CN108147147A - A kind of material stacking and fetching system of automatic intelligent - Google Patents
A kind of material stacking and fetching system of automatic intelligent Download PDFInfo
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- CN108147147A CN108147147A CN201711331742.2A CN201711331742A CN108147147A CN 108147147 A CN108147147 A CN 108147147A CN 201711331742 A CN201711331742 A CN 201711331742A CN 108147147 A CN108147147 A CN 108147147A
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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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Abstract
The present invention relates to a kind of material stacking and fetching systems, including heap reclaimer device, control module and detection module, the detection module includes at least geographical Shape measure device and position detecting device, the geographical Shape measure device can detect stockyard and can measure the geographical shape characteristic in region and can simultaneously calculate and obtain the geographical shape characteristic in immeasurability region, the detection module gives the data information transfer of detection to the control module, the control module obtains control result by control operation, the control module controls the heap reclaimer device to carry out corresponding motion action and the target that fulfils assignment according to control result.Geography Shape measure device of the invention, which provides the abscissa at material heap any point and ordinate, can calculate the height value of material heap surface specified point, so as to obtain whole shape characteristic data that material heap can obtain surface, then control module is based on the data and carries out relevant control operation to heap reclaimer device, realizes the automatic intelligent of heap feeding.
Description
Technical field
The invention belongs to intelligent handling technique fields, and in particular to a kind of material stacking and fetching system of automatic intelligent.
Background technology
The heap of bulk cargo, which is taken, in steel, bargh at present is completed using stacker-reclaimer, and domestic most enterprises
Stacker-reclaimer be all to be fulfiled assignment task using manual operation, labor intensity is big, the working time is long, and bulk material pile takes often
Dusty is caused to pollute, the physical and mental health of the operating personnel for working long hours causes very big damage.In the prior art, it struggles against
It takes turns stacker-reclaimer to be mostly manually operated using " drivers' cab is manual " mode of operation, that is, driver, purely manual operation.This operation
Mode requires driver's long-time attention high concentration, and driver's labor intensity is larger, and manual operation has much artificial do
Factor is disturbed, such as live dust can cause to block to the sight of driver, especially under the environment such as wet weather, dense fog, night, easily make
The phenomenon that overloading into bucket-wheel stacker reclaimer or collide dump, the safe operation of serious threat equipment；On the other hand artificial behaviour
The bucket wheel point of penetration poor location to elect, feeding output is uneven, influences safety, the economical operation of entire coaling system, old friend
Work operates the operation that can not realize high efficiency, high accurancy and precision, low so as to cause operating efficiency, and then it is more to influence safety, economic dispatch
Aspect benefit.
To sum up, it is urgent to provide a kind of achievable high efficiency, the material stacking and fetching systems of the automatic intelligent of the operation of high accurancy and precision.
Invention content
The object of the present invention is to provide a kind of heap feeding systems of the windrow system of high, the achievable automation control of operating efficiency
System.
Above-mentioned purpose is to be achieved through the following technical solutions：A kind of material stacking and fetching system of automatic intelligent, including heap feeding
Equipment, control module and detection module, the detection module include at least the geography for detecting complete feed place reason shape characteristic
Shape measure device and the position detecting device for detecting heap reclaimer device walking position, the geography shape characteristic is at least
The coordinate value of surface topography and material heap precalculated position in preset coordinate system including material heap in stock ground；The geography pattern
Detection device can detect stockyard and can measure the geographical shape characteristic in region and can simultaneously calculate and obtain the geographical shape in immeasurability region
Looks feature, the computation model in the geographical shape characteristic acquisition process in the immeasurability region are：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 Shape measure device appointing in material heap immeasurability region
Abscissa and ordinate of the meaning point in preset coordinate system, xpWith zpRespectively geographical Shape measure device can measure in material heap
Abscissas and ordinate of the focus p in region and immeasurability region in preset coordinate system, the z0For adjustment factor, institute
Stating adjustment factor can be true according to the coordinate of the installation site of geographical Shape measure device and the relative position relation of rickyard coordinate
It is fixed；For the detection module by the data information transfer of detection to the control module, the control module believes the data of acquisition
Breath is with reference to heap, material extracting operation target instruction target word, and by operation is controlled to obtain control result, the control module is according to control result control
It makes the heap reclaimer device and carries out corresponding motion action and the target that fulfils assignment.
The method that stock ground uses gridding, region division that will be effectively in stockpiling area are continuous grid surface, curved surface
The vertex of each upper grid cell has a three dimensional space coordinate value (x, y, z), and the coordinate value is with a certain static in stock ground
Three dimensions point is used as with reference to co-ordinate zero point, and wherein x and y coordinates represent the position of material heap surface mesh vertex in the horizontal direction
Value, z values represent the height value of the height on material heap surface mesh vertex, i.e. material heap surface specified point, and the size of grid can basis
The requirement of display precision is adjusted.
So set, in scheduled coordinate system, the abscissa and ordinate that provide material heap any point can calculate
The height value of material heap surface specified point, so as to obtain whole shape characteristic data that material heap can obtain surface, then control module
Relevant control operation is carried out to heap reclaimer device based on the data, realizes the automatic intelligent of heap feeding.
It will be appreciated by those skilled in the art that blind area of the immeasurability region for the geographical Shape measure device.
The geography Shape measure device can be measurement and the modeling including 3D laser scanners.
Preferably, further technical solution is：Further technical solution is：The heap reclaimer device at least wraps
Walking mechanism, luffing mechanism, swing mechanism, rack and stacker-reclaimer structure are included, the rack is arranged on the walking mechanism top,
The swing mechanism is arranged in the rack, and the stacker-reclaimer structure is connected by arm support with the swing mechanism, the arm
Frame one end is connected with the stacker-reclaimer structure, and the other end is hinged with the swing mechanism, the luffing mechanism and the arm support phase
Connect and the arm support can control to carry out pitching movement along its hinge with swing mechanism；The detection module further includes to measure
The angle of revolution detection device of swing mechanism angle of revolution and the angle measurement unit for detecting the arm support pitch angle,
The control module controls the walking mechanism, luffing mechanism and swing mechanism to carry out corresponding motion action according to control result
And the target that fulfils assignment.
The present invention can be used for unmanned piling and taking technique for bulk cargo stock yard, can realize that large-scale bulk goods material heap field realizes that heap takes comprehensively
The automatic stacking and taking operation of overall process in the case of expecting equipment at the scene without operation driver.The present invention can be utilized fully ensuring that stock ground
On the basis of rate, the heap reclaiming capacity for playing heap reclaimer device and other functions, operated in heap reclaimer device without operation driver
And monitoring, Central Control Room is interior to carry out whole control operation also without personnel, so as to overcome existing bulk cargo stock yard automation
The defects of degree is low, operator's labor intensity is high, operating efficiency is low low with utilization of area rate.
Further technical solution is：The control module includes data server and computing module, the control mould
The data information of reception is stored in data server and real-time update by block, wherein, the geographical topographic data of complete feed field is with DEM
Graphic data form is stored in data server, and complete feed place can be managed topographic data and be turned by computing module by the control module
It turns to 2D or 3D heap shapes to show, 2D the or 3D heaps shape is shown including at least the name of material of each material heap, heap shape in complete feed field
Volume, heap shape angle of repose, heap shape sectional view information.So set, complete feed field material system can be recorded in real time by this system
Information is counted, and complete feed field material statistical information is inquired by control module, realizes the function of making an inventory of goods in a warehouse of complete feed field.
Further technical solution is：Complete feed place reason topographic data is converted into the calculating process that 2D or 3D heap shapes are shown
In, the computation model of the heap annular volume of the material heap isIn formula, m and n for stock ground DEM figurate number
According to the grid number under form, wherein, m is the stock ground line number under DEM terrain data forms, and n is the material under DEM terrain data forms
Field columns, hijCorresponding grid height value under being arranged for the i-th row j, V are the heap annular volume of material heap.
Further technical solution is：The control module obtains complete feed place reason 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 sectional view 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.
Further technical solution is：The heap reclaimer device further includes pylon, and the geography Shape measure device is set
It puts in the tower top, the pylon is arranged in the walking mechanism and is not rotated with the swing mechanism.So set,
Geographical Shape measure device setting aloft, greatly reduces the blind area of geographical Shape measure device, improves the standard of acquisition of information
True property.The measurement function of geographical Shape measure device and measurement process are not influenced by bucket wheel machine posture and/or movement simultaneously.
Further technical solution is：The first angle that the angle measurement unit includes being arranged on tower top measures
Device and the second angle measuring device being arranged on arm support, the first angle measuring device and second angle measuring device
Collective effect measures the pitch angle of arm support.
Specifically a kind of control method of arm support pitch angle is：The first angle detection device detects the current pitching of arm support
The data of detection are simultaneously sent to the control module by angle value, and the control module is according to the arm support pitch angle data of reception
It determines the height of current windrow mechanism, and the feed height and the height of current windrow mechanism that are obtained in step (2) is compared
Compared with when feed height is higher than the height of current windrow mechanism, control module sends pitching command control luffing mechanism movement, institute
The angle value that pitching command includes pitching is stated, control module obtains the pitch angle of arm support by first angle detection device in real time
Value, when bowing in the pitching command for carrying out first angle detection device pitch angle angle value and being sent with control module that control module receives
When elevation angle angle value is identical, control module sends control elevation mount stop motion；When feed height is less than current windrow mechanism
During height, control module pitching command control luffing mechanism movement, the pitching command includes the angle value of pitching, control module
The pitch angle angle value of arm support is obtained in real time by second angle detection device, when what control module received carrys out second angle detection dress
Put pitch angle angle value it is identical with the pitch angle angle value in the pitching command that control module is sent when, control module control elevation mount
Stop motion.
Further technical solution is：The heap reclaimer device be boom type bucket-wheel stacker reclaimer, the stacker-reclaimer
Structure is bucket wheel, and the arm support is equipped with material conveying mechanism, and the side of the swing mechanism is connected with the arm support, and opposite side is solid
Surely it is connected with balancing counterweight mechanism.
Further technical solution is：The material conveying mechanism is ribbon conveyer, and the discharging point of the belt is set
There are impact idler and side carrying roller, the side carrying roller turns forward along belt-conveying direction to be set in predetermined angular.Impact idler
Setting can effectively slow down impact of the material blanking operation to belt, ensure the stability of transport, another outer roller is according to above-mentioned side
Formula setting will generate opposite sliding speed with belt, belt can effectively be promoted to return back to the center of ribbon conveyer, such as
This limited can be avoided belt deviation.
Further technical solution is：The arm support is equipped with guide component, between the bucket wheel and ribbon conveyer
Material moved the guide component transhipment, and the ribbon conveyer is equipped with deviation-resisting device for belts, the deviation-resisting device for belts
Including be used to guide component be driven to move and change the discharging point of guide component and the relative position of belt driving device and
For measuring the detecting element that its own arrives belt side distance, the detection original paper, driving device and control module electricity
Even, the control module stores the initial distance data between detecting element and belt side, and the detecting element is by detection
Its range data between belt side passes to control module, and the control module is by the range data of reception and the inspection to prestore
The initial distance data surveyed between element and belt side are compared, and driving device are controlled to drive guide structure according to comparison result
Part movement changes itself and horizontal direction angle.So set, when detecting that sideslip occurs for belt, controlled and driven by control module
Dynamic device driving guide component movement changes its discharging point on belt, since discharging point variation causes belt bearing capacity to become
Change, discharging point is made to be in the center of belt, realizes the correction to belt deviation, effectively improve production efficiency, reduce production
The generation of accident.It is preferred that the detecting element is photoelectric sensor or displacement sensor.
Further technical solution is：The computing module passes through job scheduling intelligent algorithm according to production plan information
The operating area for meeting this subjob is calculated, determines the starting point coordinate and terminal point coordinate of starting operating area, the control module
Complete feed place reason topographic data and the relevant information of heap reclaimer device are obtained from data server, the position of stacker device is sat
It marks the starting point coordinate determined with computing module to be calculated and compared, and sends out walking order control walking mechanism movement until windrow
Equipment reaches operation starting point coordinate；The control module answers windrow by what material stack height data or computing module calculating obtained
Height and arm support pitch angle data be compared and send out pitching command control luffing mechanism movement until stacker-reclaimer structure
Reach scheduled height.
Description of the drawings
The attached drawing for forming the part of the present invention is used to provide further understanding of the present invention, schematic reality of the invention
Example and its explanation are applied for explaining the present invention, is not constituted improper limitations of the present invention.
Fig. 1 is a kind of structure diagram of automatic material stacking and fetching system involved by one embodiment of the present invention；
Fig. 2 is the geographical pattern of the geographical Shape measure device detection stockyard material heap involved by one embodiment of the present invention
The schematic diagram of feature；
Fig. 3 retreats walking windrow procedure schematic diagram for revolution of the present invention；
Fig. 4 is the schematic diagram of material heap shaped grid representation of a surface method of the present invention.
In figure：
13 walking mechanism of geographical Shape measure 2 control module of device, 4 luffing mechanism
5 first angle measuring device, 6 second angle measuring device, 7 arm support, 8 swing mechanism
9 angle of revolution detection device, 10 position detecting device, 11 stacker-reclaimer structure, 12 pylon
13 balancing counterweight mechanism A1 can measure region A2 immeasurabilities region B material heaps
C walking revolutions retreat windrow operation track D operating areas E heaps reclaimer device and retreat track
14 heap reclaimer device, 15 grid vertex
Specific 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, it can be right
Feature in this document in embodiment and in different embodiments carries out the corresponding combination.
The embodiment of the present invention is as follows, referring to Figures 1 and 2, a kind of material stacking and fetching system, including heap reclaimer device 14, control mould
Block 2 and detection module, the detection module include at least the geographical Shape measure dress for detecting complete feed place reason shape characteristic
1 and the position detecting device 10 for detecting 14 walking position of heap reclaimer device are put, the geography shape characteristic includes at least
The coordinate value of the surface topography of material heap and material heap precalculated position in preset coordinate system in stock ground；The geography Shape measure
Device 1 can detect stockyard can measure region geographical shape characteristic can simultaneously calculate and obtain immeasurability region geographical pattern it is special
It levies, 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, and x and z is respectively geographical Shape measure device 1 in the arbitrary of material heap immeasurability region
Abscissa and ordinate of the point in preset coordinate system, xpWith zpRespectively geographical Shape measure device 1 can measure area in material heap
Abscissas and ordinate of the focus p in domain and immeasurability region in preset coordinate system, the z0It is described for adjustment factor
Adjustment factor can be true according to the coordinate of the installation site of geographical Shape measure device 1 and the relative position relation of rickyard coordinate
It is fixed；The detection module is by the data information transfer of detection to the control module 2, and the control module 2 is by the data of acquisition
Information combination heap, material extracting operation target instruction target word, by operation is controlled to obtain control result, the control module 2 is tied according to control
The fruit control heap reclaimer device 14 carries out corresponding motion action and the target that fulfils assignment.
Such as Fig. 4, method that stock ground uses gridding, region division that will be effectively in stockpiling area is continuous grid song
Face, the vertex of each grid cell has a three dimensional space coordinate value (x, y, z) on curved surface, and the coordinate value is with certain in stock ground
Static three dimensions point is used as with reference to co-ordinate zero point, and wherein x and y coordinates represent material heap surface mesh vertex 15 in the horizontal direction
On positional value, z values represent the height value of the height, i.e. material heap surface specified point on material heap surface mesh vertex 15, the ruler of grid
It is very little to be adjusted according to the requirement of display precision.
So set, in scheduled coordinate system, the abscissa and ordinate that provide material heap any point can calculate
The height value of material heap surface specified point, so as to obtain whole shape characteristic data that material heap can obtain surface, then control module 2
Relevant control operation is carried out to heap reclaimer device 14 based on the data, realizes the automatic intelligent of heap feeding.
It will be appreciated by those skilled in the art that blind area of the immeasurability region for the geographical Shape measure device 1.
The geography Shape measure device 1 can be measurement and the modeling including 3D laser scanners.
On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 1, further technical solution is：Institute
Heap reclaimer device 14 is stated including at least walking mechanism 3, luffing mechanism 4, swing mechanism 8, rack and stacker-reclaimer structure 11, the machine
Frame is arranged on 3 top of walking mechanism, and the swing mechanism 8 is arranged in the rack, and the stacker-reclaimer structure 11 passes through
Arm support 7 is connected with the swing mechanism 8, and described 7 one end of arm support is connected with the stacker-reclaimer structure 11, the other end and the revolution
Mechanism 8 is hinged, and the luffing mechanism 4 is connected with the arm support 7 and can control the arm support 7 along its hinge with swing mechanism 8
Carry out pitching movement；The detection module further include for measure the angle of revolution detection device 9 of 8 angle of revolution of swing mechanism with
And the angle measurement unit for detecting 7 pitch angle of arm support, the control module 2 control the row according to control result
It walks mechanism 3, luffing mechanism 4 and swing mechanism 8 and carries out corresponding motion action and the target that fulfils assignment.
The present invention can be used for unmanned piling and taking technique for bulk cargo stock yard, can realize that large-scale bulk goods material heap field realizes that heap takes comprehensively
The automatic stacking and taking operation of overall process in the case of expecting equipment 14 at the scene without operation driver.The present invention can be utilized fully ensuring that stock ground
On the basis of rate, the heap reclaiming capacity for playing heap reclaimer device 14 and other functions, carried out in heap reclaimer device 14 without operation driver
It operates and monitors, carry out whole control operation in Central Control Room also without personnel, so as to overcome existing bulk cargo stock yard certainly
The defects of dynamicization degree is low, operator's labor intensity is high, operating efficiency is low low with utilization of area rate.
On the basis of above-described embodiment, in another embodiment of the present invention, the control module 2 include data server and
The data information of reception is stored in data server and real-time update by computing module, the control module 2, wherein, complete feed field
Geographical topographic data be stored in data server with DEM terrain data forms, the control module 2 can manage complete feed place
Topographic data is converted into 2D or 3D heap shapes by computing module and shows, 2D the or 3D heaps shape is shown including at least each in complete feed field
The name of material of a material heap, heap annular volume, heap shape angle of repose, heap shape sectional view information.So set, this system reality can be passed through
When record complete feed field material statistical information, and pass through control module 2 and inquire complete feed field material statistical information, realize complete feed field
It makes an inventory of goods in a warehouse function.
On the basis of above-described embodiment, in another embodiment of the present invention, complete feed place reason topographic data be converted into 2D or
In the calculating process that 3D heap shapes are shown, the computation model of the heap annular volume of the material heap isFormula
In, m and n are the grid number under the DEM terrain data forms of stock ground, wherein, m is the stock ground line number under DEM terrain data forms, n
For the stock ground columns under DEM terrain data forms, hijCorresponding grid height value under being arranged for the i-th row j, V are the heap of material heap
Annular volume.
On the basis of above-described embodiment, in another embodiment of the present invention, pattern is managed in complete feed place by the control module 2
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 2 to 2D or 3D heap shapes
A material heap carries out the mark of name of material.
On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 1, the heap reclaimer device 14 further includes
Pylon 12, the geography Shape measure device 1 are arranged on 12 top of pylon, and the pylon 12 is arranged on the walking mechanism
It is rotated on 3 and not with the swing mechanism 8.So set, geographical Shape measure device 1 is set aloft, greatly reduce ground
The blind area of Shape measure device 1 is managed, improves the accuracy of acquisition of information.Simultaneously the measurement function of geographical Shape measure device 1 and
Measurement process is not influenced by bucket wheel machine posture and/or movement.
On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 1, the angle measurement unit includes setting
Put the first angle measuring device 5 at the top of pylon 12 and the second angle measuring device 6 that is arranged on arm support 7, described the
One angle measurement unit 5 and 6 collective effect of second angle measuring device measure the pitch angle of arm support 7.
Specifically a kind of control method of 7 pitch angle of arm support is：The first angle detection device detection arm support 7 is currently bowed
The data of detection are simultaneously sent to the control module 2 by elevation angle angle value, and the control module 2 is according to 7 pitch angle of arm support of reception
Degrees of data determines the height of current windrow mechanism, and the feed height and the height of current windrow mechanism that will be obtained in step (2)
It is compared, when feed height is higher than the height of current windrow mechanism, control module 2 sends pitching command control luffing mechanism
4 movements, the pitching command include the angle value of pitching, and control module 2 obtains arm support 7 in real time by first angle detection device
Pitch angle angle value, when control module 2 receive first angle detection device pitch angle angle value of coming bow with what control module 2 was sent
Face upward pitch angle angle value in order it is identical when, control module 2 sends control elevation mount stop motion；Work as when feed height is less than
During the height of preceding windrow mechanism, 2 pitching command of control module control luffing mechanism 4 moves, and the pitching command includes pitching
Angle value, control module 2 obtain the pitch angle angle value of arm support 7 by second angle detection device in real time, when control module 2 receives
Come second angle detection device pitch angle angle value it is identical with the pitch angle angle value in the pitching command that control module 2 is sent when,
Control module 2 controls elevation mount stop motion.
On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 1, the heap reclaimer device 14 is arm support 7
Formula bucket-wheel stacker reclaimer, the stacker-reclaimer structure 11 are bucket wheel, and the arm support 7 is equipped with material conveying mechanism, the turn-around machine
The side of structure 8 is connected with the arm support 7, and opposite side is fixedly connected with balancing counterweight mechanism 13.
On the basis of above-described embodiment, in another embodiment of the present invention, the material conveying mechanism is ribbon conveyer,
The discharging point of the belt is equipped with impact idler and side carrying roller, and the side carrying roller turns forward along belt-conveying direction in predetermined angle
Degree setting.The setting of impact idler can effectively slow down impact of the material blanking operation to belt, ensure the stability of transport, in addition
Side carrying roller is set in the manner described above to generate opposite sliding speed with belt, effectively belt can be promoted to return back to belt conveying
The center of machine so limited can avoid belt deviation.
On the basis of above-described embodiment, in another embodiment of the present invention, the arm support 7 is equipped with guide component, the bucket
Material between wheel and ribbon conveyer moved the guide component and transported, and the ribbon conveyer is filled equipped with belt anti-deviation
It puts, the deviation-resisting device for belts includes guide component is driven to move and changes the discharging point of guide component and the phase of belt
Driving device to position and for measuring the detecting element that its own arrives belt side distance, the detection original paper, driving
Device is electrically connected with the control module 2, and the control module 2 stores the initial distance number between detecting element and belt side
According to its range data between belt side of detection is passed to control module 2, the control module 2 by the detecting element
Initial distance data between the range data of reception and the detecting element to prestore and belt side are compared, and according to comparing
Output control driving device drives the movement of guide component to change itself and horizontal direction angle.So set, when detecting belt hair
During raw sideslip, control driving device that the movement of guide component is driven to change its discharging point on belt by control module 2, due to
Discharging point variation causes belt bearing capacity change, and discharging point is made to be in the center of belt, realizes the correction to belt deviation,
Production efficiency is effectively improved, reduces the generation of production accident.It is preferred that the detecting element is photoelectric sensor or displacement sensor.
On the basis of above-described embodiment, in another embodiment of the present invention, the computing module is according to production plan information
Meet the operating area of this subjob by the calculating of job scheduling intelligent algorithm, determine starting point coordinate and the end of starting operating area
Point coordinates, the control module 2 obtain complete feed place reason topographic data and the correlation of heap reclaimer device 14 from data server
The starting point coordinate that the position coordinates of stacker device are determined with computing module is calculated and compared information, and sends out walking order
The movement of walking mechanism 3 is controlled until stacker device reaches operation starting point coordinate；The control module 2 is by material stack height data or institute
That states computing module calculating acquisition answers the height of windrow to be compared with 7 pitch angle data of arm support and send out pitching command control
The movement of luffing mechanism 4 is until stacker-reclaimer structure 11 reaches scheduled height.
The present invention provides a kind of automatic stockpiling work flow of automatic material stacking and fetching system, and walking windrow is retreated using revolution,
Such as Fig. 3, the specific steps are：
(1) windrow instruction is received：The control module 2 obtains the windrow production plan comprising production plan information and refers in real time
It enables, the production plan information includes at least operation total amount, mass flow；
(2) feed height and operating area are calculated：The control module 2 obtains the geography of complete feed field from data server
Topographic data, and the production plan information that step (1) obtains is combined, the suitable height of windrow is calculated by job scheduling intelligent algorithm
The operating area of this subjob is spent and met, determines the starting point coordinate and terminal point coordinate of starting operating area.
(3) control stacker device moves to the in place of operation starting point and windrow mechanism；
(4) revolution retreats walking windrow：The control module 2 controls stacker device to carry out windrow, while sends revolution life
It enables and the movement of swing mechanism 8 is controlled to carry out revolution windrow, geographical Shape measure device 1 monitors complete feed place in real time during windrow
Shape characteristic is managed, the control module 2 manages shape characteristic data acquisition heap shape surface data, and according to windrow by complete feed place
Track judges to work as in front fitting radius whether windrow is completed, the control after the completion of windrow in the radius of gyration of operation starting point
Module 2, which sends walking order control stacker device and starts to retreat, to be run to next setting and carries out revolution windrow, until completing to make
The revolution windrow operation of industry terminal.
Walking windrow is retreated using revolution, travel time realizes regular windrow (material heap top during can not only saving windrow
Portion is flat-top), while increase the regular heap shape material heap of at least 15% material amount of storage, and can be provided for material extracting operation stable
Feeding flow improves working efficiency.
On the basis of above-described embodiment, in another embodiment of the present invention, such as Fig. 3, the specific control in the step (3)
Process is：The control module 2 obtains position coordinates of the current stacker device in stock ground by position detecting device 10, and will
The starting point coordinate that the position coordinates of reception are obtained with the calculating in step (2) is compared, and send out walking according to comparison result
Order control walking mechanism 3 moves to operation starting point coordinate；Then the control module 2 is true according to 7 pitch angle data of arm support
The height of settled preceding windrow mechanism, and the height of windrow is answered to be carried out with the height of current windrow mechanism by what is obtained in step (2)
Relatively and pitching command control luffing mechanism 4 movement is sent out until windrow mechanism reaches scheduled height；Again, the control mould
Block 2 judges whether windrow mechanism is located at starting point according to determining the horizontal position of current windrow mechanism by angle of revolution data
In the operating area of coordinate, and revolution order control swing mechanism 8 is sent out according to judging result and carries out rotary motion until windrow
Mechanism reaches scheduled horizontal position.
A kind of specific embodiment, control module 2 obtains the instruction of automatic stockpiling production plan in real time, when control module 2 connects
After receiving the instruction of automatic stockpiling production plan, control module 2 obtains complete feed place graphic data from central data server, and combines
Automatic material taking production plan information such as operation total amount, mass flow etc. meet this work by the calculating of job scheduling intelligent algorithm
The operating area of industry；Control module 2 obtains position of the current heap reclaimer device 14 in stock ground by position detecting device 10, such as
14 current location of fruit heap reclaimer device just in operation coordinate starting point, does not then need to issue walking order to walking mechanism 3, if
For 14 current location of heap reclaimer device not in operation coordinate starting point, control module 2 sends walking order to walking mechanism 3, walking life
Order includes direction of travel and travel distance, and control module 2 obtains heap reclaimer device 14 currently in stock ground by position-measurement device
In position, when position-measurement device feedback result it is identical with operation coordinate starting point after, control module 2 send stop walking life
It enables to walking mechanism 3, heap reclaimer device 14 reaches operation starting point coordinate.Whether control module 2 judges arm support 7 according to material stack height
It needs to carry out pitching motion, if material stack height, higher than current 14 arm support of heap reclaimer device, 7 height, control module 2 sends pitching
It orders to luffing mechanism 4, pitching command includes the angle value of pitching, and control module 2 obtains arm by first angle measuring device 5
7 current pitch angle angle value of frame, when pitch angle angle value is identical with pitch angle angle value that control module 2 is sent, control module 2 is sent
Stop pitching command to luffing mechanism 4, if material stack height, less than current 14 arm support of heap reclaimer device, 7 height, control module 2 is sent out
Sending pitching command, pitching command includes the angle value of pitching to luffing mechanism 4, and control module 2 passes through second angle measuring device 6
7 current pitch angle angle value of arm support is obtained, when pitch angle angle value is identical with pitch angle angle value that control module 2 is sent, control mould
Block 2, which is sent, stops pitching command to luffing mechanism 4, and 14 arm support 7 of heap reclaimer device stops pitching motion.Control module 2 is sent back
Turn order to swing mechanism 8, revolution order includes angle of revolution angle value, and control module 2 is obtained back by angle of revolution detection device 9
Gyration, when angle of revolution is identical with revolution order angle, control module 2, which is sent, stops revolution order to swing mechanism 8, heap
Reclaimer device 14 stops revolution action.After 14 arm support 7 of heap reclaimer device is in place, control module 2 sends windrow and starts to work order,
Heap reclaimer device 14 starts automatic stockpiling operation, and control module 2 sends revolution order to revolution in automatic stockpiling operation process
Mechanism 8,14 uniform windrow of control heap reclaimer device, control module 2 obtain heap shape surface in real time by geographical Shape measure device 1
Data, and judge to work as in front fitting radius whether windrow is completed according to windrow track, if completed in the radius of gyration automatic
Windrow, control module 2 send pitching command to luffing mechanism 4, by 14 arm support 7 of heap reclaimer device lift to peak (flow with it is upper
It is consistent to state pitching flow), control module 2 sends revolution order to swing mechanism 8, and 14 arm support 7 of heap reclaimer device is turned back to rail
Above road (flow is consistent with above-mentioned revolution flow), computer control sends walking order to walking mechanism 3, by heap reclaimer device
14 run to next operation coordinate points (flow is consistent with above-mentioned walking flow), and control module 2 sends windrow start-up operation order,
Heap reclaimer device 14 starts automatic stockpiling.Control module 2 repeats to send walking, pitching, revolution, bucket wheel start-up operation order, directly
It is completed to first layer material windrow.After the completion of first layer windrow, control module 2 calculates the second layering coordinate starting point, control
Molding block 2 send windrow operation be stopped order, pitching command, revolution order, walking order, heap reclaimer device 14 is walked
To the second layering coordinate starting point, the 14 first layer windrow action of heap reclaimer device is repeated, until the second layering material windrow is completed.
Heap reclaimer device 14 repeats layering windrow action, until completing automatic stockpiling production plan.
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)
1. a kind of material stacking and fetching system of automatic intelligent, which is characterized in that including heap reclaimer device, control module and detection mould
Block, the detection module includes at least manages the geographical Shape measure device of shape characteristic and for examining for detecting complete feed place
The position detecting device of heap reclaimer device walking position is surveyed, the geography shape characteristic includes at least the surface shape of material heap in stock ground
The coordinate value of looks and material heap precalculated position in preset coordinate system；The geography Shape measure device, which can detect stockyard, to be surveyed
The geographical shape characteristic in amount region can simultaneously calculate and obtain the geographical shape characteristic in immeasurability region, the immeasurability region
Geographical shape characteristic acquisition process in computation model be：Z=tan (θ) (x-xp)+zp+z0, in formula, θ is material heap material
Angle of repose, the respectively geographical Shape measure devices of x and z are in the arbitrary point in material heap immeasurability region in preset coordinate system
Abscissa and ordinate, xpWith zpRespectively geographical Shape measure device can measure the coke in region and immeasurability region in material heap
Abscissas and ordinate of the point p in preset coordinate system, the z0For adjustment factor, the adjustment factor can be according to geographical shape
The coordinate of the installation site of looks detection device and the relative position relation of rickyard coordinate determine；The detection module is by detection
Data information transfer gives the control module, and the control module refers to the data information combination heap of acquisition, material extracting operation target
It enables, by operation is controlled to obtain control result, the control module controls the heap reclaimer device to carry out phase according to control result
The motion action answered and the target that fulfils assignment.
2. the material stacking and fetching system of automatic intelligent according to claim 1, which is characterized in that the heap reclaimer device is at least
Including walking mechanism, luffing mechanism, swing mechanism, rack and stacker-reclaimer structure, the rack is arranged in the walking mechanism
Portion, the swing mechanism are arranged in the rack, and the stacker-reclaimer structure is connected by arm support with the swing mechanism, described
Arm support one end is connected with the stacker-reclaimer structure, and the other end is hinged with the swing mechanism, the luffing mechanism and the arm support
It is connected and the arm support can control to carry out pitching movement along its hinge with swing mechanism；The detection module further includes to survey
Measure the angle of revolution detection device of swing mechanism angle of revolution and for detecting the angle measurement of arm support pitch angle dress
It puts, the control module controls the walking mechanism, luffing mechanism and swing mechanism to be acted accordingly according to control result
It operates and the target that fulfils assignment.
3. the material stacking and fetching system of automatic intelligent according to claim 2, which is characterized in that the control module includes number
According to server and computing module, the data information of reception is stored in data server and real-time update by the control module,
In, the geographical topographic data of complete feed field is stored in DEM terrain data forms in data server, and the control module can incite somebody to action complete
Stock ground geography topographic data is converted into 2D or 3D heap shapes by computing module and shows, 2D the or 3D heaps shape is shown including at least complete
The name of material of each material heap, heap annular volume, heap shape angle of repose, heap shape sectional view information in stock ground.
4. the material stacking and fetching system of automatic intelligent according to claim 3, which is characterized in that manage topographic data in complete feed place
It 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 isIn formula, m and n are the grid number under the DEM terrain data forms of stock ground, wherein, m is DEM landform
Stock ground line number under data format, n be DEM terrain data forms under stock ground columns, hijIt is corresponding under being arranged for the i-th row j
Grid height value, V are the heap annular volume of material heap.
5. the material stacking and fetching system of automatic intelligent according to claim 4, which is characterized in that the control module is by complete feed
It manages topographic data and the name of material of each material heap in complete feed field, heap annular volume, heap shape peace is included by computing module acquisition in place
Cease angle, 2D the or 3D heap shapes of heap shape sectional view information are shown, and according to the information to prestore in the control module to 2D or 3D heaps
The mark of shape each material heap progress name of material in showing.
6. the material stacking and fetching system of automatic intelligent according to claim 3, which is characterized in that the heap reclaimer device also wraps
Include pylon, the geography Shape measure device is arranged on the tower top, the pylon be arranged in the walking mechanism and
It is not rotated with the swing mechanism.
7. the material stacking and fetching system of automatic intelligent according to claim 6, which is characterized in that the angle measurement unit packet
Include the second angle measuring device for being arranged on the first angle measuring device of tower top and being arranged on arm support, described first
Angle measurement unit and second angle measuring device collective effect measure the pitch angle of arm support.
8. the material stacking and fetching system of automatic intelligent according to claim 7, which is characterized in that the heap reclaimer device is arm
Posture bucket-wheel stacker reclaimer, the stacker-reclaimer structure are bucket wheel, and the arm support is equipped with material conveying mechanism, the swing mechanism
Side be connected with the arm support, opposite side is fixedly connected with balancing counterweight mechanism.
9. the material stacking and fetching system of automatic intelligent according to claim 8, which is characterized in that the material conveying mechanism is
Ribbon conveyer, the discharging point of the belt are equipped with impact idler and side carrying roller, the side carrying roller along belt-conveying direction forward
It tilts and is set in predetermined angular.
10. the material stacking and fetching system of automatic intelligent according to claim 4, which is characterized in that the computing module according to
Production plan information meets the operating area of this subjob by the calculating of job scheduling intelligent algorithm, determines starting operating area
Starting point coordinate and terminal point coordinate, the control module obtains complete feed place reason topographic data from data server and heap feeding is set
The starting point coordinate that the position coordinates of stacker device are determined with computing module is calculated and compared, and sends out by standby relevant information
Walking order control walking mechanism movement is until stacker device reaches operation starting point coordinate；The control module is by material stack height number
According to or the computing module calculate obtain the height of windrow and arm support pitch angle data answered to be compared and send out pitching life
The movement of control luffing mechanism is enabled until stacker-reclaimer structure reaches scheduled height.
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