CN109292483A - Intelligent loading method and device - Google Patents
Intelligent loading method and device Download PDFInfo
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- CN109292483A CN109292483A CN201811351743.8A CN201811351743A CN109292483A CN 109292483 A CN109292483 A CN 109292483A CN 201811351743 A CN201811351743 A CN 201811351743A CN 109292483 A CN109292483 A CN 109292483A
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- compartment
- coordinate
- loading
- loading chute
- height
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Classifications
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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
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
- B65G67/06—Feeding articles or materials from bunkers or tunnels
-
- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chutes (AREA)
Abstract
The present invention provides a kind of intelligent loading method and devices, are related to the technical field of the scattered material loading system such as coal, comprising the following steps: S1. transfers corresponding model according to compartment model and product category from model library；S2. after compartment enters coordinate measurement region, start recording compartment coordinate value；S3. when compartment makes to start coordinate a0When, it automatically opens and puts coal flashboard, while loading chute is adjusted to beginning coordinate h according to model0Corresponding height, material are gradually flowed into from storehouse into compartment；S4. the coordinate a driven to according to compartmentn, loading chute is adjusted to corresponding coordinate hnHeight；S5. when compartment drives to end coordinate amWhen, adjustment loading chute to corresponding height hm；The entrucking of this section compartment terminates；S6. the step of repeating S2-S5, until all compartment entruckings are completed.Intelligence loading method and device provided by the invention realize that entrucking process is unmanned, improve the accuracy of entrucking, solve the problems, such as that artificial loading quality is unstable.
Description
Technical field
The present invention relates to the bulk materials entrucking technical fields such as coal, more particularly, to a kind of intelligent loading method and dress
It sets.
Background technique
Railway entrucking is that coal mine, coal preparation plant realize one of main means of commodity coal transmission sale, it is used at present quickly
Quantifying and loading station mostly uses greatly semi-manual entrucking mode, i.e., observes train advanced positions, operation push rod control dress by entrucking person
The lifting of vehicle chute is put coal flashboard with button control and is opened, and the process that coal is loaded out of quantitative storehouse to railway carriage is completed.Specific steps
It is as follows:
1, empty wagons compartment slowly drives through loading station, and speed is maintained at reasonable interval.
2, when compartment forward position reaches loading chute lower section suitable position, entrucking person, which opens, puts coal flashboard, and decline entrucking is slipped
For slot to certain altitude, coal continues to flow into compartment by loading chute from quantitative storehouse.
3, entrucking person guarantees to be evenly distributed in compartment before and after coal by the lifting of control loading chute, there can be no
Coal, unbalance loading phenomenon are spread, coal flashboard is put after coal emptying in quantitative storehouse and is automatically closed.
4, along when reaching below loading chute behind compartment, entrucking person rises loading chute, prevents loading chute and railway carriage
It collides.
During entrucking, entrucking person will keep spiritual high concentration, and manual handling equipment, continuous a few houres entrucking work always
It is very big to make intensity, even veteran personnel also unavoidably make a fault, and causing unbalance loading, (unbalance loading refers to that front and back carries in compartment
Amount has big difference), or even because the major accidents such as coal are spread in tired maloperation initiation.
Summary of the invention
The purpose of the present invention is to provide intelligent loading method and devices to be filled with alleviating now by during artificial entrucking
Vehicle quality and efficiency are influenced by entrucking person, there is technical issues that.
A kind of intelligent loading method provided by the invention, comprising the following steps:
S1. corresponding model is transferred from model library according to compartment model and product category；
S2. after compartment enters coordinate measurement region, start recording compartment coordinate value；
S3. when compartment makes to start coordinate a0When, it automatically opens and puts coal flashboard, while loading chute is adjusted according to model and is arrived
Start coordinate h0Corresponding height, material are gradually flowed into from storehouse into compartment；
S4. the coordinate a driven to according to compartmentn, loading chute is adjusted to corresponding coordinate hnHeight；
S5. when compartment drives to end coordinate amWhen, adjustment loading chute to corresponding height hm；This section compartment dress
Vehicle terminates；
S6. the step of repeating S2-S5, until all compartment entruckings are completed.
Further, the method for building up of model described in the S1 step includes:
Create model corresponding with two compartment model, product category conditions；
Dynamic coordinate detection and localization, the every warp in compartment are carried out to the compartment entered in detection range using location sensitive sensor
Cross a coordinate measurement point record once coordinate value a corresponding with the test point；
Using the direction of compartment operation as change in coordinate axis direction, and co-ordinate zero point is set；
Dynamic height detection and localization is carried out to loading chute using measurement sensor, loading chute height is in mobile range
There is corresponding detection height value h in interior any position；
Loading chute mapping table is established, starts coordinate a when compartment is run to0When, corresponding loading chute height is at this time
h0；Node coordinate a1- anCorresponding loading chute height h1- hn, when compartment runs to end coordinate amWhen, corresponding entrucking at this time
Chute height is hm。
Further, the model has uniqueness.
Further, detection range is the distance between the first test point and the last one test point of coordinate measurement, is somebody's turn to do
Distance is not less than the length in compartment, and coordinate measurement point at least covers loading chute when coalingging, and the compartment is along traffic direction
Displacement.
Further, the coordinate value is corresponding one by one with test point, has uniqueness.
Further, the setting co-ordinate zero point is that compartment runs to the position for needing loading chute to open when putting coal flashboard
Corresponding coordinate starts coordinate a0。
The present invention also provides a kind of intelligent loading apparatus, including compartment locating and detecting device, loading chute height detection dress
It sets, loading chute and control device；
The compartment locating and detecting device is used to detect the position of compartment traveling, and the location information in compartment is sent to institute
Control device is stated,
The loading chute height detecting device is arranged on the loading chute, and the altitude location for loading chute is examined
It surveys；
The control device is used to control the opening and closing for putting coal flashboard on the loading chute and according to the vehicle
The location information for the compartment traveling that compartment locating and detecting device is sent, adjusts loading chute to corresponding height.
Further, the compartment locating and detecting device includes multiple location sensitive sensors；Multiple location sensitives
Sensor is arranged along compartment moving direction, and before loading chute is to compartment entrucking, the detection of at least one location sensitive sensor
To the compartment.
Further, multiple location sensitive sensors are uniformly arranged.
Further, the loading chute is quantifying and loading chute.
Intelligence loading method and device provided by the invention can it is only necessary to entrucking persons for different compartment model and
The model that product category is formed, control device carries out entrucking to compartment according to this model control device loading chute, to realize
Loading chute carries out entrucking to compartment automatically, and entrucking person only needs to call from model library corresponding in compartment model and product category
Model can realize the automatic loading of a column train；When other model compartments and the train for filling other products need to carry out intelligence
When energy entrucking, corresponding model is found in model library according to compartment model and product category, carries out intelligent entrucking.
Since what entrucking process relied on detects compartment locating and detecting device and loading chute height detecting device, from
And the accuracy of entrucking is improved, it solves the problems, such as that artificial loading quality is unstable, significantly reduces personnel labor intensity, compared with people
Unbalance loading probability is greatly reduced in fixture vehicle, promotes loading system efficiency.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of flow chart of intelligent loading method provided in an embodiment of the present invention；
Fig. 2 is the schematic diagram of compartment entrucking process；
Fig. 3 is a kind of structural schematic diagram of intelligent loading apparatus provided in an embodiment of the present invention；
Fig. 4 is the schematic diagram that compartment entrucking finishes.
Icon: the compartment 100-；The compartment 200- locating and detecting device；201- location sensitive sensor；300- entrucking is slipped
Slot；400- loading chute height detecting device；500- puts coal flashboard；600- quantifies storehouse.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
A kind of flow chart of intelligence loading method shown in referring to Fig.1, a kind of intelligent loading method provided by the invention, packet
Include following steps:
S1. corresponding model is transferred from model library according to compartment model and product category；
S2. after compartment enters coordinate measurement region, start recording compartment coordinate value；
S3. when compartment makes to start coordinate a0When, it automatically opens and puts coal flashboard, while loading chute is adjusted according to model and is arrived
Start coordinate h0Corresponding height, material are gradually flowed into from storehouse into compartment；
S4. the coordinate a driven to according to compartmentn, loading chute is adjusted to corresponding coordinate hnHeight；
S5. when compartment drives to end coordinate amWhen, adjustment loading chute to corresponding height hm；This section compartment dress
Vehicle terminates；
S6. the step of repeating S2-S5, until all compartment entruckings are completed.
In some embodiments, due to being used to transport the type of the model in the compartment of the train of coal and the coal of loading not
Together, it when being loaded to the compartment, needs in model library, finds corresponding compartment model and product category
Model；Control device automatically controls loading chute according to this model, to realize the loading in the permutation compartment of the train.
In S2 step, with the traveling of train, after compartment is brought into detection zone by train,
Compartment locating and detecting device carries out dynamic coordinate detection and localization, and the coordinate measurement point of start recording to train
Corresponding coordinate value,
In the S3 step, when compartment drives to coordinate a0When, mucking pan is adjusted to specified h0Place, and open loading chute
On put coal flashboard, start carry out entrucking；
In S4 and S5 step, the node coordinate a that is driven to according to compartment1- an, loading chute is adjusted to corresponding dress
Vehicle chute height h1- h；Start coordinate a when compartment drives to0With end coordinate amBetween any node coordinate when, be corresponding with
Loading chute height coordinate；With the traveling in compartment, the height of loading chute with and adjust.
Until driving to end coordinate a when compartmentmWhen, adjustment loading chute to corresponding height hm, and loading chute
On put the closing of coal flashboard, the entrucking of this section compartment terminates,
Since train has multiple compartments, next compartment drives to coordinate a0When, mucking pan start to lower compartment into
Luggage carries.
On above-described embodiment basis, further, the method for building up of model described in the S1 step includes:
Create model corresponding with two compartment model, product category conditions；
Dynamic coordinate detection and localization, the every warp in compartment are carried out to the compartment entered in detection range using location sensitive sensor
Cross a coordinate measurement point record once coordinate value a corresponding with the test point；
Coordinate value is the feature tag of coordinate measurement point, and coordinate value is corresponding one by one with test point, has uniqueness.
Using the direction of compartment operation as change in coordinate axis direction, and co-ordinate zero point is set；
Dynamic height detection and localization is carried out to loading chute using measurement sensor, loading chute height is in mobile range
There is corresponding detection height value h in interior any position；
Loading chute mapping table is established, starts coordinate a when compartment is run to0When, corresponding loading chute height is at this time
h0；Node coordinate a1- anCorresponding loading chute height h1- hn, when compartment runs to end coordinate amWhen, corresponding entrucking at this time
Chute height is hm。
Control device carries out the automatic loading of vehicle according to model, and the compartment of different model and the model of product category are not
With.
In some embodiments, it determines that the train of compartment model drives into after detection zone, utilizes location sensitive sensor
Dynamic coordinate detection and localization carried out to the compartment entered in detection range, compartment it is every by coordinate measurement point record once with
The corresponding coordinate value a of the test point；
I.e. compartment drives into after detection zone, and coordinate measurement point is detected and positioned；Measurement sensor pair is utilized simultaneously
Loading chute carries out dynamic height detection and localization；Loading chute mapping table is established, starts coordinate a when compartment is run to0When, at this time
Corresponding loading chute height is h0；Node coordinate a1- anWith loading chute height h1- hnIt corresponds, when compartment is run to
End coordinate amWhen, corresponding loading chute height is h at this timem。
Loading chute height refers to vertical range of the loading chute discharge port apart from rail face, this highly can use sensing
Device directly detects acquisition, calculates and obtains after can also measuring indirectly.
Two limit of the range covering loading chute raising and lowering of height detection.
a0During referring to that compartment zero load is advanced, a coordinate value locating for compartment when arrival starts to coaling；
amRefer to compartment after fully loaded, leave coordinate value locating when coalingging region, m is the integer greater than 1；
a1—anRefer to the coordinate value of n coordinate measurement point between " starting coordinate " and " end coordinate ", n=m-1；
" chute mapping table " provides compartment and successively passes through corresponding loading chute object height value when above-mentioned m+1 coordinate points
h0—hm。
Based on compartment, each compartment is successively carried out the record of coordinate.Record is loaded with every section vehicle to be completed to divide
Boundary's point terminates to start next section while a upper section.
As shown in figure 4, compartment entrucking has certain operation or work standard, and can repeat；According to semi-manual entrucking mode
Model is established in the compartment of this model and loading product category by experience, and compartment, which drives to, at this time needs entrucking hopper to be opened
When putting the position of coal flashboard, coordinate value a at this time is recorded, coordinate a is as started0；With the seat of the traveling record in compartment
Mark test point records primary corresponding coordinate, and the height locating at this time of loading chute at this time is recorded；Until by this
It saves compartment and loads completion, the coordinate measurement point that compartment drives to, the height of the coordinate value of record and at this time loading chute；And pass through
Multiple correction forms loading chute mapping table；Establish the model in this model compartment and product category.
Further, the model has uniqueness.
That is the combination of every kind of compartment model and product category only corresponds to unique model, the quantity and group of model in model library
It is identical to close quantity.
Further, detection range is the distance between the first test point and the last one test point of coordinate measurement, is somebody's turn to do
Distance is not less than the length in compartment, and coordinate measurement point at least covers loading chute when coalingging, and the compartment is along traffic direction
Displacement.
Further, the coordinate value is corresponding one by one with test point, has uniqueness.
Further, the setting co-ordinate zero point is that compartment runs to the position for needing loading chute to open when putting coal flashboard
Corresponding coordinate starts coordinate a0。
Combined with specific embodiments below and attached drawing, the invention will be further described.
1, coordinate measurement point 400 is set, and equidistant 4cm is arranged along railway, using vehicle heading as coordinate positive direction, respectively
The coordinate value of coordinate measurement point is followed successively by 1,2,3 ... 399,400.
2, loading chute detection height value be from 2300 to 4800 it is continuous, 2300 and 4800 for chute lifting two
A limit point.
3, when the compartment model " C80 " of acquisition, product category be " No. 2 cleaned coal ", corresponding mould is chosen from model library
Type " No. 3 models "；
" No. 3 models " offer " starting coordinate " a0=37, " end coordinate " am=344, " node coordinate " a1=38, a2=
39…aN-1=342, an=343.
" No. 3 models " offer " chute height look-up table " is as follows:
The chute height look-up table of 1 No. 3 models of table
| 0 | 1 | 2 | … | N-1 | n | m | |
| Coordinate value a | 37 | 38 | 39 | … | 342 | 343 | 344 |
| Height value h | 2965 | 2880 | 3005 | … | 3744 | 3744 | 3860 |
4, as shown in Fig. 2, after compartment enters detection zone, the coordinate 1,2,3 ... that start recording is passed through is sat when reaching
When scale value 37, opening puts coal flashboard, while loading chute height is adjusted to 2965；
When compartment successively reaches 38,39 ... adjusted separately when 342,343 coordinate loading chute height to 2880,3005 ...
3744,3744；
When compartment reaches 344 coordinate, loading chute height is adjusted to 3860, this section entrucking terminates.
As shown in figure 3, the present invention also provides a kind of intelligent loading apparatus, including compartment locating and detecting device 200, entrucking slip
Groove height detection device 400, loading chute 300 and control device；
The compartment locating and detecting device 200 is used for the position that travels to compartment 100, and by the location information in compartment 100
It is sent to the control device,
The loading chute height detecting device 400 is arranged on the loading chute 300, for loading chute 300
Altitude location detection；
The control device is used to control the opening and closing for putting coal flashboard 500 on the loading chute 300 and basis
The location information that the compartment 100 that the compartment locating and detecting device 200 is sent travels adjusts loading chute 300 and arrives corresponding height
Degree.
In some embodiments, compartment locating and detecting device 200 can be used in detecting the position of vehicle traveling, and by this position
Confidence breath is sent to control device, and control device is carried out according to the height of the corresponding loading chute 300 of coordinate of this location means
Adjusting to loading chute 300, when this coordinate is to start coordinate, the control device control opening of loading chute 300 puts coal
Flashboard 500, by coal loading in compartment 100.
As the location information in compartment 100 is constantly passed to control device, control device by compartment locating and detecting device 200
According to the position in compartment 100, the adjustment to loading chute 300 is carried out.
Compartment locating and detecting device 200: for carrying out the detection of coordinate setting, inspection to the compartment 100 in entrucking tower
It surveys length of the region not less than compartment 100 and covers loading chute 300 along the removable space in railway direction.
Loading chute height detecting device 400: for the detection of the real-time height of loading chute 300, range covering dress is detected
The limit section that vehicle chute 300 acts.
Control device can execute to loading chute 300 and put the control of coal flashboard 500 according to the parameter of model, realize
Entrucking to compartment 100.
Based on the above embodiment on basis, further, the compartment locating and detecting device 200 includes multiple positions
Inductive pick-up 201；Multiple location sensitive sensors 201 are arranged along 100 moving direction of compartment, and in loading chute 300
Before 100 entrucking of compartment, at least one location sensitive sensor 201 detects the compartment 100.
In some embodiments, compartment locating and detecting device 200 includes multiple location sensitive sensors 201, multiple positions
Inductive pick-up 201 is uniformly arranged along 100 moving direction of compartment, and first location sensitive sensor 201 to a last position is felt
The distance between inductive sensing device 201 is not less than the length in compartment 100；In order to adapt to the compartment 100 of a variety of different models, first position
It sets inductive pick-up 201 and arrives the distance between last location sensitive sensor 201 greater than common all single compartments
100 length.
Based on the above embodiment on basis, further, multiple location sensitive sensors 201 are uniformly arranged.
Based on the above embodiment on basis, further, the loading chute 300 is quantifying and loading chute 300.
On this quantifying and loading chute 300 is quantitative storehouse 600；Coordinate measurement point is equally distributed in detection range, quantity
It requires to determine according to detection minimum resolution, i.e., position inductive pick-up 201 is equally distributed in detection range.
Based on the above embodiment on basis, further, the compartment locating and detecting device 400 includes measurement sensing
Device, the measurement sensor are used to measure the height of loading chute.
Based on the above embodiment on basis, further, it is provided with quantitative storehouse 600 on the loading chute 300, and
It is provided between the quantitative storehouse 600 and loading chute 300 and puts coal flashboard 500.
The quantitative general automatic weighing device in storehouse 600, when coal from the amount that quantitative storehouse 600 is flowed into compartment 100 be certain
, to guarantee that the Coal Quality in each compartment 100 is consistent.
It further include surge bunker, surge bunker setting is in the quantitative storehouse further based on the above embodiment on basis
600 upper ends, and buffering flashboard is provided between the surge bunker and quantitative storehouse 600.
After surge bunker material enters quantitative storehouse 600, weighing sensor in real time weighs quantitative 600 material of storehouse, works as title
It when amount weight is identical as loaded material weight is needed, closes surge bunker and buffers flashboard, stop feeding to quantitative storehouse.
Based on the above embodiment on basis, further, the compartment locating and detecting device 400 is arranged in the vehicle
The side of compartment driving direction.
Compartment locating and detecting device 200 is generally located on the left side or right side in compartment, when compartment traveling, in vehicle
The left side or right side in compartment are to compartment dynamic coordinate detection and localization.
Based on the above embodiment on basis, further, first position on the compartment locating and detecting device 200
Set the length that the distance between inductive pick-up and the last one location sensitive sensor are not less than the compartment.
This intelligent loading apparatus can replace entrucking person's groundwork during entrucking, including be replaced using detection sensor
Observation of the people to compartment 100, loading chute 300, coal stream；Judgement and decision of the people for opportunity are replaced by algorithm logic；Control
Device processed realizes the control for loading chute 300, putting coal flashboard 500, significantly reduces personnel labor intensity.
The present invention also provides a kind of intelligent entrucking towers, including intelligent loading apparatus described above.
This intelligent entrucking tower is automatically added using intelligent loading apparatus so that coal be enable to quantify to compartment 300,
And it can guarantee entrucking not unbalance loading；And this intelligent entrucking tower is equally applicable to the quantitative of loose unpacked material and adds to compartment.
It is provided by the invention that intelligence loading method and device can it is only necessary to entrucking persons to be directed to different 100 models of compartment
The model formed with product category, control device carry out entrucking to compartment 100 according to this model control device loading chute 300,
To realize that loading chute 300 carries out entrucking to compartment 100 automatically, entrucking person only needs to call from model library in compartment 100
Model and the corresponding model of product category can realize the automatic loading of a column train；When other model compartments 100 and fill it
When the train of his product needs to carry out intelligent entrucking, correspondence is found in model library according to 100 model of compartment and product category
Model, carry out intelligent entrucking.
Since what entrucking process relied on carries out compartment locating and detecting device 200 and loading chute height detecting device 400
Detection, to improve the accuracy of entrucking, solves the problems, such as that artificial loading quality is unstable, and it is strong to significantly reduce personnel's labour
Unbalance loading probability is greatly reduced in degree, more artificial entrucking, promotes loading system efficiency.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of intelligence loading method, which comprises the following steps:
S1. corresponding model is transferred from model library according to compartment model and product category；
S2. after compartment enters coordinate measurement region, start recording compartment coordinate value；
S3. when compartment makes to start coordinate a0When, it automatically opens and puts coal flashboard, while loading chute is adjusted to beginning according to model
Coordinate h0Corresponding height, material are gradually flowed into from storehouse into compartment；
S4. the coordinate a driven to according to compartmentn, loading chute is adjusted to corresponding coordinate hnHeight；
S5. when compartment drives to end coordinate amWhen, adjustment loading chute to corresponding height hm；This section compartment entrucking knot
Beam；
S6. the step of repeating S2-S5, until all compartment entruckings are completed.
2. intelligence loading method according to claim 1, which is characterized in that the foundation side of model described in the S1 step
Method includes:
Create model corresponding with two compartment model, product category conditions；
Dynamic coordinate detection and localization is carried out to the compartment entered in detection range using location sensitive sensor, compartment is every to pass through one
A coordinate measurement point records once coordinate value a corresponding with the test point；
Using the direction of compartment operation as change in coordinate axis direction, and co-ordinate zero point is set；
Dynamic height detection and localization is carried out to loading chute using measurement sensor, loading chute height is in mobile range
There is corresponding detection height value h in any position；
Loading chute mapping table is established, starts coordinate a when compartment is run to0When, corresponding loading chute height is h at this time0；Section
Point coordinate a1- anCorresponding loading chute height h1- hn, when compartment runs to end coordinate amWhen, corresponding loading chute at this time
Height is hm。
3. intelligence loading method according to claim 2, which is characterized in that the model has uniqueness.
4. intelligence loading method according to claim 3, which is characterized in that detection range is the first detection of coordinate measurement
The distance between point and the last one test point, which is not less than the length in compartment, and coordinate measurement point at least covers entrucking
Chute is when coalingging, displacement of the compartment along traffic direction.
5. intelligence loading method according to claim 3, which is characterized in that the coordinate value is corresponding one by one with test point,
With uniqueness.
6. intelligence loading method according to claim 2, which is characterized in that the setting co-ordinate zero point runs to for compartment
It needs loading chute to open the corresponding coordinate in position when putting coal flashboard, that is, starts coordinate a0。
7. it is a kind of intelligence loading apparatus, which is characterized in that including compartment locating and detecting device, loading chute height detecting device,
Loading chute and control device；
The compartment locating and detecting device is used to detect the position of compartment traveling, and the location information in compartment is sent to the control
Device processed,
The loading chute height detecting device is arranged on the loading chute, and the altitude location for loading chute detects；
The control device is used to control the opening and closing for putting coal flashboard on the loading chute and is determined according to the compartment
The location information for the compartment traveling that level detecting apparatus is sent, adjusts loading chute to corresponding height.
8. intelligence loading apparatus according to claim 6, which is characterized in that the compartment locating and detecting device includes multiple
Location sensitive sensor；Multiple location sensitive sensors are arranged along compartment moving direction, and fill in loading chute to compartment
Chinese herbaceous peony, at least one location sensitive sensor detect the compartment.
9. intelligence loading apparatus according to claim 7, which is characterized in that multiple location sensitive sensors are uniformly set
It sets.
10. intelligence loading apparatus according to claim 7, which is characterized in that the loading chute is quantifying and loading chute.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811351743.8A CN109292483A (en) | 2018-11-13 | 2018-11-13 | Intelligent loading method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811351743.8A CN109292483A (en) | 2018-11-13 | 2018-11-13 | Intelligent loading method and device |
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| Publication Number | Publication Date |
|---|---|
| CN109292483A true CN109292483A (en) | 2019-02-01 |
Family
ID=65146670
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811351743.8A Pending CN109292483A (en) | 2018-11-13 | 2018-11-13 | Intelligent loading method and device |
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| CN110187690A (en) * | 2019-06-18 | 2019-08-30 | 淮北矿业股份有限公司 | The accurate automatic loading control system of railway freight |
| CN110342281A (en) * | 2019-08-05 | 2019-10-18 | 山东泰安煤矿机械有限公司 | Unattended loading method and device |
| CN110928207A (en) * | 2020-02-05 | 2020-03-27 | 天津美腾科技股份有限公司 | Automatic loading method and device |
| CN111487918A (en) * | 2020-04-26 | 2020-08-04 | 天地科技股份有限公司 | Bulk material unmanned loading control method, system and device based on multi-line laser radar |
| CN113291865A (en) * | 2021-05-07 | 2021-08-24 | 中煤科工集团信息技术有限公司 | Washing separation plant full-automatic loading system and method |
| CN115321209A (en) * | 2022-09-15 | 2022-11-11 | 中煤科工智能储装技术有限公司 | Chute height control method based on machine learning |
| CN116306053A (en) * | 2023-05-25 | 2023-06-23 | 山西阳煤化工机械（集团）有限公司 | Method for loading chemical industry nonstandard equipment based on 3D modeling |
| WO2023216694A1 (en) * | 2022-05-13 | 2023-11-16 | 青岛港国际股份有限公司 | Automatic loading method for loading building, and loading building |
| CN117585470A (en) * | 2023-12-28 | 2024-02-23 | 山东大学 | Quantitative loading method |
| CN117585470B (en) * | 2023-12-28 | 2024-06-25 | 山东大学 | Quantitative loading method |
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