heap
Whole shape characteristic data on surface are can obtain, then control module is based on the data and carries out relevant control to heap reclaimer device
Operation, realizes the automatic intelligent of windrow.
On the basis of above-described embodiment, in another embodiment of the present invention, the control module is by the data message of reception
Data server and real-time update are stored in, wherein, the geographical topographic data of bedding plant is stored in number with DEM terrain data forms
According in server, bedding plant geography topographic data can be converted into 2D or 3D heap shapes by computing module and shown by the control module
Show, 2D the or 3D heaps shape show including at least the name of material of each material heap in bedding plant, heap annular volume, heap shape angle of repose,
Heap shape profile information；Wherein, reason topographic data in complete feed place is converted into the calculating process that 2D or 3D heap shapes are shown, the material
The computation model of the heap annular volume of heap isIn formula, m and n are under the DEM terrain data forms of stock ground
Grid number, wherein, m be DEM terrain data forms under stock ground line number, n be DEM terrain data forms under stock ground columns,
hijCorresponding grid height value under being arranged for the i-th row j, V are the heap annular volume of material heap.
The present invention can record complete feed field material statistical information in real time by the system, and be inquired about entirely by control module
Stock ground material statistical information, realizes the function of making an inventory of goods in a warehouse of complete feed field.
On the basis of above-described embodiment, in another embodiment of the present invention, the control module is by bedding plant geography pattern
Data include the name of material of each material heap in complete feed field, heap annular volume, heap shape angle of repose, heap shape by computing module acquisition and cut open
2D the or 3D heap shapes of face figure information show, and each in being shown according to the information to prestore in the control module to 2D or 3D heap shapes
Expect that heap carries out the mark of name of material.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (10)
- A kind of 1. windrow method, it is characterised in that the cutting agency of material stocking device includes hopper body, the hopper body it is upper Portion is equipped with feed inlet, and the lower part of the hopper body is equipped with blanking funnel, and the bottom of the blanking funnel is equipped with feed opening, described Blanking funnel can carry out rotary motion along the hopper body and drive the feed opening to be rotated in horizontal plane, described Windrow method includes the following steps：(1) Optimum panel cutting point is definite：Material maximum storage, windrow length and the material heap angle of repose meter designed according to bedding plant Calculate the first geometric cross section of material heap in the width direction determined in bedding plant under material maximum storage, first geometric cross section The intersection point of middle material heap contour line and bedding plant discharge port is set to discharge point, and vertex and discharge point are connected in first geometric cross section The length of side be set to the first side；Then the second geometric cross section of material heap in the width direction under this workload is calculated：Determine described The discharge point of second geometric cross section is overlapped with the discharge point of the first geometric cross section and the vertex of second geometric cross section is located at The basic principle on the first side in first geometric cross section, then determines that the second geometry is cut according to the workload of this subjob The specific location on the vertex in face, the surface on the vertex in second geometric cross section is Optimum panel cutting point；(2) feed opening of cutting agency is positioned at Optimum panel cutting point；(3) material stocking device carries out windrow until completing this windrow operation.
- 2. windrow method according to claim 1, it is characterised in that the hopper body is equipped with revolving platform, the revolution Platform is connected to the lower part of hopper body, and the blanking funnel is connected with the revolving platform, and the revolving platform is equipped with gear, described time The gear that the gear of turntable mutually stings drive bearing is mutually engaged, and the drive bearing is connected with driving motor.
- 3. windrow method according to claim 2, it is characterised in that in the step (2) and step (3), first determine storage The floor stock amount in stock ground, then determines the Optimum panel cutting point of floor stock amount according to the floor stock amount of bedding plant, it is calculated Method is consistent with the Optimum panel cutting point calculating method in step (1)；Blanking point is moved to floor stock further according to result of calculation The Optimum panel cutting point of amount carries out blanking operation, and after discharge quantity reaches floor stock amount, blanking point is moved to this workload Under Optimum panel cutting point carry out blanking operation.
- 4. windrow method according to claim 3, it is characterised in that the material stocking device is equipped with detection module and control mould Block, the detection module, which includes at least, to be used to detect the geographical Shape measure device of bedding plant geography shape characteristic and for examining The position detecting device of the feed opening position of blanking funnel is surveyed, the geography shape characteristic includes at least the surface of bedding plant material heap The coordinate value of pattern and its precalculated position in default coordinate system；The detection module gives the data information transfer of detection The data message of acquisition is drawn control result, the control mould by the control module, the control module by control computing Root tuber controls the material stocking device and its cutting agency to carry out corresponding motion action and the target that fulfils assignment according to control result.
- 5. windrow method according to claim 4, it is characterised in that the control module receives job instruction and according to this Subjob amount is calculated the Optimum panel cutting point under this workload by the computational methods in step (1), and the control module passes through position Put detection device and obtain position coordinates of the feed opening of current cutting agency in stock ground, and by the position coordinates and step of reception (1) coordinate for the Optimum panel cutting point that the calculating in obtains is compared, and sends order control motor operation according to comparative result Drive blanking funnel rotary motion and its feed opening is moved to Optimum panel cutting point, then control material stocking device operation to carry out heap Material.
- 6. windrow method according to claim 5, it is characterised in that in the step (3), the geography Shape measure dress Put and the bedding plant geography shape characteristic data of reception are carried out to detection data sending to control module, the control module in real time Processing obtains the heap shape profile information of material heap, and the material heap under this workload with being calculated in step (1) is in the width direction The second geometric cross section be compared, judge expect the real-time heap shape profile of heap vertex whether the vertex with the second geometric cross section No on same vertical curve, then control module control blanking funnel rotary motion is finely adjusted blanking point, until completing this Secondary windrow operation.
- 7. windrow method according to claim 6, it is characterised in that in the step (2) and step (3), controller mould According to the floor stock amount of bedding plant, floor stock amount first is determined according to the Optimum panel cutting point calculating method in step (1) for block Optimum panel cutting point, the control module obtain position of the feed opening of current cutting agency in stock ground by position detecting device Coordinate, and by the position coordinates of reception compared with the coordinate for the Optimum panel cutting point for calculating the floor stock amount obtained, and according to Order control motor operation drive blanking funnel rotary motion is sent according to comparative result and its feed opening is moved to floor stock The Optimum panel cutting point of amount, control material stocking device operation carry out windrow；Geographical Shape measure device obtains bedding plant material heap in real time Geographical shape characteristic, and data sending will be detected to control module, when the data that control module receives show that discharge quantity reaches base After this storage level, control module sends control command control motor operation and drives blanking funnel rotary motion and move its feed opening The Optimum panel cutting point moved to this workload carries out blanking operation.
- 8. the windrow method according to claim 4~7 any one, it is characterised in that the stock ground is using gridding Region division in effective stockpiling area is continuous grid surface by method, and the vertex of each grid cell possesses one on curved surface A three dimensional space coordinate value (x, y, z), the coordinate value static three dimensions point predetermined using in stock ground as referring to co-ordinate zero point, Wherein x and y coordinates represent the positional value of material heap surface mesh vertex in the horizontal direction, and z values represent material heap surface mesh vertex Height.
- 9. windrow method according to claim 8, it is characterised in that the geography Shape measure device can detect bedding plant The geographical shape characteristic in measurable region can simultaneously calculate and obtain the geographical shape characteristic in immeasurability region, the immeasurability Region is the blind area of the geographical Shape measure device, wherein in the geographical shape characteristic acquisition process in the immeasurability region Computation model be：Z=tan (θ) (x-xp)+zp+z0, in formula, θ is the angle of repose of material heap material, and x and z is respectively geographical pattern Abscissa and ordinate of the detection device in the arbitrary point in material heap immeasurability region in default coordinate system, xpWith zpRespectively For horizontal stroke of the geographical Shape measure device in the focus p in the measurable region of material heap and immeasurability region in default coordinate system Coordinate and ordinate, the z0For adjustment factor, the adjustment factor can be according to the installation site of geographical Shape measure device The relative position relation of coordinate and rickyard coordinate determines.
- 10. windrow method according to claim 9, it is characterised in that the control module stores up the data message of reception Data server and real-time update are stored in, wherein, the geographical topographic data of bedding plant is stored in data with DEM terrain data forms In server, bedding plant geography topographic data can be converted into 2D or 3D heap shapes by computing module and shown by the control module, 2D the or 3D heaps shape is shown including at least the name of material of each material heap, heap annular volume, heap shape angle of repose, heap shape in bedding plant Profile information；Wherein, reason topographic data in complete feed place is converted into the calculating process that 2D or 3D heap shapes are shown, the material heap The computation model of heap annular volume isIn formula, m and n are under the DEM terrain data forms of stock ground Grid number, wherein, m be DEM terrain data forms under stock ground line number, n be DEM terrain data forms under stock ground columns, hijCorresponding grid height value under being arranged for the i-th row j, V are the heap annular volume of material heap.
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