CN112239147A

CN112239147A - Full-automatic slag-dragging unmanned traveling system for cyclone well

Info

Publication number: CN112239147A
Application number: CN202011164071.7A
Authority: CN
Inventors: 赵小波; 杨林; 杨静
Original assignee: Guizhou Zhongke Weishi Intelligent Technology Co ltd
Current assignee: Guizhou Zhongke Weishi Intelligent Technology Co ltd
Priority date: 2020-10-27
Filing date: 2020-10-27
Publication date: 2021-01-19

Abstract

The invention discloses a full-automatic slag-fishing unmanned traveling system for a cyclone well, which comprises a main control device, a PLC (programmable logic controller), a large car positioning device, a small car traveling device, a grab bucket lifting positioning device and a visual monitoring device. The invention also provides a full-automatic slag-dragging control method for the cyclone well, which comprises the following steps: s1, moving the large trolley traveling device to enable the grab bucket to be located at the position of the cyclone well; s2, lowering the grab bucket, sensing the weight change of the grab bucket, and opening the grab bucket immediately after the grab bucket is detected to enter water by matching with a visual monitoring device; s3, sensing the weight change of the grab bucket, and determining that the grab bucket touches slag to close the grab bucket; and S4, lifting the grab bucket and moving the grab bucket to a slag piling area for slag discharging. The invention can detect the three-dimensional position of the grab bucket of the travelling crane in real time and monitor the running working state of the travelling crane; visually tracking the state of the grab bucket on line, judging the position of the grab bucket in real time, and monitoring the execution condition of an operation instruction; the system has the functions of automatic cruising, integral vehicle centralized control, remote monitoring, video linkage, automatic deviation correction, safe path and the like.

Description

Full-automatic slag-dragging unmanned traveling system for cyclone well

Technical Field

The invention relates to the field of automatic control, in particular to a full-automatic slag-removing unmanned traveling system for a cyclone well.

Background

In the steel rolling process, bearings, rollers and the like of a rolling mill need to be cooled by water, an iron sheet ditch needs to be washed by water, the used water contains a large amount of iron sheets, each time the steel is smelted by 1 ton, more than 17 kg of iron sheets are generated, most of the iron sheets enter the water, and the content of suspended matters in the water reaches thousands of mg/L, so that the cooling water cannot be directly utilized and cannot be directly discharged according to the environmental protection requirement. At present, a steel rolling system usually adopts a cyclone well for water treatment.

The cyclone well is a vortex sedimentation tank, the common method is that iron oxide scales settled at the bottom of the cyclone well bottom are grabbed out of the well by a slag grabbing machine after being accumulated for a certain time, and then the iron oxide scales are returned to the steelmaking process for recycling, and slag grabbing operation is required to be carried out regularly to ensure the normal operation of the cyclone well. The slag grabbing operation is usually realized by manually operating a single-beam bridge crane and a grab bucket, the water inlet position and the water inlet frequency of the material grabbing operation are difficult to accurately control, and the automation degree is low. The operation activity is simple and repeated, the labor efficiency of personnel is low, and the driver can repeatedly operate, so that the safety accident is easily caused by fatigue.

Disclosure of Invention

In view of the above, the invention aims to provide a full-automatic slag-removing unmanned traveling vehicle system for a cyclone well, which is accurate in control, high in safety and high in automation degree.

According to one aspect of the invention, the full-automatic slag salvaging unmanned travelling system for the cyclone well comprises a main control device, a PLC (programmable logic controller), a large trolley positioning device, a large trolley traveling device, a small trolley traveling device, a grab bucket lifting positioning device and a visual monitoring device, wherein the main control device is wirelessly connected with the PLC, the PLC and the large trolley positioning device are both installed on the large trolley traveling device and the small trolley traveling device, the large trolley traveling device is electrically connected with the PLC, the grab bucket lifting positioning device is electrically connected with the PLC, and the grab bucket lifting positioning device and the visual monitoring device are wirelessly connected with the main control device.

In some embodiments, the big and small car traveling devices include a big car traveling rail, two first electric traveling devices, two small car traveling rails, two second electric traveling devices and a weighing sensor, the big car traveling rails are parallel to each other, the two first electric traveling devices are respectively installed on the two big car traveling rails, two ends of each small car traveling rail are respectively installed on the two first electric traveling devices, the two second electric traveling devices are installed on the small car traveling rails, the weighing sensor is hoisted at the lower end of the second electric traveling device, the grab bucket lifting and positioning device is hoisted at the lower end of the weighing sensor, and the weighing sensor is electrically connected with the PLC controller.

In some embodiments, the grab bucket lifting and positioning device comprises a steel rope reel, a rotary encoder, a proximity switch, a steel rope, a grab bucket and a grab bucket opening and closing control mechanism, wherein one end of the steel rope is wound on the steel rope reel, the other end of the steel rope is fixedly connected with the grab bucket, the proximity switch is installed on one side of the steel rope, the grab bucket opening and closing control mechanism is connected with the grab bucket and controls the grab bucket to open and close, the rotary encoder is used for detecting the lifting and closing positions of the grab bucket, and the weighing sensor is used for detecting the weight of the grab bucket.

In some embodiments, the cart positioning device comprises an origin base station, a cart base station and a cart base station, the origin base station is installed at one end of a cart walking track, the cart base station is installed at a second electric walking device, the origin base station is wirelessly connected with the cart base station, and the cart base station is wirelessly connected with the cart base station.

According to one aspect of the invention, a full-automatic slag-dragging control method for a cyclone well is provided, which is characterized by comprising the following steps:

s1, moving the large trolley traveling device to enable the grab bucket to be located at the position of the cyclone well;

s2, lowering the grab bucket, and opening the grab bucket immediately after detecting that the grab bucket enters water by sensing the weight change of the grab bucket and matching with a visual monitoring device;

s3, delaying to close the grab bucket after the grab bucket is determined to touch slag by sensing the weight change of the grab bucket;

and S4, lifting the grab bucket, and moving the grab bucket to a slag piling area for deslagging.

In some embodiments, the step S1 is specifically: the X coordinate of the grab bucket is determined by determining the distance between the base station on the cart and the original point base station, the Y coordinate of the grab bucket is determined by determining the distance between the base station on the cart and the base station on the trolley, the first electric walking device is started to move the trolley walking track to reach the preset Y coordinate by using the grab bucket, and the second electric walking device is started to move the steel rope reel to enable the grab bucket to reach the preset X coordinate.

In some embodiments, the sensing of the weight change of the grapple in step S2 or S3 is specifically: the weighing sensor outputs a grab bucket weight signal to the PLC, and the PLC judges whether the weight of the grab bucket reaches a set threshold range or not, so that whether the grab bucket enters water or touches slag or not is judged. After the fact that the grab bucket enters water or the grab bucket touches slag is determined, the PLC transmits signals to the main control device, and the PLC simultaneously outputs control signals to control opening or closing of the grab bucket.

In some embodiments, the full-automatic slag-off control method for the cyclone well further comprises the following steps:

s5, calculating the depth of slag charge according to the depth of the cyclone well and the depth of slag contact of the grab bucket, determining the material grabbing times of the grab bucket according to the material grabbing volume of the grab bucket, calculating the water entry coordinate positions of the grab bucket and the water entry times of each water entry coordinate position according to the area of the cyclone well, and repeating the steps S1-S4 until the material grabbing and slag discharging operations are completed according to the calculated water entry coordinate positions and the water entry times.

The invention has the beneficial effects that: the three-dimensional position of the travelling crane grab bucket is detected in real time through the grab bucket lifting and positioning device and the visual monitoring device, and the running working state of the travelling crane is monitored; and the running process is automatically controlled through the PLC, so that the control is accurate, the safety is high, and the automation degree is high. Detecting the three-dimensional position of the grab bucket of the travelling crane in real time and monitoring the running working state of the travelling crane; visually tracking the state of the grab bucket on line, and judging the position of the grab bucket in real time so as to control the grab bucket to traverse the whole cyclone well; monitoring the execution condition of the operation instruction; the system has the functions of automatic cruising, integral vehicle centralized control, remote monitoring, video linkage, automatic deviation correction, safe path and the like.

Drawings

Fig. 1 is a schematic structural diagram of a full-automatic slag-removing unmanned traveling vehicle system of a cyclone well according to an embodiment of the invention;

fig. 2 is a schematic structural view of a big car traveling device and a small car traveling device and a grab bucket lifting and positioning device of the full-automatic slag salvaging unmanned traveling system of the cyclone well shown in fig. 1;

fig. 3 is a schematic structural view of the traveling device of the large and small vehicles shown in fig. 1.

Detailed Description

The invention is described in further detail below with reference to the accompanying drawings.

Fig. 1-3 schematically show a full-automatic slag-removing unmanned traveling vehicle system of a cyclone well according to an embodiment of the invention.

Referring to fig. 1 to 3, the full-automatic slag-removing unmanned traveling system for the cyclone well comprises a main control device 1, a PLC (programmable logic controller) 2, a large and small vehicle positioning device 3, a large and small vehicle traveling device 4, a grab bucket lifting positioning device 5 and a visual monitoring device 6. The main control device 1 is wirelessly connected with the PLC controller 2, the main control device 1 can be a PC, and the PLC controller 2 can adopt Siemens PLC. The PLC controller 2 and the big and small car positioning device 3 are both arranged on the big and small car walking device 4. Big dolly running gear 4 and PLC controller 2 electric connection, grab bucket lift positioner 5 and vision monitoring devices 6 and master control unit 1 wireless connection.

The cart traveling device 4 includes a cart traveling rail 41, a first electric traveling device 42, a cart traveling rail 43, a second electric traveling device 44, and a weighing sensor 45. The cart walking rails 41 are arranged to be two and parallel to each other, the first electric walking devices 42 are arranged to be two and are respectively installed on the two cart walking rails 41, and the first electric walking devices 42 can be driven by the motor to move along the cart walking rails 41. Two ends of the trolley travelling rail 43 are respectively installed on the two first electric travelling devices 42, the second electric travelling device 44 is installed on the trolley travelling rail 43, and the second electric travelling device 44 can drive the electric motor to move along the trolley travelling rail 43. The PLC controller 2 is fixedly arranged at one end of the trolley walking track 43. The weighing sensor 45 is hung at the lower end of the second electric walking device 44, and the grab bucket lifting and positioning device 5 is hung at the lower end of the weighing sensor 45. The weighing sensors 45 can be arranged in two parallel, so that the stability of the grab bucket lifting and positioning device 5 in the operation process can be ensured. The first electric walking device 42, the second electric walking device 44 and the weighing sensor 45 are electrically connected with the PLC controller 2 and controlled by the PLC controller 2. The cart walking track 41 is provided with a slag loading position, a slag stacking position, a running section, a slag grabbing position and an overhauling position from one end to the other end in sequence. A slag loading area, a slag stacking area, a running area, a cyclone well and an overhaul area are correspondingly arranged below the cart travelling track 41, and a slag grabbing position is positioned above the cyclone well. Cameras 68 connected with the visual monitoring device 6 are arranged in the slag loading area, the slag stacking area, the traveling area, the cyclone well and the maintenance area, and the whole operation area is monitored in real time.

The grab bucket lifting and positioning device 5 comprises a steel rope reel 51, a rotary encoder 52, a proximity switch 53, a steel rope 54, a grab bucket 55 and a grab bucket opening and closing control mechanism. The steel rope reel 51 is driven to rotate by a servo motor capable of rotating forward and backward, and the servo motor is controlled by the PLC controller 2 together with the PLC controller 2. On the output shaft of rotary encoder 52 steel cable reel 51 one end, rotary encoder 52 and PLC controller 2 electric connection and can transmit signal for PLC controller 2 with the lift position of monitoring grab 55. The steel rope reel 51, the proximity switch 53 and the grab bucket opening and closing control mechanism are all electrically connected with the PLC controller 2 and controlled by the PLC controller 2. One end of the wire 54 is fixedly connected to the wire drum 51 and wound around the wire drum 51, and the other end of the wire 54 is fixedly connected to the grapple 55. The proximity switches 53 may be provided in two or more and installed at both sides of the wire rope 54 while a camera 68 connected to the visual monitoring device 6 is installed at one side of the wire rope 54.

The helix angle of the grab bucket lifting steel wire rope is generally 3 to 4 degrees, the guide groove of the rope guider is adapted to the helix angle, and when the steel wire rope is loosened or twisted, the steel wire rope can deflect. According to the range that wire rope probably squinted, come the change of perception wire rope through proximity switch 53, cooperation is led and is installed vision sensor on the rope ware, after the change of perception wire rope, in time cuts off grab bucket lifting power to prevent to harm other equipment facilities, reduce the loss. And the anti-winding protection of the steel wire rope can be realized.

The grab bucket opening and closing control mechanism is connected with the grab bucket 55 and controls the grab bucket 55 to open and close, the rotary encoder 52 is used for detecting the lifting and closing positions of the grab bucket, and the weighing sensor 53 is used for detecting the weight of the grab bucket.

The cart positioning device 3 can adopt a vehicle-mounted HMI, the cart positioning device 3 comprises an origin base station 31, a cart upper base station 32 and a cart upper base station 33, the origin base station 31 is installed at one end of a cart walking track 41, the cart upper base station 32 is fixedly installed at one end of a cart walking track 43, the cart upper base station 33 is installed on a second electric walking device 44, the origin base station 31 is in wireless connection with the cart upper base station 32, and the cart upper base station 33 is in wireless connection with the cart upper base station 32. The position of the origin base station 31 is set as a coordinate origin, the moving direction of the base station 32 on the cart is the Y direction, the moving direction of the base station 33 on the cart is the X direction, the Y coordinate of the grab bucket 55 can be determined by measuring the distance between the base station 32 on the cart and the origin base station 31, the X coordinate of the grab bucket 55 can be determined by measuring the distance between the base station 33 on the cart and the base station 32 on the cart, and the Z coordinate of the grab bucket 55 can be determined by the rotary encoder 52.

The visual monitoring device 6 comprises a main control module 60, and a data receiving module 61, a data classification storage module 62, a learning module 63, an image comparison and identification module 64, a mark movement speed calculation module 65, a display module 66 and an alarm module 67 which are respectively electrically connected with the main control module 60. The main control module 60 may be a CPU, and the camera 68 is electrically connected to the data receiving module 61. The data receiving module 61 is connected with the data classification storage module 62 and the learning module 63, and the data classification storage module 62 is connected with the learning module 63. The data receiving module 61 is configured to receive the source learning data from the external device and transmit the source learning data to the data classification storage module 62, and the data classification storage module 62 is configured to classify and store the source learning data. The learning module 63 is configured to store the learning result data to the data classification storage module 62 after learning using the source learning data and employing a neural network algorithm. The image comparison recognition module 64 is configured to perform recognition processing on the data to be recognized using the learning result data. The marker moving speed calculation module 65 is configured to identify the marker moving speed to be identified using the learning result data and obtain the marker moving speed. The display module 66 may be a display, and the display module 66 is used for displaying the operation state of the chain bed. Alarm module 67 may be an audible and visual alarm, and alarm module 67 is configured to send an alarm signal.

The vision monitoring device 6 is provided with vision software, adopts a neural network algorithm to carry out target detection, analyzes and compares real-time image data transmitted by the camera 68, installs a beacon sensor at the grab bucket and tracks the beacon sensor in real time by the camera. The current position and the operation speed of the grab 55 are detected, and the operations of the respective parts are controlled to cooperate according to the real-time operation state. Meanwhile, the abnormal conditions are timely found by monitoring the real-time running state, if personnel or foreign matters actually enter a production monitoring area, the machine can be stopped in time and alarm, and the safety of the production process is ensured. By setting the lifting forbidding area, the optimal path for traveling is automatically calculated according to the target position of the operation instruction and the position of the current traveling grab bucket and by combining the position data of the slag bit in the storage yard, so that the avoidance of the lifting forbidding area is completed.

Example 2

The practical example is a full-automatic slag salvaging control method of the cyclone well, which is suitable for the full-automatic slag salvaging unmanned traveling vehicle system of the cyclone well in the embodiment 1, and comprises the following steps:

s1, moving the cart traveling device 4 to enable the grab bucket 55 to be located at the position of the swirl well;

the X coordinate of the grapple 55 is determined by determining the distance between the base station 32 on the cart and the origin base station 31, the Y coordinate of the grapple 55 is determined by determining the distance between the base station 32 on the cart and the base station 33 on the cart, the first motor-driven traveling device 42 is activated to move the cart traveling rail 43 to a predetermined Y coordinate using the grapple 55, and the second motor-driven traveling device 44 is activated to move the wire reel 51 to a predetermined X coordinate.

S2, starting the steel rope reel 51 to lower the grab bucket 55, transmitting a weight signal to the PLC controller 2 by the weighing sensor 45, and judging whether the weight of the grab bucket 55 reaches a preset water inlet threshold range or not by the PLC controller 2 so as to judge whether the grab bucket 55 enters water or not. After the grab bucket 55 is determined to enter water, the PLC 2 transmits a signal to the main control device 1. Meanwhile, after the vision monitoring device 6 monitors that the grab bucket 55 enters water, the PLC 2 simultaneously outputs a control signal to control the grab bucket 55 to be opened.

S3, delaying to close the grab bucket 55 after the grab bucket 55 is determined to contact slag by sensing the weight change of the grab bucket 55; the weighing sensor 45 outputs a weight signal of the grab bucket 55 to the PLC controller 2, and the PLC controller 2 judges whether the weight of the grab bucket 55 reaches a set slag contact threshold range or not, so that whether the grab bucket 55 contacts slag or not is judged. After determining that the grab bucket touches slag, the PLC 2 transmits a signal to the main control device 1, and the PLC 2 simultaneously outputs a control signal to control the grab bucket to be closed.

S4, the rope reel 51 reversely rotates to lift the grab bucket 55, the first electric traveling device 42 starts to move the grab bucket 55 to the slag piling area, and the grab bucket 55 is opened to discharge slag.

S5, the main control device 1 calculates the slag depth and volume according to the known depth of the cyclone well, the area of the grab bucket 55 and the cyclone well, and the depth of the grab bucket 55 when the grab bucket 55 first contacts slag. Determining the material grabbing times of the grab bucket 55 according to the material grabbing volume of the grab bucket 55, calculating the water inlet times of the water inlet coordinate points and each water inlet coordinate point of the grab bucket 55 according to the area of the cyclone well, and repeating the steps S1-S4 according to the calculated water inlet times of the water inlet coordinate points and each water inlet coordinate point of the grab bucket 55 until the material grabbing and slag discharging operations are completed according to the calculated water inlet coordinate points and the calculated water inlet times.

What has been described above are merely some embodiments of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the inventive concept herein, and it is intended to cover all such modifications and variations as fall within the scope of the invention.

Claims

1. Full-automatic sediment unmanned driving system that drags for of whirl well, its characterized in that, including master control set (1), PLC controller (2), big or small car positioner (3), big or small car positioner (4), grab bucket lift positioner (5) and vision monitoring devices (6), master control set (1) and PLC controller (2) wireless connection, PLC controller (2) and big or small car positioner (3) are all installed in big or small car positioner (4), big or small car positioner (4) and PLC controller (2) electric connection, grab bucket lift positioner (5) and vision monitoring devices (6) and master control set (1) wireless connection.

2. The full-automatic slag-salvaging unmanned traveling system for the cyclone well according to claim 1, wherein the cart traveling device (4) comprises cart traveling rails (41), first electric traveling devices (42), cart traveling rails (43), second electric traveling devices (44) and weighing sensors (45), the cart traveling rails (41) are arranged in two and are parallel to each other, the first electric traveling devices (42) are arranged in two and are respectively installed on the two cart traveling rails (41), two ends of the cart traveling rails (43) are respectively installed on the two first electric traveling devices (42), the second electric traveling devices (44) are installed on the cart traveling rails (43), the weighing sensors (45) are hung at the lower ends of the second electric traveling devices (44), the grab bucket lifting and positioning device (5) is hung at the lower ends of the weighing sensors (45), and the weighing sensor (45) is electrically connected with the PLC (2).

3. The full-automatic dreg salvaging unmanned traveling system of the cyclone well as the claim 2 is characterized in that the grab bucket lifting and positioning device (5) comprises a steel rope reel (51), a rotary encoder (52), a proximity switch (53), a steel rope (54), a grab bucket (55) and a grab bucket opening and closing control mechanism, one end of the steel rope (54) is wound on the steel rope reel (51), the other end of the steel rope (54) is fixedly connected with the grab bucket (55), the rotary encoder (52) is installed at one end of the steel rope reel (51), the proximity switch (53) is installed at one side of the steel rope (54), and the grab bucket opening and closing control mechanism is connected with the grab bucket (55) and controls the grab bucket (55) to open and close.

4. The full-automatic slag-salvaging unmanned traveling system for the cyclone well according to claim 2, wherein the cart positioning device (3) comprises an origin base station (31), a cart upper base station (32) and a cart upper base station (33), the origin base station (31) is installed at one end of a cart traveling rail (41), the cart upper base station (32) is installed at one end of a cart traveling rail (43), the cart upper base station (33) is installed at the second electric traveling device (44), the origin base station (31) is in wireless connection with the cart upper base station (32), and the cart upper base station (33) is in wireless connection with the cart upper base station (32).

5. The full-automatic slag-dragging control method for the cyclone well is characterized by comprising the following steps:

s1, moving the cart traveling device (4) to enable the grab bucket (55) to be located at the position of the swirl well;

s2, lowering the grab bucket (55), sensing the weight change of the grab bucket (55), and opening the grab bucket (55) immediately after the grab bucket (55) is detected to enter water by matching with the vision monitoring device (6);

s3, sensing the weight change of the grab bucket (55), and closing the grab bucket (55) in a delayed manner after determining that the grab bucket (55) touches slag;

and S4, lifting the grab bucket (55), and moving the grab bucket (55) to a slag piling area for slag discharging.

6. The full-automatic slag-dragging unmanned traveling system for the cyclone well according to claim 5, wherein the step S1 is specifically as follows: the X coordinate of the grab bucket (55) is determined by determining the distance between the base station (32) on the cart and the origin base station (31), the Y coordinate of the grab bucket (55) is determined by determining the distance between the base station (32) on the cart and the base station (33) on the trolley, the first electric traveling device (42) is started to move the trolley traveling track (43) to reach the preset Y coordinate by using the grab bucket (55), and the second electric traveling device (44) is started to move the steel rope reel (51) to enable the grab bucket (55) to reach the preset X coordinate.

7. The full-automatic slag-off unmanned traveling system for cyclone wells according to claim 6, wherein the sensing of the weight change of the grab bucket (55) in the step S2 or S3 is specifically as follows: the weighing sensor (45) outputs a weight signal of the grab bucket (55) to the PLC controller (2), and the PLC controller (2) judges whether the weight of the grab bucket (55) reaches a set threshold range or not, so that whether the grab bucket (55) enters water or touches slag or not is judged. After the fact that the grab bucket enters water or the grab bucket touches slag is determined, the PLC (2) transmits signals to the main control device (1), and the PLC (2) outputs control signals at the same time to control the grab bucket to be opened or closed.

8. The full-automatic slag-dragging unmanned traveling system of cyclone well according to claim 6, characterized by further comprising the following steps:

s5, calculating the slag depth according to the depth of the cyclone well and the slag contact depth of the grab bucket (55), determining the material grabbing times of the grab bucket (55) according to the material grabbing volume of the grab bucket (55), calculating the water entry coordinate points of the grab bucket (55) and the water entry times of each water entry coordinate point according to the area of the cyclone well, and repeating the steps S1-S4 until the material grabbing and slag discharging operations are completed according to the calculated water entry coordinate points and water entry times.