CN108180849B - Device and method for detecting stacking height in garbage pool - Google Patents
Device and method for detecting stacking height in garbage pool Download PDFInfo
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- CN108180849B CN108180849B CN201711418865.XA CN201711418865A CN108180849B CN 108180849 B CN108180849 B CN 108180849B CN 201711418865 A CN201711418865 A CN 201711418865A CN 108180849 B CN108180849 B CN 108180849B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/058—Safety, monitoring
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/16—Plc to applications
- G05B2219/163—Domotique, domestic, home control, automation, smart, intelligent house
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Incineration Of Waste (AREA)
Abstract
The invention discloses a device and a method for detecting stacking height in a garbage pool, wherein the device comprises a grab bucket positioning module, a non-contact height meter and a stacking height calculating module; the grab bucket positioning module is arranged on a grab bucket and used for detecting the position coordinate of the grab bucket, and the grab bucket runs above the garbage pool; the non-contact height gauge is vertically and downwards installed on the side surface of the grab bucket; the non-contact height meter and the grab bucket positioning module are both connected with the stacking height calculation module; the stacking height of each block in the garbage pool is stored in the stacking height calculating module, and the stacking height of the block located right below the grab bucket is calculated and updated according to the non-contact height meter and the detection result of the grab bucket positioning module. The invention has the beneficial effects that: through non-contact altimeter and grab bucket location module, the change of stack height in the rubbish pond can real time monitoring by stack height calculation module.
Description
Technical Field
The invention belongs to the field of environment-friendly equipment, and particularly relates to a device and a method for detecting stacking height in a garbage pool.
Background
In the prior art, a large-scale waste incineration power station is generally provided with a waste pond so as to temporarily store waste; the garbage in the garbage pool needs to be grabbed and carried by a grab bucket in cooperation with a crane; grab buckets and cranes need personnel to carry out visual operation, but the environment around a garbage pool is dirty, the harsh working environment can threaten the health of crane operators, and therefore, an automatic crane control system is necessarily introduced. However, the automatic crane control system in the prior art has the following problems: 1. the existing automatic control system of the crane is mostly used for loading and unloading the cargoes with fixed shapes such as containers, and the garbage is bulk cargo without fixed shapes, and the existing automatic control system can not accurately position the cargoes; 2. for goods with fixed shapes, the control system can count the stacking height of each area in the goods yard by recording the stacking position and the stacking layer number so as to plan the operation line of the crane; however, the garbage is bulk materials, and the stacking height of each area in the garbage pool cannot be accurately obtained through the stacking state, so that the automatic control system cannot accurately grab the garbage in the garbage pool. In conclusion, the stacking height detection technology is the primary technical problem of an automatic control system of a garbage pool crane.
Disclosure of Invention
The invention aims to provide a device and a method for detecting the stacking height in a garbage pool, which are used for accurately detecting the stacking height of garbage in each area in the garbage pool by adopting a non-contact sensor.
The purpose of the invention is realized by the following technical scheme:
a stacking height detection device in a garbage pool comprises a grab bucket positioning module, a non-contact height meter and a stacking height calculation module; the grab bucket positioning module is arranged on a grab bucket and used for detecting the position coordinate of the grab bucket, and the grab bucket runs above the garbage pool; the non-contact height gauge is arranged on the side surface of the grab bucket; the non-contact height meter and the grab bucket positioning module are both connected with the stacking height calculation module; the stacking height of each block in the garbage pool is stored in the stacking height calculating module, and the stacking height of the block positioned right below the grab bucket is calculated and updated according to the non-contact height meter and the detection result of the grab bucket positioning module.
The stacking height calculation module is an industrial personal computer, a PLC, a single chip microcomputer or a general computer.
The non-contact altimeter comprises a safety shell, a laser altimeter module and an acceleration sensor, wherein the laser altimeter module and the acceleration sensor are arranged in the safety shell; the safety shell is fixedly arranged on the side face of the grab bucket, a detection window body is arranged at the bottom of the safety shell, and toughened glass is embedded in the detection window body; the laser height measuring module is suspended in the safety shell through a universal joint; an openable sealing baffle is arranged below the detection window body, and one side of the sealing baffle is connected with a baffle driving mechanism; the baffle driving mechanism is connected with the laser height measuring module and the acceleration sensor; when the relative height detected by the laser height measuring module is smaller than an alert threshold value, the baffle driving mechanism drives the sealing baffle to be closed so as to shield the detection window body; when the acceleration sensor detects the vertical upward acceleration with the duration exceeding a first time limit, the baffle driving mechanism drives the sealing baffle to open.
A high-pressure flushing nozzle and a gas drying nozzle are arranged below the detection window body; the high-pressure washing nozzle is connected with a high-pressure water source, and the gas drying nozzle is connected with a gas cylinder through a gas heating device; when the sealing baffle is in an opening state, the high-pressure washing nozzle washes the detection window body every preset time, and the gas drying nozzle dries the detection window body after washing.
The grab bucket is suspended above the garbage pool through a crane.
A detection method of a stacking height detection device in a garbage pool specifically comprises the following steps: dividing the garbage pool into a two-dimensional array formed by a plurality of blocks along the horizontal direction, wherein the stacking height of each block is stored in a stacking height calculation module; a non-contact height gauge continuously measures the relative height of the stacking surface of the block below the non-contact height gauge to the non-contact height gauge; the stacking height calculating module calculates the stacking height of a block below the non-contact height gauge according to the relative height measured by the non-contact height gauge and the detection result of the grab bucket positioning module, and updates the stacking height data stored in the stacking height calculating module.
The grab positioning module is used for measuring the position coordinate of the grab, and the position coordinate of the grab comprises the vertical height hz of the grab; the stacking height calculation module calculates the stacking height of a block below the non-contact height meter according to the following formula:
Hs = hz – hr
wherein: hs is the stacking height of the block below the non-contact height gauge, and hr is the relative height of the non-contact height gauge to the stacking surface.
The blocks are circular in shape, and the edges of adjacent blocks are overlapped with each other.
The invention has the advantages that: through the non-contact height meter and the grab bucket positioning module, the stacking height calculating module can monitor the change of the stacking height in the garbage pool in real time; the stacking height detection technology in the garbage pool has the advantages of high precision, high reliability and the like.
Drawings
FIG. 1 is a block diagram of the structure of a stacking height detection device in a garbage pool according to the present invention;
FIG. 2 is a side view of the stacking height detection device of the present invention within a waste bin;
FIG. 3 is a top view of the waste receptacle of the present invention;
FIG. 4 is a cross-sectional view of the non-contact altimeter of the present invention with the sealing flap in a closed position;
fig. 5 is a cross-sectional view of the non-contact height gauge of the present invention with the sealing flap in an open position.
Detailed Description
The features of the present invention and other related features are described in further detail below by way of example in conjunction with the following drawings to facilitate understanding by those skilled in the art:
referring to fig. 1-5, the labels 1-19 in the figures are: the device comprises a garbage pool 1, a grab bucket 2, a crane 3, a grab bucket positioning module 4, a non-contact height meter 5a, a non-contact height meter 5b, a stacking height calculation module 6, a block 7, a safety shell 8, a laser height measurement module 9, an acceleration sensor 10, a detection window 11, a universal joint 12, a sealing baffle 13, a baffle driving mechanism 14, a high-pressure flushing nozzle 15, a gas drying nozzle 16, a high-pressure water source 17, a gas heating device 18, a gas bottle 19 and a trolley 20.
Example (b): as shown in fig. 1 to 3, the present embodiment relates to a stacking height detecting device in a garbage pool, which is used for detecting the stacking height of garbage in each block 7 in the garbage pool 1; the garbage in the garbage pool 1 is grabbed and carried by a grab bucket 2 running in the garbage pool 1; the grab 2 is suspended below a crane 3, by means of which crane 3 the grab 2 can be moved over the refuse chute 1. The height of the garbage stack in the garbage pool 1 is mainly influenced by the grab bucket 2, so that the change of the height of the garbage stack in each area in the garbage pool 1 can be mastered as long as the change of the stack height below the grab bucket 2 is monitored.
As shown in fig. 1 and 2, the device for detecting stacking height in a garbage can of the present embodiment includes a grab bucket positioning module 4, a non-contact height meter 5a and a stacking height calculating module 6; the grab bucket positioning module 4 is arranged on the grab bucket 2 and used for detecting the position coordinate of the grab bucket 2; the non-contact height meter 5a is arranged on the side surface of the grab bucket 2 and used for detecting the relative distance between the grab bucket 2 and the upper surface of the garbage stack; the non-contact height meter 5a and the grab bucket positioning module 4 are both connected with the stacking height calculation module 6.
As shown in fig. 1 to 3, a two-dimensional table is arranged in the stacking height calculation module 6, and the two-dimensional table is used for storing the garbage stacking height of each block 7 in the garbage pool 1; the stacking height calculating module 6 can calculate the stacking height of the block 7 positioned right below the grab bucket 2 according to the relative height detected by the non-contact height meter 5a and the detected position coordinates of the grab bucket positioning module 4; the stacking height calculating module 6 can update the data in the two-dimensional table inside the stacking height by using the calculated stacking height; the grab bucket 2 moves above the garbage pool 1 along with the crane 3, and the stacking height calculating module 6 calculates the stacking height below the non-contact height meter 5a at preset time intervals, so that the stacking height calculating module 6 can continuously update the stacking height data of the block 7 through which the grab bucket 2 passes, and the data stored in the stacking height calculating module 6 is consistent with the actual stacking condition.
As shown in fig. 1, in the present embodiment, the grab positioning module 4 is a fixed-circumference roller driving encoder, a rack and pinion driving encoder and a shaft-mounted rotary encoder installed at each moving position on the crane 3; the stacking height calculation module 6 is an industrial personal computer, a single chip microcomputer, a PLC or a general computer.
As shown in fig. 2, 4 and 5, the non-contact height gauge 5a includes a safety housing 8, a laser height measurement module 9 disposed inside the safety housing 8, and an acceleration sensor 10; the safety shell 8 is fixedly arranged on the side surface of the grab bucket 2, and the safety shell 8 is a closed container made of high-strength stainless steel and used for protecting a laser height measuring module 9 and an acceleration sensor 10 in the safety shell; in order to facilitate the transmission of the light beam emitted by the laser height measuring module 9, the bottom of the safety shell 8 is provided with a detection window 11, and toughened glass is embedded in the detection window 11; the laser height measuring module 9 is suspended in the safety shell 8 through the universal joint 12, and the universal joint 12 can ensure that the laser height measuring module 9 can keep a vertically downward posture in the measuring process; a sealing baffle 13 which can be opened and closed is arranged below the detection window body 11, a baffle driving mechanism 14 is connected to one side of the sealing baffle 13, and the baffle driving mechanism 14 is a hydraulic oil cylinder in the embodiment.
As shown in fig. 2, 4 and 5, the baffle driving mechanism 14 is connected with the laser height measuring module 9 and the acceleration sensor 10; when the relative height detected by the laser height measuring module 9 is smaller than the warning threshold value, the grab bucket 2 is indicated to grab an object from the stack or put the object on the stack, and in order to avoid collision between toughened glass in the detection window 11 and the object on the stack, the baffle driving mechanism 14 drives the sealing baffle 13 to close when the relative height is smaller than the warning threshold value; the state of the sealing flap 13 after closing is shown in fig. 4; when the acceleration sensor 10 detects the vertical upward acceleration whose duration exceeds the first time limit, which indicates that the grapple 2 is lifted upward by a certain distance and the non-contact height gauge 5a is not in danger of collision, the flap driving mechanism 14 drives the sealing flap 13 to open, and the state after the sealing flap 13 is opened is as shown in fig. 5.
As shown in fig. 2, 4 and 5, a high-pressure flushing nozzle 15 and a gas drying nozzle 16 are arranged below the detection window 11; the high-pressure washing nozzle 15 is connected with a high-pressure water source 17 through a pipeline; the gas drying nozzle 16 is connected with a gas cylinder 19 through a gas heating device 18; when the sealing baffle 13 is in an open state, the high-pressure washing nozzle 15 washes the toughened glass of the detection window 11 every preset time, and the washed gas drying nozzle 16 sprays high-temperature high-pressure gas to the toughened glass so as to dry the toughened glass of the detection window 11; the stains stained on the surface of the toughened glass can be cleaned in time through washing and drying, so that the toughened glass can keep better transparency.
As shown in fig. 1, a trolley 20 is arranged on the crane 3, a non-contact height meter 5b is arranged on the side surface of the trolley 20, and the non-contact height meter 5b is used for detecting the stacking height below the non-contact height meter 5 a; the non-contact height meter 5b is also connected to the stack height calculation module 6.
As shown in fig. 1 to 3, the present embodiment also relates to a method for detecting the stacking height in a garbage pool, which includes the following steps:
1) as shown in fig. 3, the garbage pool 1 is divided into a plurality of blocks 7 along the horizontal direction; the blocks 7 are arranged in a two-dimensional array; in this embodiment, each block 7 is circular, and the edges of adjacent blocks 7 overlap each other.
2) As shown in fig. 1 and 3, a two-dimensional table is arranged in the stacking height calculating module 6; the cells in the table correspond to the blocks 7 in the garbage pool 1 one by one and are used for storing the stacking heights of the corresponding blocks 7; when the stacking height detection device in the garbage pool is put into use, garbage does not exist in the garbage pool 1, so that when the stacking height detection device in the garbage pool is used for the first time, the two-dimensional table in the stacking height calculation module 6 needs to be cleared.
3) As shown in fig. 1 to 3, the non-contact height gauge 5a continuously measures the relative height of the stacking surface of the block 7 below it to the grab 2; the stacking height calculating module 6 calculates the stacking height of a block 7 below the grab bucket 2 according to the relative height measured by the non-contact height meter 5a and the detection result of the grab bucket positioning module 4, and updates the stacking height data stored in a two-dimensional table in the stacking height calculating module 6; since the stacking height in the waste pool 1 is mainly affected by the grab bucket 2, the change of the stacking height in the waste pool 1 can be detected in real time by measuring the stacking height of the block 7 below the non-contact height meter 5a at intervals of a predetermined time.
As shown in fig. 1 and 2, the grapple positioning module 4 is configured to measure a position coordinate of the grapple 2, where the position coordinate of the grapple 2 includes a vertical height of the grapple 2; when the non-contact height gauge 5a is installed on the side of the grab bucket 2, the vertical height of the grab bucket 2 may be approximately equal to the vertical height of the non-contact height gauge 5a, and the formula for calculating the stacking height of the block 7 below the grab bucket 2 by the stacking height calculation module 6 is as follows:
Hs = hz – hr
wherein: hs is the stacking height of the block 7 below the non-contact height gauge 5a, hz is the vertical height of the grab bucket 2, and hr is the relative height of the non-contact height gauge 5a to the stacking surface.
As shown in fig. 1 and 2, the stacking height calculation module 6 can also measure the stacking height of the block 12 below the grapple 2 by the non-contact height meter 5b and update the stacking height data stored in the two-dimensional table in the stacking height calculation module 6. The non-contact height meter 5a and the non-contact height meter 5b are backup for each other.
The beneficial effect of this embodiment does: through the non-contact height meter and the grab bucket positioning module, the stacking height calculating module can monitor the change of the stacking height in the garbage pool in real time; the stacking height detection technology in the garbage pool has the advantages of high precision, high reliability and the like.
Claims (6)
1. A detection method of a stacking height detection device in a garbage pool is characterized in that the stacking height detection device in the garbage pool comprises a grab bucket positioning module, a non-contact height meter and a stacking height calculation module; the grab bucket positioning module is arranged on a grab bucket and used for detecting the position coordinate of the grab bucket, and the grab bucket runs above the garbage pool; the non-contact height gauge is arranged on the side surface of the grab bucket; the non-contact height meter and the grab bucket positioning module are both connected with the stacking height calculation module; the stacking height of each block in the garbage pool is stored in the stacking height calculating module, and the stacking height of the block positioned right below the grab bucket is calculated and updated according to the non-contact height meter and the detection result of the grab bucket positioning module;
the non-contact altimeter comprises a safety shell, a laser altimeter module and an acceleration sensor, wherein the laser altimeter module and the acceleration sensor are arranged in the safety shell; the safety shell is fixedly arranged on the side face of the grab bucket, a detection window body is arranged at the bottom of the safety shell, and toughened glass is embedded in the detection window body; the laser height measuring module is suspended in the safety shell through a universal joint; an openable sealing baffle is arranged below the detection window body, and one side of the sealing baffle is connected with a baffle driving mechanism; the baffle driving mechanism is connected with the laser height measuring module and the acceleration sensor; when the relative height detected by the laser height measuring module is smaller than an alert threshold value, the baffle driving mechanism drives the sealing baffle to be closed so as to shield the detection window body; when the acceleration sensor detects vertical upward acceleration with the duration exceeding a first time limit, the baffle driving mechanism drives the sealing baffle to open;
a high-pressure flushing nozzle and a gas drying nozzle are arranged below the detection window body; the high-pressure washing nozzle is connected with a high-pressure water source, and the gas drying nozzle is connected with a gas cylinder through a gas heating device; when the sealing baffle is in an opening state, the high-pressure washing nozzle washes the detection window body every preset time, and the gas drying nozzle dries the detection window body after washing;
the detection method specifically comprises the following steps: dividing the garbage pool into a two-dimensional array formed by a plurality of blocks along the horizontal direction, wherein the stacking height of each block is stored in the stacking height calculation module; the non-contact height gauge measures the relative height from the stacking surface of the block below the non-contact height gauge to the grab bucket at intervals of preset time; the stacking height calculating module calculates the stacking height of the block below the non-contact height gauge according to the relative height measured by the non-contact height gauge and the detection result of the grab bucket positioning module, and updates the stacking height data stored in the stacking height calculating module.
2. The detection method of the detection device for the stacking height in the garbage can according to claim 1, wherein the stacking height calculation module is an industrial personal computer, a single chip microcomputer, a PLC or a general computer.
3. The inspection method of the stack height inspection apparatus in the trash receptacle of claim 1, wherein the grapple is suspended above the trash receptacle by a crane.
4. The method as claimed in claim 3, wherein the crane includes a carriage, and the carriage is provided with a non-contact height gauge.
5. The detection method of the stacking height detection device in the garbage can according to claim 1, wherein the grab positioning module is used for measuring position coordinates of the grab, and the position coordinates of the grab comprise a vertical height hz of the grab; the calculation formula of the stacking height of the block below the non-contact height meter calculated by the stacking height calculation module is as follows:
Hs = hz–hr
wherein: hs is the stacking height of the block below the non-contact height gauge, and hr is the relative height of the grab bucket to the stacking surface.
6. The method of claim 1, wherein the blocks are circular in shape, and edges of adjacent blocks overlap each other.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711418865.XA CN108180849B (en) | 2017-12-25 | 2017-12-25 | Device and method for detecting stacking height in garbage pool |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711418865.XA CN108180849B (en) | 2017-12-25 | 2017-12-25 | Device and method for detecting stacking height in garbage pool |
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| CN108180849A CN108180849A (en) | 2018-06-19 |
| CN108180849B true CN108180849B (en) | 2020-07-03 |
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| CN113800405A (en) * | 2021-10-12 | 2021-12-17 | 上海昂丰装备科技有限公司 | A anticollision hoisting machine constructs for in rubbish storage pit |
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| JP4777186B2 (en) * | 2006-08-10 | 2011-09-21 | 新日本製鐵株式会社 | Lifter suspension, crane and method of use |
| DE102014001188A1 (en) * | 2014-01-30 | 2014-08-21 | Daimler Ag | Method for determining height profiles of stacked components, particularly body part components, in load carrier, involves determining position of component of layer or imaginary planes from two image receivers |
| CN104118802B (en) * | 2014-07-21 | 2016-01-06 | 武汉理工大学 | A kind of full automaticity Waste handling crane feeding feeds intake operation autocontrol method |
| CN105417377B (en) * | 2014-08-12 | 2017-11-14 | 河南卫华重型机械股份有限公司 | The region of division and the high monitoring system of material in a kind of garbage pool |
| CN105043249A (en) * | 2015-05-27 | 2015-11-11 | 中冶南方工程技术有限公司 | Method and system for measuring volume of bulk materials in circular material shed |
| CN106315417A (en) * | 2016-11-09 | 2017-01-11 | 深圳华云环保科技发展有限公司 | Full-automatic control system for household garbage capturing crane and method |
| CN206720582U (en) * | 2017-04-19 | 2017-12-08 | 上海昂丰装备科技有限公司 | High accuracy grab bucket with laser mark function |
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