CN110820842A - Scraper autonomous unloading method and system - Google Patents
Scraper autonomous unloading method and system Download PDFInfo
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- CN110820842A CN110820842A CN201911132459.6A CN201911132459A CN110820842A CN 110820842 A CN110820842 A CN 110820842A CN 201911132459 A CN201911132459 A CN 201911132459A CN 110820842 A CN110820842 A CN 110820842A
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- scraper
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- unloading
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
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Abstract
The invention discloses an automatic unloading method and system for a scraper, wherein the method comprises the following steps: detecting the unloading action of the scraper by using an action acquisition device and forming action data; storing the motion data by using a motion storage device; acquiring an unloading position signal emitted by a position marker by using a mark reading device; controlling the scraper to run at a reduced speed by using the processing control device; measuring the distance between the target unloading position and the scraper by using a laser scanning device; controlling the scraper to stop by using the processing control device; and controlling the scraper to execute the action data by using the processing control device. The system of the present invention employs the method as described above. According to the invention, the equipment can automatically and repeatedly carry out unloading actions, so that the labor intensity and the labor cost of personnel are reduced, the unloading operation efficiency and the unloading operation quality are improved, the automation degree is improved, and the large-scale production operation in a mining area is greatly facilitated.
Description
Technical Field
The invention relates to the technical field of mining area production in general, and particularly relates to an autonomous unloading method and system for a scraper.
Background
At present, in the process of mining, particularly underground operation of a mine, a scraper needs to convey ores shoveled from a mineral house to an ore pass and unload the ores into the ore pass, however, the current series of actions for unloading the ores still need the whole-course manual operation of an operator, the working strength of the operator is high, the action repetition degree is high, the operator is easy to fatigue due to long-time repeated operation, the operation quality is easy to decline, even the operation is not easy to fail, the labor cost is high, the efficiency of the manual unloading operation is low, and the large-scale production in the mineral area is not facilitated.
Therefore, a highly automated method and system for autonomous unloading of a scraper is needed.
Disclosure of Invention
It is a primary object of the present invention to overcome at least one of the above-mentioned deficiencies of the prior art and to provide a method and system for autonomous unloading of a scraper that is highly automated.
In order to achieve the purpose, the invention adopts the following technical scheme:
according to one aspect of the present invention, there is provided a scraper autonomous unloading method, including the steps of:
detecting the unloading action of the scraper by using an action acquisition device and forming action data;
storing the motion data with a motion storage device;
acquiring an unloading position signal emitted by a position marker by using a mark reading device;
controlling the scraper to run at a reduced speed by using a processing control device;
measuring the distance from a target unloading position to the scraper by using a laser scanning device;
controlling the scraper to park by using the processing control device;
and controlling the scraper to execute the action data by using the processing control device.
According to an embodiment of the present invention, the detecting, by the action acquiring device, the unloading action of the scraper and forming action data includes:
the processing control device sends an acquisition action instruction to the action acquisition device.
According to an embodiment of the present invention, the detecting, by the action acquiring device, the action of the scraper unloading and forming the action data further includes:
the action acquisition device detects hydraulic data of a boom hydraulic cylinder and a bucket hydraulic cylinder of the scraper and sequentially forms action data.
According to an embodiment of the present invention, the detecting, by the action acquiring device, the action of the scraper unloading and forming the action data further includes:
the processing control means sends a stop acquisition instruction to the action acquisition means.
According to an embodiment of the present invention, the controlling the scraper to travel at a reduced speed by the processing control device specifically includes:
and the processing control device receives the unloading position signal acquired by the mark reading device and controls the scraper to run at a reduced speed.
According to an embodiment of the present invention, the measuring a distance from a target unloading position to a scraper by using a laser scanning device specifically includes:
and the processing control device receives the scanning data of the laser scanning device and forms distance data according to the scanning data.
According to an embodiment of the present invention, the controlling the stopping of the scraper by using the processing control device specifically includes:
and the processing control device judges whether the distance data is smaller than a preset distance, if so, the scraper is controlled to stop, and if not, the scraper is controlled to continue to run.
According to an embodiment of the present invention, the controlling the scraper to execute the action data by the processing control device specifically includes:
the processing control means reads the motion data stored in the motion storage means,
and the processing control device controls a large-arm hydraulic cylinder and a bucket hydraulic cylinder of the scraper to execute the action data.
According to another aspect of the invention, an autonomous unloading system of a scraper is provided, which adopts the autonomous unloading method of the scraper, the system comprises the scraper, and an action acquisition device, an action storage device, a mark reading device, a laser scanning device and a processing control device which are arranged on the scraper, wherein the action acquisition device, the action storage device, the mark reading device and the laser scanning device are respectively in data connection with the processing control device,
the action acquisition device is used for detecting the unloading action of the scraper and forming action data to be transmitted to the processing control device,
the action storage device is used for storing the action data,
the mark reading device is used for reading an unloading position signal emitted by a position marker, the position marker is arranged at a target unloading position,
the laser scanning device is used for measuring the distance between the target unloading position and the scraper,
the processing control device is used for controlling the action acquisition device to start or stop acquiring the action of the scraper, receiving the unloading position signal of the mark reading device and controlling the scraper to run at a reduced speed, and receiving the scanning data of the laser scanning device and controlling the scraper to park and execute the action data.
According to one embodiment of the invention, the scraper control device comprises a command input component which is in data connection with the processing control device and is used for inputting a command for acquiring action and a command for stopping acquisition to the processing control device so as to control the action acquisition device and inputting a command for executing action data to the processing control device so as to control the scraper.
According to the technical scheme, the method and the system for automatically unloading the scraper have the advantages and positive effects that:
according to the invention, the action acquisition device and the action storage device detect, acquire and store the unloading action of the scraper, the mark reading device and the laser scanning device guide the scraper to accurately move to the target unloading position, the processing control device controls the scraper to execute the stored unloading action, the equipment can automatically repeat the unloading action, the labor intensity and the labor cost of personnel are reduced, the unloading operation efficiency and the unloading operation quality are improved, the automation degree is improved, the method is extremely beneficial to large-scale production operation in a mining area, and the method has high economy and is extremely suitable for popularization and use in the industry.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic flow chart of an autonomous unloading method of a scraper according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of an autonomous unloading system of a scraper according to an embodiment of the present invention.
Wherein the reference numerals are as follows:
1. a scraper; 2. an action acquisition device; 3. a target unloading position; 31. a baffle plate; 4. a position marker; 5. an indicia reading device; 6. a laser scanning device;
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their detailed description will be omitted.
In the following description of various examples of the invention, reference is made to the accompanying drawings, which form a part hereof, and in which are shown by way of illustration various example structures, systems, and steps in which aspects of the invention may be practiced. It is to be understood that other specific arrangements of parts, structures, example devices, systems, and steps may be utilized and structural and functional modifications may be made without departing from the scope of the present invention. Moreover, although the terms "top," "bottom," "front," "back," "side," and the like may be used in this specification to describe various example features and elements of the invention, these terms are used herein for convenience only, e.g., as to the orientation of the examples described in the figures. Nothing in this specification should be construed as requiring a specific three dimensional orientation of structures in order to fall within the scope of the invention.
Fig. 1 is a schematic flow chart of an autonomous unloading method of a scraper according to an embodiment of the present invention.
As shown in fig. 1, the present invention provides an autonomous unloading method of a scraper, which adopts an autonomous unloading system of a scraper as described in any one of the above, including the following steps:
detecting the unloading action of the scraper 1 by using the action acquisition device 2 and forming action data;
storing the motion data by using a motion storage device;
acquiring an unloading position signal emitted by the position marker 4 by means of the marker-reading device 5;
controlling the scraper 1 to run at a reduced speed by using the processing control device;
measuring the distance from the target unloading position 3 to the scraper 1 by using a laser scanning device 6;
controlling the scraper 1 to stop by using a processing control device;
the scraper 1 is controlled by the processing control device to execute the motion data.
In this embodiment, detecting the unloading motion of the scraper 1 by using the motion acquiring device 2 and forming motion data specifically includes:
the processing control device polls and detects whether the instruction input assembly sends out and obtains the movement instruction or not in the running process of the scraper 1, if so, the acquisition movement instruction is sent to the movement acquisition device 2, the movement acquisition device 2 starts to measure and acquire hydraulic data of the boom hydraulic cylinder and the bucket hydraulic cylinder when an operator manually operates the scraper 1 to unload, and sequentially forms movement data, wherein the movement data comprises pressure values and changes of the boom hydraulic cylinder, the bucket hydraulic cylinder and other hydraulic cylinders involved in unloading in the boom lifting and bucket retracting processes, movement time length, transfer work sequence, transfer work repetition times and the like; if the processing control device does not detect the acquisition operation command of the command input means, the original operation, for example, the running, is continued.
Meanwhile, in the process that the action acquisition device 2 acquires the action data unloaded by the scraper 1, the processing control device polls whether the detection instruction input component sends an acquisition stopping instruction or not, if so, the processing control device sends the acquisition stopping instruction to the action acquisition device 2, and the action acquisition device 2 stops measuring and acquiring the action data when an operator manually operates the scraper 1 to unload; if not, the motion acquisition device 2 continues to acquire the motion data.
Further, storing the motion data by using the motion storage device specifically includes:
the processing control device receives the action data acquired by the action acquisition device 2 and stores the action data in the action storage device;
the processing control device judges the action data in the action storage device, judges the content including whether the action data has packet loss, whether the memory address has overflow, whether the data is completely stored and the like, if the action data has packet loss, the memory address has overflow and the data is not completely stored, the action data storage is judged to be abnormal, an operator is prompted to prompt the action acquisition to be incomplete to acquire again, and if the action data is judged to be normal to store, the action data acquisition is prompted to be complete.
Further, the acquiring of the unloading position signal emitted by the position marker 4 by the mark reading device 5 specifically includes:
the tag reader 5 continuously detects the surrounding radio frequency signal during operation of the scraper 1, for example during driving, and transmits the unloading position signal to the processing and control device when the unloading position signal from the position marker 4 is acquired.
Further, the control of the scraper 1 by the processing control device includes:
the processing control device receives the unloading position signal obtained by the mark reading device 5, namely determines that the scraper 1 is about to reach the chute mouth baffle 31 at the target unloading position, and further sends a deceleration command to the scraper 1 to control the scraper 1 to shift down and decelerate.
Further, the distance from the target unloading position 3 to the scraper 1 is measured by using the laser scanning device 6, and the method specifically comprises the following steps:
the laser scanning device 6 scans the terrain around the scraper 1 to form scanning data, the scanning data are transmitted to the processing control device, and the processing control device receives the scanning data of the laser scanning device 6, extracts and analyzes the characteristics of the scanning data, and accordingly forms distance data of the target unloading position 3 from the scraper 1.
Further, controlling the stopping of the scraper 1 by using the processing control device specifically includes:
the processing control device judges whether the distance data is smaller than a preset distance or not, further judges whether the command input component sends a command for executing the action data if the distance data is smaller than the preset distance, controls the scraper 1 to brake and park if the command input component sends the command for executing the action data, and controls the scraper 1 to continue to run if the command input component does not send the command for executing the action data. The preset distance can be set according to the actual production condition.
Further, the control of the scraper 1 by the processing control device to execute the action data specifically includes:
the processing and control device searches and judges whether the action data exist in the action storage device, if not, the action data are prompted to the operator for manual unloading without the action data, if yes, the action data stored in the action storage device are further read, and then the processing and control device controls the boom hydraulic cylinder, the bucket hydraulic cylinder and other hydraulic cylinders related to unloading of the scraper 1 to execute the unloaded action data.
Fig. 2 is a schematic structural diagram of an autonomous unloading system of a scraper according to an embodiment of the present invention.
As shown in fig. 2, the present invention further provides an autonomous unloading system of a scraper, which includes a scraper 1, and an action acquiring device 2, an action storing device, a mark reading device 5, a laser scanning device 6, and a processing control device which are arranged on the scraper 1, wherein the action acquiring device 2, the action storing device, the mark reading device 5, and the laser scanning device 6 are respectively in data connection with the processing control device, the action acquiring device 2 is used for detecting an unloading action of the scraper 1 and forming action data to be transmitted to the processing control device, the action storing device is used for storing the action data, the mark reading device 5 is used for reading an unloading position signal emitted by a position marker 4, the position marker 4 is arranged at a target unloading position 3, the laser scanning device 6 is used for measuring a distance from the target unloading position 3 to the scraper 1, the processing control device is used for controlling the action acquiring device 2 to start or stop acquiring the action of the scraper 1, receives the unloading position signal of the mark reading device 5 and controls the scraper 1 to run at a reduced speed, and receives the scanning data of the laser scanning device 6 and controls the scraper 1 to park and execute the action data.
In this embodiment, the motion capture device 2 may include an angle sensor and a hydraulic sensor, the angle sensor and the hydraulic sensor may be respectively disposed at one, two or more of the joints between the boom and the stick of the scraper 1, the joints between the stick and the bucket of the scraper and other suitable components involved in unloading, the angle sensor may be used to measure and capture the angle changes of the boom, the stick and the bucket during unloading, the hydraulic sensor may be disposed corresponding to the boom hydraulic cylinder, the bucket hydraulic cylinder and other suitable hydraulic cylinders involved in unloading, the hydraulic sensor may be used to measure and capture the hydraulic data of the boom hydraulic cylinder and the bucket hydraulic cylinder during unloading, and optionally, a displacement sensor may be disposed on the boom and the bucket to measure and capture the displacement, such as the height change, of the boom and the bucket during unloading.
In this embodiment, the action storage device may be an industrial storage, the target unloading position 3 may be a chute mouth, or may be another suitable unloading point, a baffle 31 is correspondingly disposed at the chute mouth, the position marker 4 is disposed on the baffle 31 and used for marking the target unloading position 3, that is, the chute mouth position, the position marker 4 may be a radio frequency electronic tag, and the mark reading device 5 may be a vehicle-mounted radio frequency identifier and used for continuously detecting and capturing a surrounding radio frequency signal to obtain an unloading position signal sent by the position marker 4; the laser scanning device 6 may be a laser scanner for scanning the terrain around the scraper 1 to obtain the distance of the throat baffle 31 from the scraper 1 at the target unloading position 3, and the processing and controlling device may be an industrial processor or other suitable type of controller for receiving the data of the motion obtaining device 2, the mark reading device 5, the laser scanning device 6, etc., and processing and analyzing the data to output instructions to control the scraper 1 to execute the unloading motion data.
In this embodiment, the system may further include an instruction input component, where the instruction input component may include an acquisition action key, a stop acquisition key, an execution action key, and a stop execution key, and the acquisition action key, the stop acquisition key, the execution action key, and the stop execution key are respectively connected to the processing control device in data; the acquisition action button is used for inputting an acquisition action command to the processing control device so as to start acquisition of action data for an unloading action performed on the boom, arm, bucket, and the like of the scraper 1 by the processing control device controlling the action acquisition device 2, the stop acquisition button is used for inputting a stop acquisition command to the processing control device so as to stop acquisition of the action data by the processing control device controlling the action acquisition device 2, the execution action button is used for inputting an execution action data command to the processing control device so as to control the boom cylinder, bucket cylinder, and other cylinders involved in unloading of the scraper 1 to execute action data by the processing control device, and the stop execution button is used for inputting a stop execution command to the processing control device so as to control the scraper 1 to stop executing the action data by the processing control device. The instruction input assembly can be arranged on the scraper 1, and also can be arranged on a remote control platform far away from the scraper 1, and the remote control platform can be connected with the scraper 1 through an industrial Ethernet.
In the invention, the action acquisition device 2 and the action storage device detect, acquire and store the unloading action of the scraper 1, the mark reading device 5 and the laser scanning device 6 guide the scraper 1 to accurately move to the target unloading position 3, the processing control device controls the scraper 1 to execute the stored unloading action, the equipment can automatically repeat the unloading action, the labor intensity and the labor cost of personnel are reduced, the unloading operation efficiency and the unloading operation quality are improved, the automation degree is improved, the method is extremely beneficial to large-scale production operation in a mining area, the economy is high, and the method is extremely suitable for popularization and use in the industry.
It should be understood by those of ordinary skill in the art that the specific constructions and processes illustrated in the foregoing detailed description are exemplary only, and are not limiting. Furthermore, the various features shown above can be combined in various possible ways to form new solutions, or other modifications, by a person skilled in the art, all falling within the scope of the present invention.
Claims (10)
1. An autonomous unloading method of a scraper, characterized by comprising the following steps:
detecting the unloading action of the scraper by using an action acquisition device and forming action data;
storing the motion data with a motion storage device;
acquiring an unloading position signal emitted by a position marker by using a mark reading device;
controlling the scraper to run at a reduced speed by using a processing control device;
measuring the distance from a target unloading position to the scraper by using a laser scanning device;
controlling the scraper to park by using the processing control device;
and controlling the scraper to execute the action data by using the processing control device.
2. The method according to claim 1, wherein the detecting, by the action acquiring device, the unloading action of the scraper and forming action data specifically includes:
the processing control device sends an acquisition action instruction to the action acquisition device.
3. The method of autonomous unloading of a scraper according to claim 2, wherein said detecting the action of the scraper unloading with an action acquisition device and forming action data further comprises:
the action acquisition device detects hydraulic data of a boom hydraulic cylinder and a bucket hydraulic cylinder of the scraper and sequentially forms action data.
4. The method of autonomous unloading of a scraper according to claim 3, wherein said detecting the action of the scraper unloading with an action acquisition device and forming action data further comprises:
the processing control means sends a stop acquisition instruction to the action acquisition means.
5. The method for autonomous unloading of a scraper according to claim 1, wherein said controlling the scraper to run at a reduced speed by means of a process control device comprises:
and the processing control device receives the unloading position signal acquired by the mark reading device and controls the scraper to run at a reduced speed.
6. The method for autonomous unloading of a scraper according to claim 1, wherein the measuring the distance of the target unloading position from the scraper using the laser scanning device specifically comprises:
and the processing control device receives the scanning data of the laser scanning device and forms distance data according to the scanning data.
7. The method for autonomous unloading of a scraper according to claim 6, wherein said controlling the stopping of the scraper by means of a process control device comprises:
and the processing control device judges whether the distance data is smaller than a preset distance, if so, the scraper is controlled to stop, and if not, the scraper is controlled to continue to run.
8. The method for autonomous unloading of a scraper according to claim 7, wherein the controlling the scraper to execute the action data by the processing control device specifically includes:
the processing control means reads the motion data stored in the motion storage means,
and the processing control device controls a large-arm hydraulic cylinder and a bucket hydraulic cylinder of the scraper to execute the action data.
9. An autonomous unloading system of a scraper, characterized in that the method of the scraper autonomous unloading according to any one of claims 1-8 is adopted, the system comprises the scraper, and an action acquisition device, an action storage device, a mark reading device, a laser scanning device and a processing control device which are arranged on the scraper, wherein the action acquisition device, the action storage device, the mark reading device and the laser scanning device are respectively connected with the processing control device in a data mode,
the action acquisition device is used for detecting the unloading action of the scraper and forming action data to be transmitted to the processing control device,
the action storage device is used for storing the action data,
the mark reading device is used for reading an unloading position signal emitted by a position marker, the position marker is arranged at a target unloading position,
the laser scanning device is used for measuring the distance between the target unloading position and the scraper,
the processing control device is used for controlling the action acquisition device to start or stop acquiring the action of the scraper, receiving the unloading position signal of the mark reading device and controlling the scraper to run at a reduced speed, and receiving the scanning data of the laser scanning device and controlling the scraper to park and execute the action data.
10. The scraper autonomous unloading system of claim 9 including a command input assembly, said command input assembly being data-connected to said process control means for inputting a get action command and a stop get command to said process control means to control said action get means and an execute action data command to said process control means to control said scraper.
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| CN201911132459.6A CN110820842A (en) | 2019-11-19 | 2019-11-19 | Scraper autonomous unloading method and system |
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| CN201911132459.6A CN110820842A (en) | 2019-11-19 | 2019-11-19 | Scraper autonomous unloading method and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111461605A (en) * | 2020-03-31 | 2020-07-28 | 潍柴动力股份有限公司 | Unloading operation information processing method and device, dump truck and system |
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