CN111634636A - Full-automatic material taking control system of bucket wheel machine - Google Patents
Full-automatic material taking control system of bucket wheel machine Download PDFInfo
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- CN111634636A CN111634636A CN202010427124.3A CN202010427124A CN111634636A CN 111634636 A CN111634636 A CN 111634636A CN 202010427124 A CN202010427124 A CN 202010427124A CN 111634636 A CN111634636 A CN 111634636A
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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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
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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
- B65G65/28—Piling or unpiling loose materials in bulk, e.g. coal, manure, timber, not otherwise provided for
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Abstract
The invention provides a full-automatic material taking control system of a bucket wheel machine, which comprises an equipment end and a control room end, wherein the equipment end mainly comprises an image point cloud data acquisition device, a reclaimer attitude acquisition device and a reclaimer PLC control system; the control chamber end mainly comprises: the system comprises an image processing server, a strategy execution server and a central control room PLC control system. The invention improves the working environment of operators of the bucket-wheel reclaimer, greatly reduces the labor cost and improves the production efficiency. In addition, the invention is beneficial to standardizing the material taking operation flow and operation and prolonging the service life of the material taking machine.
Description
Technical Field
The invention relates to the field of engineering control, in particular to a control system for taking materials by a bucket-wheel type reclaimer/stacker reclaimer in a bulk material yard.
Background
At present, in a domestic bulk cargo yard, a material taking machine is mainly used for taking materials. There are many types of reclaimers, among which bucket wheel reclaimers (also called "bucket wheels") are used in large bulk yards at a very high rate. The operation of the bucket wheel machine in the current stock yard is developing towards full automation.
A set of image point cloud acquisition equipment is generally arranged at the head of a cantilever for acquiring point cloud coordinate data in a material field in the conventional automatic material taking process. And meanwhile, acquiring the real-time posture of the reclaimer by adopting an encoder. When the scheme is actually applied, the following problems exist: firstly, when point cloud data are collected, the cantilever needs to be rotated or pitched, so that the multiple mechanisms are matched in a cooperative action manner, and the cantilever is influenced by factors such as stress deformation and the like, error accumulation is easy to generate, and the cloud data deviation of a measured point is large. Secondly, when the point cloud data are collected, the point cloud data in the bilateral material fields cannot be collected at the same time, and therefore the collection efficiency is low. Thirdly, because the collection equipment is close to the bucket wheel, the cleaning frequency of the collection equipment is greatly increased, and inconvenience is brought to industrial production. And finally, the encoder is used as a posture detection means of the reclaimer, is influenced by the self limitation of the encoder, and has the phenomena of slipping, jumping and the like, so that the posture detection is inaccurate.
Disclosure of Invention
According to the problems of severe environment, high cost, low operation standard degree and low efficiency of manual operation in the current bulk cargo yard, the invention provides a full-automatic material taking control system of a bucket wheel machine.
The technical means adopted by the invention are as follows:
the utility model provides a full-automatic material control system that gets of bucket wheel machine, includes equipment end and control room end, the equipment end mainly includes: the image point cloud data acquisition equipment is arranged on an overhaul platform of the bucket-wheel reclaimer and is used for acquiring surface data of a stockpile in a bulk cargo yard; the data fusion equipment is used for carrying out data fusion conversion on the three-dimensional point cloud data of the stockpile to finally obtain a stockpile three-dimensional coordinate of an Euclidean coordinate space; the reclaimer attitude acquisition equipment is used for measuring attitude data of the reclaimer in real time; the reclaimer PLC control system is used for receiving surface data of a stockpile in a bulk yard and attitude data of the reclaimer, performing data and instruction interaction with the central control room PLC control system through the Ethernet communication module, and controlling driving devices of all mechanisms of the bucket wheel machine to perform reclaiming operation; the control chamber end mainly comprises: the image processing server receives the data acquired by the image point cloud data acquisition equipment, analyzes and filters the data, and performs point cloud three-dimensional imaging display; the strategy execution server reads surface data of a stockpile in a material taking field from the image processing server, generates an operation instruction by combining attitude data of a material taking machine, and sends the operation instruction to a central control room PLC system in real time; and the central control room PLC control system receives the operation instruction by the strategy execution server and performs data and instruction interaction with the reclaimer PLC control system.
Furthermore, the image point cloud data acquisition equipment is a two-dimensional laser scanner carried on a rotating pan-tilt, and three-dimensional calculation is carried out on the acquired two-dimensional point cloud data of the surface of the bulk material pile and the corresponding angle of the pan-tilt to obtain three-dimensional point cloud data of the bulk material pile in the bulk material yard.
Further, the rotary platform is arranged on two sides of the maintenance platform oppositely.
Further, when the bulk cargo place does not have a ceiling, the reclaimer attitude acquisition equipment adopts a Beidou/GPS system; when the bulk cargo place does not have a ceiling, the reclaimer attitude acquisition equipment adopts electromagnetic bus acquisition equipment.
Furthermore, the equipment end of the system also comprises safety collision prevention equipment, and collision between the material taking machine and the obstacle is prevented through distance detection.
Further, the policy enforcement server includes: the strategy calculating unit is used for calculating a first operation target value of material taking operation; the process control unit is used for calculating and controlling the material taking operation in real time; and the simulation unit is used for off-line testing of software and training and teaching of the system.
Compared with the prior art, the invention has the following advantages:
1. the full-automatic material taking control system of the bucket wheel machine provided by the invention improves the working environment of operators of the bucket wheel type material taking machine in a full-automatic operation mode, reduces the labor cost and improves the production efficiency.
2. By applying the scheme of the invention, the material taking operation flow and operation can be standardized, and the service life of the material taking machine can be prolonged.
3. According to the invention, the two-dimensional laser scanner is preferably selected to carry the rotating holder, and the three-dimensional laser scanner is formed through software algorithm calculation, so that the system construction cost is reduced, and the data acquisition precision is improved.
For the reasons described above, the present invention can be widely applied to bucket wheel machine systems.
Drawings
In order to more clearly illustrate the embodiments of the present invention 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 introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a functional block diagram of a full-automatic material taking control system of a bucket-wheel type material taking machine according to the invention.
FIG. 2 is a schematic view of an installation position of the image point cloud data acquisition device in the embodiment.
Fig. 3 is a schematic structural diagram of an automatic material taking control system in an embodiment.
In the figure: 1. the electrical chamber of the reclaimer; 2. image point cloud data acquisition equipment; 3. a data fusion device; 4. an on-board Ethernet switch; 5. a reclaimer attitude acquisition device; 6. a reel slip ring case; 7. a cable drum; 8. a ground connection box; 9. a central control room; 10. a first repeater; 11. a rotary frequency converter; 12. a rotary encoder; 13. a pitch encoder; 14. a second repeater; 15. a walking encoder; 16. a walking frequency converter; 17. a walking frequency converter; 18. an image processing server; 19. a policy enforcement server; 20. an Ethernet switch; 21. safety collision prevention equipment;
101. an image point cloud data acquisition device; 102. a first mobile station; 103. a second mobile station; 104. a pitching hinge point mechanism; 105. a cantilever mechanism; 106. a rotary platform mechanism; 107 running mechanism; 108. a counterweight mechanism; 109. bucket wheel mechanism.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. Any specific values in all examples shown and discussed herein are to be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the absence of any contrary indication, these directional terms are not intended to indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be considered as limiting the scope of the present invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
As shown in fig. 1, the invention provides a full-automatic material taking control system of a bucket wheel machine, which comprises an equipment end and a control room end, wherein the equipment end mainly comprises an image point cloud data acquisition device, a reclaimer attitude acquisition device, a data fusion device and a reclaimer PLC control system; the control chamber end mainly comprises: the system comprises an image processing server, a strategy execution server and a central control room PLC control system.
Specifically, hardware devices that can be used by the image point cloud data acquisition device include a three-dimensional laser scanner, a range radar, a TOF camera, and the like. The device is used for collecting surface data of objects such as stockpiles and the like in a bulk yard, and the data are transmitted to the data fusion device.
In a preferred embodiment, a three-dimensional laser scanner is formed by combining a two-dimensional laser scanner with a rotating holder. The method has the advantages that the hardware cost can be greatly reduced, the corresponding angles of the two-dimensional point cloud data and the holder are subjected to three-dimensional calculation by using a corresponding point cloud data fusion method, and the calculation result is three-dimensional (length coordinate, width coordinate and height coordinate) point cloud data of a material pair and can be used for calculating a full-automatic material taking algorithm. Therefore, the high cost generated by utilizing the three-dimensional laser scanner is greatly reduced, and the situation that the two-dimensional laser scanner or other distance measuring sensors are applied to carry out full-automatic control at the cost of reducing the dimension and the precision of the model is also improved.
In a further embodiment, two sets of equipment are used, and the equipment is bilaterally and symmetrically arranged on a second-highest maintenance platform of the bucket wheel type reclaimer. By adopting the arrangement mode, the scanning blind area can be reduced as much as possible due to the higher installation position; two sets of equipment are symmetrically arranged, so that the two-side stock ground of the material taking machine can be scanned simultaneously, the data interference is small, and the scanning efficiency is high.
The data fusion equipment is mainly used for carrying out data fusion conversion on data acquired by the image point cloud data acquisition equipment and finally converting the data into a three-dimensional coordinate of an Euclidean coordinate space. In a further embodiment, a two-dimensional laser scanner is matched with a rotating holder to serve as image point cloud data acquisition equipment, and data fusion equipment performs fusion according to the two-dimensional point cloud data and holder rotation angle data, so that a three-dimensional coordinate capable of reflecting the surface position of a stock ground is obtained.
The image point cloud data acquisition equipment and the data fusion equipment are both arranged on the reclaimer body, namely, the scanned point cloud data are processed by an algorithm on the reclaimer body, and the processed point cloud data are transmitted to the image processing server of the central control room. Therefore, when the intelligent control of a plurality of material taking machines is carried out in the central control room, the calculation load of the image processing server is greatly reduced, the display efficiency of the image processing server is higher, and the query and statistics are smoother. In view of the prior art, the point data obtained by scanning the image point cloud data acquisition equipment is directly transmitted to the image point cloud data acquisition equipment for algorithm processing, the configuration performance requirement on the image processing server is high, and the algorithm performance requirements such as data processing and display in the image processing server cannot be met. The method and the system can effectively reduce the operation load of the image processing server of the central control room, thereby improving the overall performance of the system.
The attitude acquisition equipment of the reclaimer is mainly used for measuring three attitude data (a walking position, a rotation angle and a pitching angle) of the reclaimer in real time, and the real-time measured data are transmitted to a strategy execution server to participate in calculation and instruction control of a full-automatic reclaiming algorithm. The hardware equipment which can be adopted comprises a Beidou/GPS system, a Gray bus, an inclinometer and the like. The posture acquisition equipment of the reclaimer is configured in two industrial scenes, namely whether a bulk cargo field is provided with a ceiling or not.
In a preferred embodiment, when the bulk cargo site is not equipped with a ceiling, the Beidou/GPS system is used as the attitude acquisition device, and devices such as an encoder and an inclinometer are configured for checking, for example, a traveling encoder is arranged on a traveling wheel, a rotary encoder is arranged on a rotating shaft, or a pitching encoder or an inclinometer is arranged on a pitching shaft. When the bulk place is provided with a ceiling, electromagnetic bus collecting equipment such as a Gray bus and the like is adopted, and equipment such as an encoder and an inclinometer is configured for checking. Therefore, the problem that potential safety hazards are brought to full-automatic material taking control due to the fact that the phenomenon of slipping occurs in the operation process of the encoder when the attitude acquisition of the material taking machine is carried out by adopting the walking encoder, the rotary encoder and the pitching encoder in the prior art is solved.
In a further embodiment, the attitude acquisition equipment of the reclaimer is a Beidou/GPS system, and two Beidou/GPS systems are selected so as to form a differential positioning detection system which can detect the pitch angle and the rotation angle. The differential positioning detection system should arrange the base station on the ground and two mobile stations on the reclaimer. Preferably, the mobile station is mounted at the cantilever pull upper detection platform and on the cantilever at about 1/3 from the bucket wheel. The above is a recommended mobile station installation location, but the installation location is not limited thereto. And the phase observation data and the coordinate information of the reference station are timely sent to a user in a data chain mode, and the user performs real-time differential processing on the received data chain and the self-collected phase observation data so as to obtain the real-time three-dimensional position of the user.
In another embodiment, the attitude collecting device of the reclaimer is an electromagnetic bus collecting device such as a gray bus, and the installation position should be determined according to the specific situation of the site, and generally, the bus should be laid along the periphery of the rotary platform near the traveling rail.
The material taking machine PLC control system is mainly used for receiving surface data of a stockpile in a bulk yard and attitude data of a material taking machine, performing data and instruction interaction between the Ethernet communication module and the central control room PLC control system, and controlling driving devices of all mechanisms of the bucket wheel machine to perform material taking operation. The material taking machine PLC control system 6 and the central control room PLC control system 7 are both provided with Ethernet communication modules.
And the image processing server is mainly used for receiving the data acquired by the image point cloud data acquisition equipment, analyzing, filtering and displaying the point cloud in a three-dimensional imaging manner. The image processing server is loaded with point cloud analysis processing software, the software controls the image point cloud data acquisition equipment to acquire data, and correspondingly analyzes, filters and other calculations and stores the point cloud data in the stock yard acquired by the image point cloud data acquisition equipment. Specifically, the image processing server is capable of compressing and storing point Cloud data, and preferably, a pcl (point Cloud library) method is adopted to store and process a large amount of point Cloud data, so as to perform material statistics analysis and historical data query in the image processing server. In addition, the image processing server can also carry out filtering and denoising, and carry out point cloud three-dimensional imaging display in the image processing server.
And the strategy execution server is mainly used for reading stock ground data from the image processing server, calculating a stock pile model and a pile material taking model, further automatically generating an intelligent operation instruction and carrying out real-time communication with the central control room PLC system. Specifically, modeling of the reclaimer is mainly realized by a robot modeling method which is currently common, such as an optional D-H method and the like. The robot modeling method is not unique, but no matter which robot modeling method is adopted, a three-dimensional coordinate formula of the cantilever head of the reclaimer, namely a certain point on the edge of the bucket wheel, can be finally obtained. And then further combining the three-dimensional point cloud coordinates of the material pile, judging whether the reclaimer is cut into the material pile or not by calculating whether the three-dimensional coordinates of a certain point on the edge of the bucket wheel are superposed with the three-dimensional point cloud coordinates of the material pile or not, and if the cut-in is judged, deducing the traveling position and the rotation angle of the reclaimer at the moment through the inverse process of the adopted modeling method on the premise of knowing the three-dimensional coordinates of the certain point on the edge of the bucket wheel at the moment.
A full-automatic software control platform of the reclaimer is carried in a strategy execution server, and the platform software comprises three parts of strategy calculation, process control and simulation. The strategy calculation is used for calculating a first operation target value of the full-automatic material taking operation and mainly comprises a first walking and stopping position, a first rotation angle, a first pitching angle, the number of layers, length coordinates of each layer and a starting and ending point, a safety position of each layer allowing operation and the like when the full-automatic material taking operation is carried out. The process control is used for real-time calculation and control of full-automatic material taking operation and mainly comprises an entry point angle and an exit point angle of material taking in each revolution, a distance of a traveling footage and the like. The simulation platform is used for off-line testing of software, namely off-line testing of the software under the condition of no PLC network support and no attitude detection equipment support; the system can also be used for training and teaching of a full-automatic material taking control system.
In particular applications, policy computations are pre-computations prior to execution of a job action. The result of the strategy calculation can be directly used for process control, the operation mechanism in the process control is that the attitude value of the reclaimer is calculated by a real-time model, and the operation action of the reclaimer is controlled by a PLC system. Similarly, the result of the policy calculation can also be directly subjected to simulation, and the operation mechanism in the simulation is to calculate the attitude value of the reclaimer by using a real-time model, and simulate the PLC system by using a simulation program (for example, the simulation program can be developed by simple software, virtual PLC simulation software, and the like) to test the safety of the fully automatic reclaiming control system. In view of the prior art, software algorithms of control flows are loaded in a server, and calculation and control are integrated and mixed together. According to the method and the device, calculation and control are realized by different functional modules, and the operation precision and the control effect of the system are improved.
In addition, the system also comprises a central control room PLC control system, and the strategy execution server receives the operation instruction and performs data and instruction interaction with the reclaimer PLC control system.
Further, the device side of the system further includes a safety collision prevention device, and specifically, hardware devices that can be adopted by the safety collision prevention device include a laser type detection device, a radar type detection device, a microwave type detection device, and the like. For preventing collisions between the reclaimer machine and other obstacles (e.g., stacker reclaimer devices on the same track, stacker reclaimer devices on adjacent tracks, flow devices in the yard, stockpiles, etc.). The function of collision prevention is mainly realized by distance detection.
The process of applying the control system to carry out full-automatic material taking operation comprises the following steps:
And 2, transmitting the acquired data to data fusion equipment, calculating a fusion algorithm so as to form three-dimensional point cloud data, and transmitting the three-dimensional point cloud data to an image processing server in a reliable communication mode such as TCP/IP (transmission control protocol/Internet protocol).
And 3, performing three-dimensional imaging display, historical data query and stock ground data statistics on the stock ground according to the three-dimensional point cloud data by the image processing server.
And 4, detecting real-time attitude information such as a walking position, a pitching angle, a rotating angle and the like of the material piling and taking equipment by the material taking machine attitude acquisition equipment, and transmitting the information to the strategy execution server in a reliable communication mode such as TCP/IP or field bus.
And 5, the strategy execution server receives a scheduling instruction and an operation instruction sent by an upper management system, the instructions clearly specify information such as a material taking range, material taking weight, material taking flow and the like, and simultaneously receive operation parameters input by interface operators of a full-automatic system, a full-automatic material taking strategy algorithm in the strategy execution server reads three-dimensional point cloud data in the material taking range from the image processing server in a reliable communication mode such as TCP/IP (transmission control protocol/Internet protocol), fully-automatic strategy calculation is carried out by combining an equipment model and a control model, and data interaction is carried out between the strategy execution server and a PLC (programmable logic controller) control system of a central control room in a reliable communication mode such as TCP/IP.
And 6, transmitting a detection signal of the safety anti-collision equipment to a material taking machine PLC control system or a strategy execution server through a reliable communication mode such as TCP/IP or field bus, and in the process of carrying out full-automatic strategy calculation and control by the strategy execution server and a central control room PLC control system through data interaction, enabling the strategy execution server to process variable values related to the safety anti-collision equipment in real time to ensure the safety execution of the full-automatic strategy.
And 7, the bucket-wheel type reclaimer body completes full-automatic reclaiming operation actions according to instructions sent to driving devices of all mechanisms by a reclaimer PLC control system.
The technical solution of the present invention is further described below by specific application examples.
Example 1
Fig. 2-3 show a full-automatic material taking control system provided in this embodiment, which is implemented by a QL6000.55 type bucket-wheel material taking machine manufactured by huanen cafe hong kong business, and mainly includes a pitching hinge point mechanism, a cantilever mechanism, a rotary platform mechanism, a traveling mechanism, a counterweight mechanism, a bucket-wheel mechanism, and an automatic material taking control system; the rotary platform mechanism is arranged in the middle of the bucket wheel machine and can do rotary motion in the horizontal direction; the cantilever mechanism is connected to the rotary platform mechanism through a pitching hinge point mechanism, and a bucket wheel mechanism is arranged at the tail end of the cantilever mechanism; the walking mechanism is arranged below the rotary platform mechanism; the counterweight mechanism is provided in a direction opposite to the extending direction of the boom mechanism, and maintains the balance of the bucket wheel machine.
In this embodiment, the image point cloud data acquisition device is arranged on the detection platform on the upper portion of the cantilever beam pull rod, and includes two data acquisition groups symmetrically arranged on two sides of the platform for acquiring point cloud data on two sides of the material taking machine. The first mobile station and the second mobile station were mounted at the cantilever pull upper detection platform and on the cantilever at about 1/3 from the bucket wheel, respectively. The pitch encoder or the inclinometer is arranged on the pitch hinge point mechanism, the rotary encoder is arranged on the rotary platform mechanism, the walking encoder is arranged at the walking mechanism, the data extracted by the acquisition element is acquired by an onboard PLC system and is connected with a server system in a central control room by a ground control system for further processing and operation.
As shown in fig. 3, when the system is in operation, the data collected by the image point cloud data collection device 2 is fused into three-dimensional point cloud coordinate data by the data fusion device 3, and then the three-dimensional point cloud coordinate data is transmitted to the image processing server 18 in the central control room, so as to perform data classification storage and image display. The reclaimer attitude acquisition device 5 transmits the detected reclaimer attitude data to a policy enforcement server 19 of a central control room. According to the configuration of different gesture collection equipment, other data transmission modes can be considered, for example, the detection value of the gesture collection equipment 5 of the reclaimer can be transmitted to a PLC system in an electric chamber of the reclaimer.
In this embodiment, the attitude of the reclaimer is verified by using the rotary encoder 12, the pitch encoder 13, and the travel encoder 15. The detection values of the three encoders are transmitted to a PLC system in an electric chamber of the material taking machine. The attitude checking device can also be implemented by other hardware devices with similar functions, for example, a Radio Frequency Identification (RFID) device can be used to check the walking position instead of the walking encoder 15.
In addition, the detection value of the safety collision prevention apparatus 21 is transmitted to the PLC system in the electric room. Depending on the configuration of the safety collision avoidance devices, other data transmission methods are also conceivable, for example, the detection values of the safety collision avoidance devices 21 may be transmitted to the policy enforcement server 19.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. The utility model provides a full-automatic material control system that gets of bucket wheel machine, includes equipment end and control room end, its characterized in that, the equipment end mainly includes:
the image point cloud data acquisition equipment is arranged on an overhaul platform of the bucket-wheel reclaimer and is used for acquiring surface data of a stockpile in a bulk cargo yard;
the data fusion equipment is used for carrying out data fusion conversion on the three-dimensional point cloud data of the stockpile to finally obtain a stockpile three-dimensional coordinate of an Euclidean coordinate space;
the reclaimer attitude acquisition equipment is used for measuring attitude data of the reclaimer in real time; and
the material taking machine PLC control system is used for receiving surface data of a stockpile in a bulk yard and attitude data of the material taking machine, performing data and instruction interaction with the central control room PLC control system through the Ethernet communication module, and controlling driving devices of all mechanisms of the bucket wheel machine to perform material taking operation;
the control chamber end mainly comprises:
the image processing server receives the data acquired by the image point cloud data acquisition equipment, analyzes and filters the data, and performs point cloud three-dimensional imaging display;
the strategy execution server reads surface data of a stockpile in a material taking field from the image processing server, generates an operation instruction by combining attitude data of a material taking machine, and sends the operation instruction to a central control room PLC system in real time; and
and the central control room PLC control system receives the operation instruction by the strategy execution server and performs data and instruction interaction with the reclaimer PLC control system.
2. The full-automatic material taking control system of the bucket wheel machine as claimed in claim 1, wherein the image point cloud data acquisition device is a two-dimensional laser scanner mounted on a rotary pan-tilt, and three-dimensional point cloud data of the stockpile in the bulk material yard is obtained by performing three-dimensional calculation on the acquired two-dimensional point cloud data of the surface of the stockpile and the corresponding angle of the pan-tilt.
3. The fully automatic material taking control system of the bucket wheel machine of claim 2, wherein the rotary platform is oppositely arranged on two sides of the maintenance platform.
4. The fully automatic reclaiming control system of a bucket wheel machine of claim 1,
when the bulk cargo place does not have a ceiling, the reclaimer attitude acquisition equipment adopts a Beidou/GPS system;
when the bulk cargo place does not have a ceiling, the reclaimer attitude acquisition equipment adopts electromagnetic bus acquisition equipment.
5. The fully automatic material taking control system of the bucket wheel machine as claimed in claim 1, wherein the equipment end of the system further comprises a safety collision prevention device for preventing collision between the material taking machine and an obstacle through distance detection.
6. The fully automatic material taking control system of the bucket wheel machine of claim 1, wherein the policy enforcement server comprises:
the strategy calculating unit is used for calculating a first operation target value of material taking operation;
the process control unit is used for calculating and controlling the material taking operation in real time;
and the simulation unit is used for off-line testing of software and training and teaching of the system.
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