CN109650090A - A kind of reclaimer feeding control method and device - Google Patents
A kind of reclaimer feeding control method and device Download PDFInfo
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- CN109650090A CN109650090A CN201910145460.6A CN201910145460A CN109650090A CN 109650090 A CN109650090 A CN 109650090A CN 201910145460 A CN201910145460 A CN 201910145460A CN 109650090 A CN109650090 A CN 109650090A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/005—Control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
- B65G65/04—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with pick-up shovels
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- Mechanical Engineering (AREA)
- Control Of Conveyors (AREA)
Abstract
The application provides a kind of reclaimer feeding control method and device, wherein the described method includes: obtaining feeding plan, determines target bucket wheel reclaimer and target material heap according to feeding plan；By the way that the laser scanner of the cantilever front end of target bucket wheel reclaimer is arranged in, the scan data of target material heap, and the detection device by being mounted on target bucket wheel reclaimer are obtained, the location parameter data of target bucket wheel reclaimer are obtained；According to scan data and location parameter data, the 3 d image data of target material heap is established；According to the 3 d image data of feeding plan and target material heap, feeding strategy is generated, by the feeding policy distribution to target bucket wheel reclaimer, so that target bucket wheel reclaimer is operated according to feeding strategy execution feeding.In the process, it is not necessarily to manual intervention, the degree of automation is higher, when solving existing manual operation reclaimer progress feeding work, feeding inefficiency and problem with high labor costs.
Description
Technical field
This application involves technical field of automation in industry, and in particular to a kind of reclaimer feeding control method and device.
Background technique
In iron and steel enterprise, usually by material of the same race, outdoor storage is in stock ground in the form of material heap, in use, utilizing feeding
Material is delivered to different workshop sections by machine, to guarantee that smelting iron and steel work continuously carries out.
Existing reclaimer is usually bucket wheel reclaimer, and bucket wheel reclaimer is that the large bulk material of modernization industry is continuous
The high-efficiency appliance of handling specifically includes that cantilever, the bucket wheel for being set to cantilever top, is set to cantilever front end arm belt, leakage
Bucket, ground belt, running mechanism, luffing mechanism and swing mechanism etc., when executing feeding operation, bucket wheel reclaimer is using hydraulic
Material is taken upper cantilever belt by motor or the rotation of motor driven bucket wheel, and material falls within ground by funnel in the end of arm belt
Musculus cutaneus band, by ground Belt Conveying to the place needed.Stock ground schematic diagram of a scenario shown in referring to Fig.1, running mechanism is in track
Upper traveling, to control the position of bucket wheel reclaimer；Luffing mechanism and revolution of the operator by control bucket wheel reclaimer
Mechanism action controls cantilevered action, and cantilever is made to generate displacement, and cantilever drives bucket wheel to generate displacement while generating displacement, from
And make the bucket wheel in rotation that material is taken upper cantilever belt.
Existing bucket wheel reclaimer is manual operation, and every bucket wheel reclaimer is at least equipped with an operator, is operated
Personnel operate bucket wheel reclaimer, i.e., existing bucket wheel reclaimer uses manually-operated mode.But artificial behaviour
Make one side inefficiency, on the other hand, cost of labor is higher, and production cost increases accordingly.Particularly, not due to material variety
Together, if various materials while feeding, more bucket wheel reclaimers are needed to carry out feeding work, more bucket wheel reclaimers need
Be equipped with the operator of respective numbers so that inefficiency and cost of labor it is larger problem it is more obvious.Therefore, how
It improves feeding efficiency, reduce the problem of cost of labor becomes urgent need to resolve.
Summary of the invention
The application provides a kind of reclaimer feeding control method and device, to solve existing manual operation bucket wheel reclaimer
When carrying out feeding work, feeding inefficiency and problem with high labor costs.
The application's in a first aspect, provide a kind of reclaimer feeding control method, and the method is applied to controlling terminal, institute
It states controlling terminal to be connected with laser scanner and detection device respectively, the laser scanner is set to bucket wheel reclaimer
Cantilever front end, which comprises
Feeding plan is obtained, target bucket wheel reclaimer and target material heap are determined according to the feeding plan；
By the way that the laser scanner of the cantilever front end of the target bucket wheel reclaimer is arranged in, the target material heap is obtained
Scan data, and the detection device by being mounted on the target bucket wheel reclaimer obtains the target bucket wheel formula feeding
The location parameter data of machine；
According to the scan data and the location parameter data, the 3 d image data of the target material heap is established；
According to the 3 d image data of the feeding plan and the target material heap, feeding strategy is generated, by the feeding
Policy distribution is to the target bucket wheel reclaimer, so that the target bucket wheel reclaimer takes according to the feeding strategy execution
Material operation.
Optionally, according to the scan data and the location parameter data, the 3-D image of the target material heap is established
Data, comprising:
The interference data in the scan data and the location parameter data are filtered out respectively；
According to filter out it is described interference data after scan data and location parameter data, after the interference data will be filtered out
Scan data be converted into the point cloud data under the coordinate system of stock ground, by the point cloud data carry out grid specification processing, obtain
Simplify grid data；
Interpolation processing is carried out to the grid data of simplifying, generates complete grid data, and by the complete grid data
Three-dimensional data as the target material heap；
According to the three-dimensional data of the target material heap, the three-dimensional figure of the target material heap is established in the grid coordinate system of stock ground
As data, wherein the stock ground grid coordinate system is using stock ground ground as base plane, will be where track in the base plane
Rectilinear direction is as X-axis, using the rectilinear direction vertical with track as Y-axis.
Optionally, in the three-dimensional data according to the target material heap, the target material is established in the grid coordinate system of stock ground
After the 3 d image data of heap, further includes:
The 3 d image data of the target material heap is stored to database.
Optionally, in the 3 d image data according to the feeding plan and the target material heap, feeding strategy is generated, it will
After the feeding policy distribution to the target bucket wheel reclaimer, further includes:
It controls the target bucket wheel reclaimer and executes one layer of feeding operation；
Re-establish the 3 d image data for executing the target material heap after one layer of feeding operation；
According to the 3 d image data for executing the target material heap after one layer of feeding operates and the feeding plan, adjust
The whole feeding strategy, so that the bucket wheel reclaimer is operated according to feeding strategy execution feeding adjusted.
Optionally, it controls the target bucket wheel reclaimer and executes one layer of feeding operation, comprising:
Step 501, the current layer feeding point of penetration for including according to the feeding strategy controls the target bucket wheel formula feeding
Machine executes feeding operation according to the current layer feeding point of penetration；
Step 502, judge whether the bucket wheel of the target bucket wheel reclaimer reaches the edge of the target material heap；
Step 503, if the bucket wheel of the target bucket wheel reclaimer reaches the edge of the target material heap, judge current layer
Whether feeding distance reaches the current layer feeding distance that feeding strategy includes；
Step 504, if current layer feeding distance does not reach the current layer feeding distance that feeding strategy includes, described in control
Adjusting microinching occurs for target bucket wheel reclaimer, and controls the bucket wheel opposite direction rotation feeding of the target bucket wheel reclaimer, returns
The operation of step 502 is executed, until current layer feeding distance reaches the current layer feeding distance that feeding strategy includes.
The second aspect of the application, provides a kind of reclaimer feeding control device, and described device is applied to controlling terminal, institute
It states controlling terminal to be connected with laser scanner and detection device respectively, the laser scanner is set to bucket wheel reclaimer
Cantilever front end, described device include:
First obtain module, for obtaining feeding plan, according to the feeding plan determine target bucket wheel reclaimer and
Target material heap；
Second obtains module, the laser scanning for the cantilever front end by the way that the target bucket wheel reclaimer is arranged in
Instrument obtains the scan data of the target material heap, and the detection device by being mounted on the target bucket wheel reclaimer, obtains
The location parameter data of the target bucket wheel reclaimer；
3 d image data establishes module, for according to the scan data and the location parameter data, described in foundation
The 3 d image data of target material heap；
Feeding policy generation module, it is raw for the 3 d image data according to the feeding plan and the target material heap
At feeding strategy, by the feeding policy distribution to the target bucket wheel reclaimer, so as to the target bucket wheel reclaimer
It is operated according to the feeding strategy execution feeding.
Optionally, the 3 d image data establishes module and includes:
Unit is filtered out, for filtering out the interference data in the scan data and the location parameter data respectively；
Acquiring unit, scan data and location parameter data after the interference data are filtered out for basis, will filter out
Scan data after the interference data is converted into the point cloud data under the coordinate system of stock ground, and the point cloud data is carried out grid rule
Grid data is simplified in generalized processing, acquisition；
Interpolating unit generates complete grid data, and will be described for carrying out interpolation processing to the grid data of simplifying
Complete three-dimensional data of the grid data as the target material heap；
3 d image data establishes unit, for the three-dimensional data according to the target material heap, in stock ground grid coordinate system
The middle 3 d image data for establishing the target material heap, wherein the stock ground grid coordinate system using stock ground ground as base plane,
In the base plane, using the rectilinear direction where track as X-axis, using the rectilinear direction vertical with track as Y-axis.
Optionally, the 3 d image data establishes module further include:
Storage unit, for establishing unit according to the three-dimensional data of the target material heap in the 3 d image data,
It is established in the grid coordinate system of stock ground after the 3 d image data of the target material heap, by the 3-D image number of the target material heap
According to storing to database.
Optionally, described device further include:
Control module, for generating feeding strategy in the feeding policy generation module, extremely by the feeding policy distribution
After the target bucket wheel reclaimer, controls the target bucket wheel reclaimer and execute one layer of feeding operation；
3 d image data rebuilds module, for re-establishing the three-dimensional of the target material heap after executing one layer of feeding operation
Image data；
Module is adjusted, for according to the 3 d image data for executing the target material heap after one layer of feeding operates and institute
Feeding plan is stated, the feeding strategy is adjusted, so that the bucket wheel reclaimer is according to feeding strategy execution feeding adjusted
Operation.
Optionally, the control module includes:
First control unit, the current layer feeding point of penetration for including according to the feeding strategy, controls the target
Bucket wheel reclaimer executes feeding operation according to the current layer feeding point of penetration；
First judging unit, for judging whether the bucket wheel of the target bucket wheel reclaimer reaches the target material heap
Edge；
Second judgment unit, if the bucket wheel for the target bucket wheel reclaimer reaches the edge of the target material heap,
Judge whether current layer feeding distance reaches the current layer feeding distance that feeding strategy includes；
Second control unit, if for current layer feeding distance do not reach current layer feeding that feeding strategy includes away from
From controlling the target bucket wheel reclaimer and adjusting microinching occur, and control the bucket wheel opposite direction rotation of the target bucket wheel reclaimer
Turn feeding, return to the operation for executing first judging unit, until current layer feeding distance working as of reaching that feeding strategy includes
Front layer feeding distance.
The application provides a kind of reclaimer feeding control method and device, wherein the described method includes: obtaining feeding meter
It draws, target bucket wheel reclaimer and target material heap is determined according to feeding plan；By the way that the outstanding of target bucket wheel reclaimer is arranged in
The laser scanner of arm front end obtains the scan data of target material heap, and the detection by being mounted on target bucket wheel reclaimer
Equipment obtains the location parameter data of target bucket wheel reclaimer；According to scan data and location parameter data, target material is established
The 3 d image data of heap；According to the 3 d image data of feeding plan and target material heap, feeding strategy is generated, by the feeding
Policy distribution is to target bucket wheel reclaimer, so that target bucket wheel reclaimer is operated according to feeding strategy execution feeding.Herein
In the process, it is not necessarily to manual intervention, the degree of automation is higher, when solving existing manual operation reclaimer progress feeding work, takes
Expect inefficiency and problem with high labor costs.
Detailed description of the invention
In order to illustrate more clearly of the technical solution of the application, letter will be made to attached drawing needed in the embodiment below
Singly introduce, it should be apparent that, for those of ordinary skills, without creative efforts, also
Other drawings may be obtained according to these drawings without any creative labor.
Fig. 1 is stock ground schematic diagram of a scenario；
Fig. 2 is a kind of work flow diagram of reclaimer feeding control method provided by the embodiments of the present application；
Fig. 3 is to establish the three-dimensional figure of target material heap in a kind of reclaimer feeding control method provided by the embodiments of the present application
As the work flow diagram of data；
Fig. 4 is the work flow diagram of another reclaimer feeding control method provided by the embodiments of the present application；
Fig. 5 is to control target bucket wheel reclaimer in a kind of reclaimer feeding control method provided by the embodiments of the present application
Execute the work flow diagram of one layer of feeding operation；
Fig. 6 is a kind of structural schematic diagram of reclaimer feeding control device provided by the embodiments of the present application.
Specific embodiment
When carrying out feeding work to solve existing manual operation bucket wheel reclaimer, feeding inefficiency and manually at
This higher problem, the application provide a kind of reclaimer feeding control method and device.
The embodiment of the present application provides a kind of reclaimer feeding control method, and the method is applied to controlling terminal, the control
Terminal processed is connected with laser scanner and detection device respectively, and the laser scanner is set to the cantilever of bucket wheel reclaimer
Front end.
Bucket wheel reclaimer mainly includes three kinds of elemental motions, i.e. cart walking, suspending arm rotary and cantilever pitching, passes through this
The cooperation of three kinds of movements completes material extracting operation.Each action message of the controlling terminal by acquisition bucket wheel reclaimer, knot
Conjunction material plan, control bucket wheel reclaimer carry out material extracting operation.In method provided by the embodiments of the present application, in bucket wheel formula feeding
Detection device is installed on machine, in a kind of achievable mode, detection device includes Gray bus and absolute value encoder,
In, Gray bus is installed on cart walking mechanism surface, for detecting cart walking position；Absolute value encoder is installed on cantilever
Front end, for detecting cantilever position.
Referring to work flow diagram shown in Fig. 2, the embodiment of the present application provides a kind of reclaimer feeding control method, the side
Method the following steps are included:
Step 101, feeding plan is obtained, target bucket wheel reclaimer and target material heap are determined according to the feeding plan.
In the step, feeding plan generally comprises the information such as operation cargo type, plan workload, operation material heap, according to feeding
Operation material heap in the works finds the currently used state of the operation material heap material heap in basic database first, if the operation
Material heap is in idle state, then using the operation material heap as target material heap.
Step 102, by being arranged in the laser scanner of the cantilever front end of the target bucket wheel reclaimer, described in acquisition
The scan data of target material heap, and the detection device by being mounted on the target bucket wheel reclaimer, obtain the target bucket
The location parameter data of wheeled reclaimer.
When starting operation, laser scanner obtains the scanning number of target material heap for head scanning one time of target material heap
According to, and scan data is transmitted to controlling terminal.Since laser scanner is installed on cantilever front end, cantilever is with bucket wheel reclaimer
Movement and be subjected to displacement, that is to say, that scan data is influenced by cantilever position, therefore, while obtaining scan data, benefit
With the location parameter data of detection device measurement target bucket wheel reclaimer, and by each scan data and each location parameter number
According to associated.
The location parameter of target bucket wheel reclaimer includes: the current traveling value of cart, traveling speed, and cantilever currently circles round
The current pitch value of value, cyclotron velocity, cantilever and hoisting speed.
Step 103, according to the scan data and the location parameter data, the 3-D image of the target material heap is established
Data.
Step 104, according to the 3 d image data of the feeding plan and the target material heap, feeding strategy is generated, it will
The feeding policy distribution is to the target bucket wheel reclaimer, so that the target bucket wheel reclaimer is according to the feeding plan
Slightly execute feeding operation.
In the step, according to feeding plan, target material heap is determined and then according to the preset feeding number of plies, layers apart
Direction and feeding mode generate feeding strategy.
In the embodiment of the present application, feeding mode mainly includes that convolution layer and section or convolution layering are not segmented two kinds,
In, convolution layering feeding is that target material heap is divided into several layers, takes material from top to bottom in layer；Convolution segmentation feeding
It is one section one section and takes material from top to bottom, every section of length is generally 10~20m.Convolution layering feeding be suitable for height compared with
Low material heap, convolution segmentation feeding is suitable for the biggish material heap of the gradient at the top of material heap, in practical application, according to the feelings in target stock ground
Condition selects feeding mode, it is generally the case that combines convolution layering feeding with convolution segmentation feeding, i.e. convolution layer and section
Feeding.
In method provided by the present application, the 3 d image data in target stock ground is initially set up, according to the three-dimensional in target stock ground
Image data and feeding plan generate feeding strategy, feeding strategy are then executed automatically by bucket wheel reclaimer, in this process
In, it is not necessarily to manual intervention, the degree of automation is higher, when solving existing manual operation reclaimer progress feeding work, feeding effect
Rate is low and problem with high labor costs.
The mesh is established according to the scan data and the location parameter data referring to work flow diagram shown in Fig. 3
Mark the 3 d image data of material heap, comprising the following steps:
Step 201, the interference data in the scan data and the location parameter data are filtered out respectively.
During the scanning process, if shake occurs for cantilever or the directions of laser scanner scans is blocked, sweeping at this time
The scan data of target material heap shape cannot normally be reflected by retouching data, and location parameter data corresponding with scan data cannot be normal
Reflecting the cantilever position of bucket wheel reclaimer, scan data or location parameter data in such cases is to interfere data,
It when establishing the 3 d image data of target material heap, needs to filter out the interference data, avoids interference data influence 3-D image
The foundation of data.
Step 202, it according to scan data and location parameter data after the interference data is filtered out, will filter out described dry
Scan data after disturbing data is converted into the point cloud data under the coordinate system of stock ground, and the point cloud data is carried out at grid specification
Grid data is simplified in reason, acquisition.
In the step, by one group of scan data of current target material heap surface measured point from laser scanning device coordinate
It is converted under system under the coordinate system of stock ground, scan data binding site supplemental characteristic is converted into point cloud data, and point cloud data quantity is huge
Greatly, it is calculated to simplify, improves the speed of service, need to simplify point cloud data.
One kind provided by the embodiments of the present application simplifies mode as grid specificationization processing, i.e., under the coordinate system of stock ground, every
Equal part is carried out to target stock ground at a certain distance, so that the multiple sizes of formation and area equation effective stacking in stock ground within the scope of
Uniform grid realizes the uniform digitlization segmentation in target stock ground；After segmentation is completed, to the quantity for falling measurement point within a grid
Standardization integration processing is carried out, grid data is simplified in acquisition.
Step 203, interpolation processing is carried out to the grid data of simplifying, generates complete grid data, and will be described complete
Three-dimensional data of the grid data as the target material heap.
After filtering out interference data in step 201, cavity not of uniform size can be generated in point cloud data, so that simplifying
There is also cavities not of uniform size for grid data, when constructing 3 d image data, need to carry out Fast Interpolation, at interpolation
The grid data (Law of DEM Data) of create-rule, ultimately generates the complete grid data in target stock ground after reason.
Step 204, according to the three-dimensional data of the target material heap, the target material heap is established in the grid coordinate system of stock ground
3 d image data, wherein the stock ground grid coordinate system is using stock ground ground as base plane, in the base plane, by rail
Rectilinear direction where road is as X-axis, using the rectilinear direction vertical with track as Y-axis.
Optionally, in the three-dimensional data according to the target material heap, the target material is established in the grid coordinate system of stock ground
It is further comprising the steps of after the 3 d image data of heap: the 3 d image data of the target material heap is stored to database.
In a kind of achievable mode, controlling terminal is provided with man-machine interface, and 3 d image data is stored to data
Library, when establishing the 3-D image in target stock ground in man-machine interface, man-machine interface obtains 3 d image data from database, with
Stock ground is image display area, stock ground ground is display basal plane, realizes the coordinate reduction in the region of stock ground, completes target material heap
3-D image is shown, realizes the three-dimensional reconstruction of target material heap.Man-machine interface can carry out the rotation of 3-D image according to user's operation
Turn, translation and interactive operations, the measurement result such as partial enlargement it is very clear.During material extracting operation in real-time update database
Data content, the 3-D image that man-machine interface is shown is according to user's operation and database data dynamic real-time update.
Referring to work flow diagram shown in Fig. 4, the embodiment of the present application provides another reclaimer feeding control method, described
Method the following steps are included:
Step 401, feeding plan is obtained, target bucket wheel reclaimer and target material heap are determined according to the feeding plan.
Step 402, by being arranged in the laser scanner of the cantilever front end of the target bucket wheel reclaimer, described in acquisition
The scan data of target material heap, and the detection device by being mounted on the target bucket wheel reclaimer, obtain the target bucket
The location parameter data of wheeled reclaimer.
Step 403, according to the scan data and the location parameter data, the 3-D image of the target material heap is established
Data.
Step 404, according to the 3 d image data of the feeding plan and the target material heap, feeding strategy is generated, it will
The feeding policy distribution is to the target bucket wheel reclaimer, so that the target bucket wheel reclaimer is according to the feeding plan
Slightly execute feeding operation.
Step 405, it controls the target bucket wheel reclaimer and executes one layer of feeding operation.
Step 406, the 3 d image data for executing the target material heap after one layer of feeding operation is re-established.
Step 407, it according to the 3 d image data for executing the target material heap after the operation of one layer of feeding and described takes
Material plan, adjusts the feeding strategy, so that the bucket wheel reclaimer is operated according to feeding strategy execution feeding adjusted.
Wherein, step 401 is consistent with the specific operation process of step 101 to step 104 to step 404, can be cross-referenced,
The embodiment of the present application does not repeat.
It is every to execute one layer of feeding operation in the embodiment of the present application, it is required to the 3 d image data of more fresh target material heap, with
Just controlling terminal adjusts feeding strategy in time, so that material extracting operation carries out more in an orderly manner.
Work flow diagram referring to Figure 5 controls the target bucket wheel reclaimer and executes one layer of feeding operation, including
Following steps:
Step 501, the current layer feeding point of penetration for including according to the feeding strategy controls the target bucket wheel formula feeding
Machine executes feeding operation according to the current layer feeding point of penetration.
In the step, controlling terminal obtains the location point that edge, the highest point etc. of target material heap have a major impact feeding,
The location point that these have a major impact is called into material heap key point as material heap key point, and calculates the initial control of layering feeding
Parameter processed executes a feeding operation according to the initial control parameter, and initial control parameter is served only for the shape of feeding initial time
State control, executes in feeding operating process, and the 3 d image data of target material heap changes, and needs to regenerate control ginseng
Number.
The calculation for being layered the initial control parameter of feeding is as follows:
A) the case where heap-type practical according to target material heap and machinery, the electrical characteristic of target bucket wheel reclaimer itself etc.
Determine every layer of feeding point of penetration, the i.e. initial traveling position, the initial angle of revolution of cantilever of target bucket wheel reclaimer and pitch angle
Degree.
B) feeding layers apart length is determined by information such as the specific gravity of operation cargo type, the shape of target material heap, plan workloads
With change a layer position.
After the initial control parameter of layering feeding determines, controlling terminal controls target bucket wheel reclaimer and executes feeding behaviour
Make.
Step 502, judge whether the bucket wheel of the target bucket wheel reclaimer reaches the edge of the target material heap.
In the step, if the bucket wheel of the target bucket wheel reclaimer reaches the edge of the target material heap, step is executed
503 operation；Otherwise, feeding operation is continued to execute.
Step 503, if the bucket wheel of the target bucket wheel reclaimer reaches the edge of the target material heap, judge current layer
Whether feeding distance reaches the current layer feeding distance that feeding strategy includes.
Step 504, if current layer feeding distance does not reach the current layer feeding distance that feeding strategy includes, described in control
Adjusting microinching occurs for target bucket wheel reclaimer, and controls the bucket wheel opposite direction rotation feeding of the target bucket wheel reclaimer, returns
The operation of step 502 is executed, until current layer feeding distance reaches the current layer feeding distance that feeding strategy includes.
In the step, according to the specific gravity of operation cargo type come when determining feeding target bucket wheel reclaimer occur adjusting microinching away from
From.The specific gravity of operation cargo type refers to relative density, and in the case where operation cargo type is solid, the specific gravity of operation cargo type is the substance
The density of (completely dense state) and the density (999.972kg/m under the pure water in standard atmospheric pressure, 3.98 DEG C3) ratio,
Under normal conditions, the specific gravity of operation cargo type is stored in database, controlling terminal is obtained from database when calculating control parameter
It takes.
In method provided by the embodiments of the present application, automatically generate control parameter, bucket wheel reclaimer according to control parameter into
The operation of row feeding is not necessarily to manual intervention in the process, and the degree of automation is higher.
Referring to structural schematic diagram shown in fig. 6, the embodiment of the present application provides a kind of reclaimer feeding control device, the dress
It sets and is applied to controlling terminal, the controlling terminal is connected with laser scanner and detection device respectively, the laser scanner
It is set to the cantilever front end of bucket wheel reclaimer, described device includes:
First acquisition module 100 determines target bucket wheel reclaimer according to the feeding plan for obtaining feeding plan
With target material heap；
Second obtains module 200, for being swept by the laser for the cantilever front end that the target bucket wheel reclaimer is arranged in
Instrument is retouched, the scan data of the target material heap, and the detection device by being mounted on the target bucket wheel reclaimer is obtained, obtains
Take the location parameter data of the target bucket wheel reclaimer；
3 d image data establishes module 300, for establishing institute according to the scan data and the location parameter data
State the 3 d image data of target material heap；
Feeding policy generation module 400, for the 3 d image data according to the feeding plan and the target material heap,
Feeding strategy is generated, by the feeding policy distribution to the target bucket wheel reclaimer, so as to the target bucket wheel formula feeding
Machine is operated according to the feeding strategy execution feeding.
Optionally, the 3 d image data establishes module and includes:
Unit is filtered out, for filtering out the interference data in the scan data and the location parameter data respectively；
Acquiring unit, scan data and location parameter data after the interference data are filtered out for basis, will filter out
Scan data after the interference data is converted into the point cloud data under the coordinate system of stock ground, and the point cloud data is carried out grid rule
Grid data is simplified in generalized processing, acquisition；
Interpolating unit generates complete grid data, and will be described for carrying out interpolation processing to the grid data of simplifying
Complete three-dimensional data of the grid data as the target material heap；
3 d image data establishes unit, for the three-dimensional data according to the target material heap, in stock ground grid coordinate system
The middle 3 d image data for establishing the target material heap, wherein the stock ground grid coordinate system using stock ground ground as base plane,
In the base plane, using the rectilinear direction where track as X-axis, using the rectilinear direction vertical with track as Y-axis.
Optionally, the 3 d image data establishes module further include:
Storage unit, for establishing unit according to the three-dimensional data of the target material heap in the 3 d image data,
It is established in the grid coordinate system of stock ground after the 3 d image data of the target material heap, by the 3-D image number of the target material heap
According to storing to database.
Optionally, described device further include:
Control module, for generating feeding strategy in the feeding policy generation module, extremely by the feeding policy distribution
After the target bucket wheel reclaimer, controls the target bucket wheel reclaimer and execute one layer of feeding operation；
3 d image data rebuilds module, for re-establishing the three-dimensional of the target material heap after executing one layer of feeding operation
Image data；
Module is adjusted, for according to the 3 d image data for executing the target material heap after one layer of feeding operates and institute
Feeding plan is stated, the feeding strategy is adjusted, so that the bucket wheel reclaimer is according to feeding strategy execution feeding adjusted
Operation.
Optionally, the control module includes:
First control unit, the current layer feeding point of penetration for including according to the feeding strategy, controls the target
Bucket wheel reclaimer executes feeding operation according to the current layer feeding point of penetration；
First judging unit, for judging whether the bucket wheel of the target bucket wheel reclaimer reaches the target material heap
Edge；
Second judgment unit, if the bucket wheel for the target bucket wheel reclaimer reaches the edge of the target material heap,
Judge whether current layer feeding distance reaches the current layer feeding distance that feeding strategy includes；
Second control unit, if for current layer feeding distance do not reach current layer feeding that feeding strategy includes away from
From controlling the target bucket wheel reclaimer and adjusting microinching occur, and control the bucket wheel opposite direction rotation of the target bucket wheel reclaimer
Turn feeding, return to the operation for executing first judging unit, until current layer feeding distance working as of reaching that feeding strategy includes
Front layer feeding distance.
It is required that those skilled in the art can be understood that the technology in the embodiment of the present invention can add by software
The mode of general hardware platform realize.Based on this understanding, the technical solution in the embodiment of the present invention substantially or
Say that the part that contributes to existing technology can be embodied in the form of software products, which can deposit
Storage is in storage medium, such as ROM/RAM, magnetic disk, CD, including some instructions are used so that computer equipment (can be with
It is personal computer, server or the network equipment etc.) execute certain part institutes of each embodiment of the present invention or embodiment
The method stated.
Same and similar part may refer to each other between each embodiment in this specification.Implement especially for device
For example, since it is substantially similar to the method embodiment, so being described relatively simple, related place is referring in embodiment of the method
Explanation.
Combine detailed description and exemplary example that the application is described in detail above, but these explanations are simultaneously
It should not be understood as the limitation to the application.It will be appreciated by those skilled in the art that without departing from the application spirit and scope,
A variety of equivalent substitution, modification or improvements can be carried out to technical scheme and embodiments thereof, these each fall within the application
In the range of.The protection scope of the application is determined by the appended claims.
Claims (10)
1. a kind of reclaimer feeding control method, which is characterized in that the method is applied to controlling terminal, the controlling terminal point
It is not connected with laser scanner and detection device, the laser scanner is set to the cantilever front end of bucket wheel reclaimer, institute
The method of stating includes:
Feeding plan is obtained, target bucket wheel reclaimer and target material heap are determined according to the feeding plan；
By the way that the laser scanner of the cantilever front end of the target bucket wheel reclaimer is arranged in, sweeping for the target material heap is obtained
Data, and the detection device by being mounted on the target bucket wheel reclaimer are retouched, the target bucket wheel reclaimer is obtained
Location parameter data；
According to the scan data and the location parameter data, the 3 d image data of the target material heap is established；
According to the 3 d image data of the feeding plan and the target material heap, feeding strategy is generated, by the feeding strategy
It is issued to the target bucket wheel reclaimer, so that the target bucket wheel reclaimer is grasped according to the feeding strategy execution feeding
Make.
2. the method according to claim 1, wherein according to the scan data and the location parameter data,
Establish the 3 d image data of the target material heap, comprising:
The interference data in the scan data and the location parameter data are filtered out respectively；
According to filter out it is described interference data after scan data and location parameter data, by filter out it is described interference data after sweep
The point cloud data that data are converted under the coordinate system of stock ground is retouched, the point cloud data is subjected to grid specification processing, acquisition is simplified
Grid data；
Interpolation processing is carried out to the grid data of simplifying, generates complete grid data, and using the complete grid data as
The three-dimensional data of the target material heap；
According to the three-dimensional data of the target material heap, the 3-D image number of the target material heap is established in the grid coordinate system of stock ground
According to, wherein the stock ground grid coordinate system is using stock ground ground as base plane, in the base plane, by the straight line where track
Direction is as X-axis, using the rectilinear direction vertical with track as Y-axis.
3. according to the method described in claim 2, it is characterized in that, in the three-dimensional data according to the target material heap, in stock ground
It is established in grid coordinate system after the 3 d image data of the target material heap, further includes:
The 3 d image data of the target material heap is stored to database.
4. the method according to claim 1, wherein according to the three of the feeding plan and the target material heap
Dimensional data image generates feeding strategy, after the feeding policy distribution to the target bucket wheel reclaimer, further includes:
It controls the target bucket wheel reclaimer and executes one layer of feeding operation；
Re-establish the 3 d image data for executing the target material heap after one layer of feeding operation；
According to the 3 d image data for executing the target material heap after one layer of feeding operates and the feeding plan, institute is adjusted
Feeding strategy is stated, so that the bucket wheel reclaimer is operated according to feeding strategy execution feeding adjusted.
5. according to the method described in claim 4, it is characterized in that, controlling the target bucket wheel reclaimer executes one layer of feeding
Operation, comprising:
Step 501, the current layer feeding point of penetration for including according to the feeding strategy controls the target bucket wheel reclaimer and presses
Feeding operation is executed according to the current layer feeding point of penetration；
Step 502, judge whether the bucket wheel of the target bucket wheel reclaimer reaches the edge of the target material heap；
Step 503, if the bucket wheel of the target bucket wheel reclaimer reaches the edge of the target material heap, judge current layer feeding
Whether distance reaches the current layer feeding distance that feeding strategy includes；
Step 504, if current layer feeding distance does not reach the current layer feeding distance that feeding strategy includes, the target is controlled
Adjusting microinching occurs for bucket wheel reclaimer, and controls the bucket wheel opposite direction rotation feeding of the target bucket wheel reclaimer, returns and executes
The operation of step 502, until current layer feeding distance reaches the current layer feeding distance that feeding strategy includes.
6. a kind of reclaimer feeding control device, which is characterized in that described device is applied to controlling terminal, the controlling terminal point
It is not connected with laser scanner and detection device, the laser scanner is set to the cantilever front end of bucket wheel reclaimer, institute
Stating device includes:
First acquisition module determines target bucket wheel reclaimer and target according to the feeding plan for obtaining feeding plan
Material heap；
Second obtains module, for the laser scanner of the cantilever front end by the way that the target bucket wheel reclaimer is arranged in, obtains
The scan data of the target material heap, and the detection device by being mounted on the target bucket wheel reclaimer are taken, described in acquisition
The location parameter data of target bucket wheel reclaimer；
3 d image data establishes module, for establishing the target according to the scan data and the location parameter data
The 3 d image data of material heap；
Feeding policy generation module, for the 3 d image data according to the feeding plan and the target material heap, generation is taken
Material strategy, by the feeding policy distribution to the target bucket wheel reclaimer, so as to the target bucket wheel reclaimer according to
The feeding strategy execution feeding operation.
7. device according to claim 6, which is characterized in that the 3 d image data establishes module and includes:
Unit is filtered out, for filtering out the interference data in the scan data and the location parameter data respectively；
Acquiring unit, scan data and location parameter data after the interference data are filtered out for basis, will filter out described
Scan data after interference data is converted into the point cloud data under the coordinate system of stock ground, and the point cloud data is carried out grid specification
Grid data is simplified in processing, acquisition；
Interpolating unit generates complete grid data, and will be described complete for carrying out interpolation processing to the grid data of simplifying
Three-dimensional data of the grid data as the target material heap；
3 d image data establishes unit, for the three-dimensional data according to the target material heap, builds in the grid coordinate system of stock ground
Found the 3 d image data of the target material heap, wherein the stock ground grid coordinate system is using stock ground ground as base plane, described
In base plane, using the rectilinear direction where track as X-axis, using the rectilinear direction vertical with track as Y-axis.
8. device according to claim 7, which is characterized in that the 3 d image data establishes module further include:
Storage unit, for establishing unit according to the three-dimensional data of the target material heap, in stock ground in the 3 d image data
It is established in grid coordinate system after the 3 d image data of the target material heap, the 3 d image data of the target material heap is deposited
It stores up to database.
9. device according to claim 6, which is characterized in that described device further include:
Control module, for generating feeding strategy in the feeding policy generation module, by the feeding policy distribution to described
After target bucket wheel reclaimer, controls the target bucket wheel reclaimer and execute one layer of feeding operation；
3 d image data rebuilds module, for re-establishing the 3-D image of the target material heap after executing one layer of feeding operation
Data；
Module is adjusted, for according to the 3 d image data for executing the target material heap after the operation of one layer of feeding and described taking
Material plan, adjusts the feeding strategy, so that the bucket wheel reclaimer is operated according to feeding strategy execution feeding adjusted.
10. device according to claim 9, which is characterized in that the control module includes:
First control unit, the current layer feeding point of penetration for including according to the feeding strategy, controls the target bucket wheel
Formula reclaimer executes feeding operation according to the current layer feeding point of penetration；
First judging unit, for judging whether the bucket wheel of the target bucket wheel reclaimer reaches the side of the target material heap
Edge；
Second judgment unit, if the bucket wheel for the target bucket wheel reclaimer reaches the edge of the target material heap, judgement
Whether current layer feeding distance reaches the current layer feeding distance that feeding strategy includes；
Second control unit, if not reaching the current layer feeding distance that feeding strategy includes, control for current layer feeding distance
It makes the target bucket wheel reclaimer and adjusting microinching occurs, and the bucket wheel opposite direction rotation for controlling the target bucket wheel reclaimer takes
Material returns to the operation for executing first judging unit, until current layer feeding distance reaches the current layer that feeding strategy includes
Feeding distance.
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| CN201910145460.6A CN109650090A (en) | 2019-02-27 | 2019-02-27 | A kind of reclaimer feeding control method and device |
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| CN201910145460.6A CN109650090A (en) | 2019-02-27 | 2019-02-27 | A kind of reclaimer feeding control method and device |
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| CN114084585B (en) * | 2021-11-12 | 2023-10-20 | 北京华能新锐控制技术有限公司 | Straight feeding method and device of bucket-wheel stacker-reclaimer |
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