CN113291854B - Material piling method and material piling device - Google Patents
Material piling method and material piling device Download PDFInfo
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- CN113291854B CN113291854B CN202010796813.1A CN202010796813A CN113291854B CN 113291854 B CN113291854 B CN 113291854B CN 202010796813 A CN202010796813 A CN 202010796813A CN 113291854 B CN113291854 B CN 113291854B
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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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- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/04—Bulk
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Abstract
The invention discloses a stacking method and a stacking device, which utilize preset stack intervals, preset stack heights and length, width and height dimensions of a stacking area to calculate the number of material layers in the stacking area, the number of stacks of each material layer and the coordinates of discharge points corresponding to each stack; calculating the operation parameters of the stacking device at each unloading point by using the coordinates of the unloading point corresponding to each stack; after the operation state of the stacking device at each unloading point is adjusted according to the operation parameters, controlling the stacking device to unload at the unloading point; when the material pile corresponding to the material pile discharging point reaches the preset material pile height, continuously discharging at the next material discharging point until all the material piles in the current material layer reach the preset material pile height, and continuously executing the material pile process on the material layer of the current material layer until all the material layers in the material pile space are fully piled. According to the method and the device, according to the pre-planned stacking mode, the running state of the stacking device is automatically and accurately controlled, and the stacking efficiency and accuracy are improved.
Description
Technical Field
The invention relates to the technical field of raw material stacking, in particular to a stacking method and a stacking device.
Background
The raw material field is a field for receiving, storing, processing and uniformly mixing ferrous metallurgical raw materials, and is used for storing external iron ores, iron concentrates, pellets, manganese ores, limestone, dolomite, serpentine, silica, coking coal, power coal and other raw materials, and storing a part of sintered ores, pellets and recycles in iron and steel plants, such as iron scales, blast furnace dust, crushed coke, sintered powder, end materials of uniform ores and the like.
The stacker is a common machine in a raw material yard and is used for forming a material pile for various material conveying yards, at present, a mode of manually operating the stacker in a cab by an operator is mainly adopted to finish the stacking operation, interference factors such as water mist, dust, light and the like can exist on an operation site, accurate stacking cannot be realized by means of manual experience, collision can be caused, safe running of equipment is threatened, in addition, the labor intensity is high, the working time is long due to manual operation, and dust scattered in the raw material yard can cause influence on the health of the operator due to pollutants.
Disclosure of Invention
The invention provides a stacking method and a stacking device, which are used for solving the problem of low stacking efficiency and accuracy.
In an embodiment provided in the first aspect, the stacking method includes:
calculating the number of material layers in the stacking area, the number of material piles of each material layer and the corresponding unloading point coordinates of each material pile by using the preset material pile interval, the preset material pile height and the length, width and height of the stacking area;
calculating the operation parameters of the stacking device at each unloading point by using the coordinates of the unloading point corresponding to each stack;
after the operation state of the stacking device at each unloading point is adjusted according to the operation parameters, controlling the stacking device to unload at the unloading point;
when the material piles corresponding to the unloading points reach the preset material pile height, continuing to unload at the next unloading point until all the material piles in the current material layer reach the preset material pile height, and continuing to execute the material pile process on the material layer on the current material layer until all the material layers in the material pile space are fully piled, wherein the material pile process is finished.
In an embodiment provided in the second aspect, the stacking device includes:
the base is provided with a travelling mechanism moving along the track at the bottom and used for adjusting the travelling position of the pushing device; the conveying mechanism is used for conveying materials to the discharge opening; the horizontal rotating mechanism is used for adjusting the rotation angle of the large arm, and the pitching rotating mechanism is used for adjusting the pitching angle of the large arm; a computer control system configured to perform the following program steps:
calculating the number of material layers in the stacking area, the number of material piles of each material layer and the corresponding unloading point coordinates of each material pile by using the preset material pile interval, the preset material pile height and the length, width and height of the stacking area;
calculating the operation parameters of the stacking device at each unloading point by using the coordinates of the unloading point corresponding to each stack;
controlling the actions of the horizontal rotating mechanism, the pitching rotating mechanism and the travelling mechanism according to the operation parameters so as to lead the discharge opening to be aligned with the discharge point, starting the forward transmission of the conveying mechanism, and conveying the materials to the discharge opening for discharging;
when the material piles corresponding to the discharging points reach the preset material pile height, the discharging opening is controlled to move to the next discharging point to discharge until all the material piles in the current material layer reach the preset material pile height, the material pile process is continuously executed on the material layer of the current material layer until all the material layers in the material pile space are fully piled, and then the material pile process is finished.
The invention provides a layered stacking mode, which is characterized in that a stacking area is divided into a plurality of material layers, each material layer has a fixed preset material stack height, each material layer comprises a plurality of material stacks, and a fixed preset material stack interval is arranged between two adjacent material stacks, so that uniform stacking of each material layer is realized, the material stacking of each material stack is more regular, and automatic stacking control is facilitated. Each material pile is provided with a corresponding unloading point, namely, the large arm unloading opening is aligned with the position of the unloading point, and then the unloading can be started until the material pile is piled up until the preset material quantity is reached, then the unloading is continued at the next unloading point of the same material layer, and the like until the material layer is piled up, the material layers are piled up one by one upwards until all the material layers are piled up, and then the piling of the whole piling area is finished. According to the method, the coordinates of the discharging points of each material pile in each material layer are accurately calculated, the operation parameters of the positions of each discharging point are calculated, the operation parameters are important parameters for controlling the movement track and the movement position of the discharging opening at the tail end of the large arm in the stacking device, such as the pitching angle and the rotation angle of the large arm, the walking position of the stacking device and the like, and the discharging opening is automatically adjusted to be matched with the corresponding discharging point according to the operation parameters, so that automatic discharging at the positions of each discharging point is completed. According to the automatic control system and the automatic control method, according to the pre-planned stacking mode, through the guidance of the operation parameters, the operation state, the gesture and the action of each adjusting mechanism in the stacking device can be automatically and accurately controlled, manual participation is not needed, the stacking efficiency and accuracy are improved, the safe and stable operation of the on-site stacking device is ensured, and unmanned automatic control stacking of the stacking device is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
A top view of the stacker region is exemplarily shown in fig. 1;
a top view of the first layer is exemplarily shown in fig. 2;
a schematic structural diagram of the stacker apparatus is exemplarily shown in fig. 3;
a flow chart of the stacking method is exemplarily shown in fig. 4.
Detailed Description
For purposes of clarity, embodiments and advantages of the present application, the following description will make clear and complete the exemplary embodiments of the present application, with reference to the accompanying drawings in the exemplary embodiments of the present application, it being apparent that the exemplary embodiments described are only some, but not all, of the examples of the present application.
In some embodiments, a layered stacking manner is provided, as shown in fig. 1, in which the stacking area is divided into a plurality of material layers Layeri in the vertical direction, where i is used to represent the number of material layers, 1.ltoreq.i.ltoreq.N, where N is the number of material layers, and each material layer has a fixed preset stack height H y Since adjacent layers are stacked seamlessly, n=height H of stacking region 1 Preset stack height H y For example, when the planned pile area has a height of 15m, the preset pile height H of each layer y 3m, can be divided into 5 layers. Fig. 1 is only an example of 2 layers, and is not limited to a specific number of layers, and in practical applications, the stacking area stacks the layers layer by layer along the vertical direction. The layer number i is from the bottomContinuously increasing up.
As shown in FIG. 2, each material layer comprises a plurality of material piles, and a fixed preset material pile interval r is arranged between two adjacent material piles, and each material pile can be approximately regarded as a preset material pile height H taking the preset material pile interval r as a radius y The center distance of two adjacent piles is the preset pile interval r, namely, the piles of the two adjacent piles are partially overlapped. The individual stacks may be distributed in an array in each layer, provided that the number of stacks included in the ith layer is A i Comprises a material stacking number of B i Number of stacks M of the ith layer i ＝A i ×B i ，pile i-j-k Representing the material pile of the jth row and the kth column in the ith material layer, j being used for representing the row number of the material pile in the material layer, and k being used for representing the column number of the material pile in the material layer, wherein j is more than or equal to 1 and less than or equal to A i ，1≤k≤B i . The stacking mode enables each material layer to realize uniform stacking, and the stacking of the materials of each material stack is more regular, so that automatic stacking control is facilitated.
Referring to FIG. 1, a coordinate system XYZ can be established with the upper left corner as the origin O, the increasing direction of the column number k as the X axis, the increasing direction of the row number j as the Y axis, and the increasing direction of the layer number i as the Z axis, for each stockpile i-j-k With a corresponding discharge point X i-j-k ，Y i-j-k ，Z i ]Wherein, [ X ] i-j-k ，Y i-j-k ]Corresponding to each stockpile pile i-j-k Center coordinates in XOY. The discharging point is the positioning position of the discharging opening when each material pile is piled, namely the position of the discharging opening aligned with the discharging point can start discharging until the current material pile is piled up when the preset material quantity is reached, then continuously discharging at the next nearest discharging point of the same material layer, and the like until the current material layer is piled up, and piling up the material layers one by one upwards until all the material layers are piled up, so that the piling process of the whole piling area is finished. Referring to fig. 1 and 2, a material pile is first deposited 1-1-1 The next is a stockpile 1-1-2 Up to stockpile pile 1-1-13 The 1 st row of the 1 st material layer is piled up, and then the material layer is downwards continued according toSecondary stacking pile 1-2-13 Stockpile pile 1-2-12 And (3) continuously stacking the material Layer2 upwards until all material piles in the material Layer1 are stacked, wherein the stacking mode of the material Layer2 is basically equal to that of the material Layer1.
Based on the above-mentioned stacking mode, the key point of the present application is to guide the running state and gesture actions of each adjusting mechanism in the stacking device according to the calculated unloading point of each stack in each material layer, so as to automatically control the stacking process. The structure of the stacker device will be described first.
The stacking device shown in fig. 3, the mechanical structure comprises a base 1, a horizontal rotating mechanism 2 is arranged on the base 1, a pitching rotating mechanism 3 is arranged on the horizontal rotating mechanism 2, a big arm 4 is connected to the pitching rotating mechanism 3, a discharge opening 41 is arranged at the tail end of the big arm 4, a travelling mechanism 5 is arranged at the bottom of the base 1, the travelling mechanism 5 is connected with rails 7 on two sides below the base 1, a conveying mechanism 6 is further arranged on the base 1, and the conveying mechanism 6 extends from the base 1 to the big arm until being communicated with the discharge opening 41, so that materials can be moved to the discharge opening 41 along with forward transmission of the conveying mechanism.
The pitching rotation mechanism 3 can drive the large arm 4 to rotate along the vertical plane, so that the pitching angle of the large arm 4 is adjusted, the relative height of the discharge opening 41 can be adjusted by adjusting the pitching angle, the pitching angle can be not required to be adjusted when different stockpiles in the same material layer are switched, the pitching angle is required to be increased when the material layers are switched, the height of the discharge opening is improved, and the large arm and materials are prevented from colliding in the stacking process. When the horizontal rotating mechanism 2 operates, the pitching rotating mechanism 3 and the big arm 4 can be driven to rotate in the horizontal plane, so that the rotation angle of the big arm 4 is adjusted, the travelling mechanism 5 can drive the stacking device to slide along the track 7, the travelling position of the stacking device is adjusted, the relative position of the discharge opening 41 in the horizontal plane can be adjusted through the horizontal rotating mechanism 2 and the travelling mechanism 5, and the positioning and switching of each discharge point in each material layer are completed. Therefore, the running state of the stacking device can be adjusted by adjusting the pitching angle, the rotation angle and the walking position, so that the discharge opening 41 is matched with each discharge point, and automatic and accurate discharge is realized.
When the discharge opening 41 discharges at a certain discharge point, the corresponding pile will gradually accumulate to increase the volume and the amount of the pile, and it is also necessary to determine whether the pile is full, i.e. to detect whether the pile height reaches the preset pile height, so as to determine when the discharge opening 41 stops the discharge process at a certain discharge point. In some embodiments, a distance measuring device, such as a laser distance meter, a radar distance meter, etc., may be disposed at the discharge opening 41, so that the height of the pile below the discharge opening can be detected in real time during the discharge process of the discharge opening 41, when the pile height reaches the preset pile height H y When the material pile is finished, the discharging process of the discharging opening 41 at the current discharging point can be stopped, and then the next discharging point is positioned to continue discharging.
In some embodiments, considering that the discharge opening 41 stops discharging, the control conveyor 6 is stopped, there may be a small portion of material overflowing from the discharge opening due to the inertia of the movement, if the distance measuring device detects that the pile height is equal to the preset pile height H y Stopping the discharge only when the actual height of the pile is slightly greater than the preset pile height H y Therefore, a preset threshold value can be set according to the rotation speed of the conveying mechanism 6, when the difference between the preset material pile height and the material pile height is smaller than the preset threshold value, the discharge opening is controlled to stop discharging, and the material overflowed by inertia can supplement the material quantity vacancy corresponding to the preset threshold value, so that the material pile is finally kept at the preset material pile height H when the material pile is finished y Thereby improving the accurate control of the stacking quantity of the material pile.
In some embodiments, a scanning device, such as a laser scanner, may be disposed on the large arm, and the scanning device may proportionally beat and scan the three-dimensional pile model of the current pile, and may obtain the three-dimensional contour, projection, pile height, projection, coordinates of each material point in the model, and other information of the current pile through the three-dimensional pile model, so as to provide the needed parameter support for the control of the piling process. The residual material quantity V of the discharging pile can be calculated through the scanning device i-j-k Residual quantity V i-j-k Can be used for guiding the material feeding amount during stacking, for example, calculating the current material stackThe amount of the residual materials is 1t, and the amount of the materials fed by the conveying mechanism 6 for conveying the materials is 0.5t, which indicates that the current stacking is enough to stack the materials of 0.5 t; or the indicated feed amount needs to be less than or equal to 1t so as to avoid exceeding the limit of the preset material pile height after all the materials are discharged; or, the guiding incoming material amount is 1t, so that the current material pile is just full.
In some embodiments, the amount of residual material V i-j-k Can also assist in guiding the operating condition of the discharge opening, such as when the amount of residual material V i-j-k When the preset material quantity is equal to the threshold value, the material pile is considered to reach the preset material pile height H y The threshold value described herein may be 0 for the amount of accumulated material, but considering that when the discharge opening 41 stops discharging, the conveyor mechanism 6 is controlled to stop operating, there may be a small amount of material overflowing from the discharge opening due to inertia of movement, and if the threshold value is set to 0, the height of the pile may be slightly greater than the preset pile height H y Therefore, the adaptive threshold value can be set according to the rotation speed of the conveying mechanism 6 and other factors, so that when the residual material quantity reaches the threshold value, the discharging process of the discharging opening 41 is stopped, and then the residual material overflowed due to the motion inertia can supplement the residual material quantity, so that the material pile can be accurately controlled to the preset material quantity, and the accurate material pile is realized. Thus the residual material quantity V i-j-k Not only can guide the feeding amount during stacking, but also can provide a certain reference for controlling the discharging state of the discharging opening 41.
In some embodiments, the pre-set pile height H y And the residual quantity V i-j-k In combination, the two constraints are used for controlling when the discharge opening 41 stops discharging, so that the stacking amount of the material pile is controlled more accurately, and accurate stacking is realized.
In some embodiments, the layered stacking manner provided in the present application is also applicable to bucket-wheel type stacker-reclaimers, that is, on the basis of the structure of the aforementioned stacker, the tail end of the large arm 4 is further provided with a bucket-wheel material taking mechanism 42, when the stacker starts the stacking process, the bucket-wheel material taking mechanism 42 keeps a non-operating state, the conveying mechanism 6 drives forward, and the materials are conveyed to the discharge opening 41 for discharging, that is, the stacking is not performed at this time; after all the material layers in the stacking area are fully stacked, if a material taking process is started, the bucket-wheel material taking mechanism 42 is controlled to rotate, meanwhile, the conveying mechanism 6 is controlled to reversely drive, the bucket-wheel material taking mechanism 42 can bring the materials in the stacking area onto the conveying mechanism 6 when rotating, and the conveying mechanism 6 conveys the obtained materials to corresponding working procedures. The direction of the drive of the conveyor 6 can be controlled, for example, by a forward and reverse rotation of the motor.
In addition, the stacking device further comprises a computer control system, wherein the computer control system is electrically connected with each operation mechanism in the stacking device and used for controlling the stacking process, calculating related stacking parameters, controlling and guiding the operation of each mechanism according to the operation parameters and the like, and a stacking method which is specifically configured to be executed by the computer control system is specifically described in each embodiment below. Other mechanical structures and more detailed structures that the stacker-reclaimer included in this application, for example, the specific structure of each mechanism in the device can all refer to current stacker or bucket-wheel stacker-reclaimer, and this application embodiment is not repeated.
Referring to the aforementioned layered stacking mode and stacking apparatus structure, in some embodiments, the stacking method, as shown in fig. 4, includes:
step S10, calculating the number of material layers in the material piling area, the number of material piles of each material layer and the corresponding coordinates of the discharging points of each material pile by utilizing the preset material pile interval, the preset material pile height and the length, width and height of the material piling area.
Wherein the number of material layers n=the height H of the stacking region 1 Preset stack height H y For example, when the planned pile area has a height of 15m, the preset pile height H of each layer y If the thickness is 3m, the stacking area can be divided into 5 layers.
In some embodiments, the number of stockpiles M included for each layer is calculated as follows i ：
Wherein i is more than or equal to 1 and less than or equal to N, N is the number of material layers; l (L) i For the length of each layer; a is that i Represents the number of piles included in the ith layer, B i Representing the number of stockpiles included in the ith layer; w (W) i The width of each layer; w (W) 1 Is the width of the stacking area, i.e. the width of the first (bottommost) layer; l (L) 1 Is the length of the stacking area, i.e. the length of the first (bottommost) layer; r is a predetermined stack spacing between two adjacent stacks in each layer. Calculating the number M of piles included in each material layer i When stacking each layer, it is necessary to traverse to M i A discharge point, thereby piling up M i And (3) stacking the material layers to ensure that the material layers are fully stacked.
In some embodiments, since the coordinates of the discharge points corresponding to different stockpiles in different material layers are different, in order to generally represent the rule of the coordinates of the discharge points, in this embodiment, the X coordinates and Y coordinates of the discharge points are expressed in a matrix form, and the coordinates [ X ] of the discharge points corresponding to each stockpile are calculated as follows i-j-k ，Y i-j-k ，Z i ]：
[X i-j-k ,Y i-j-k ]＝[k×r,j×r]+(i-1)[r,r]
Z i ＝i×H y +h
Wherein X is i-j-k X-axis coordinates representing discharge points corresponding to the jth row and kth column of stockpiles in the ith material layer, Y i-j-k Representing Y-axis coordinates of a discharging point corresponding to a jth row and a kth column of stockpiles in an ith material layer, Z i Representing Z-axis coordinates of a discharging point corresponding to each material pile in the ith material layer, wherein j is more than or equal to 1 and less than or equal to A i ，1≤k≤B i ；H y And h represents the preset pile height, and h represents the unloading reserved height.
As can be seen from the above formula, in different material layersThe coordinates of the discharging points X and Y corresponding to different stockpiles are different, the coordinates of the discharging points Z corresponding to different stockpiles in the same material layer are the same, and the coordinates of the discharging points Z corresponding to all stockpiles in different material layers are different. Specifically, according to the coordinate rule of the discharge points, the coordinate matrix P of the discharge points corresponding to each material pile in the ith material layer can be obtained i Expressed as:
discharge point coordinate matrix P i In the number of piles A i ＝W i Number of material piles B/r-1 i ＝L i R-1. Z coordinate Z for each stack in each layer i Equal to the number of layers i of the material layer and the preset height H of the material pile y By adding the product of (2) to the discharge reserve height H, e.g. for layer 3, the pile height H is preset y 3m, a discharge reserve height h of 2 m, Z 3 Equal to 11 meters, set up the purpose of unloading reservation height h and guarantee that the high limit height that is greater than the bed of material of point of unloading is high, avoid influencing the accuracy and the efficiency of windrow because of big arm 4 bumps with the windrow to can also avoid windrow device to damage, wherein unloading reservation height h can be set according to actual factors such as windrow device's size, and this embodiment does not limit.
In the embodiment of the application, empty space stacking and material stacking heightening can be supported, wherein the empty space stacking refers to stacking from a first layer of material layer until the whole stacking area is full; the material pile heightening can be to continuously supplement the material pile to a certain material pile area which is not fully piled in the raw material field, a scanning device can scan a model of the whole material pile area, then according to the model of the material pile area, the number of material layers which are currently piled and the material pile which is piled in the material layers are determined, then the material layers are continuously piled according to the mode of the material pile which is in the same empty place, and then the material pile is continuously piled to the previous material layer until the whole material pile area is fully piled.
And S20, calculating the operation parameters of the stacking device at each unloading point by using the coordinates of the unloading point corresponding to each stack.
Referring to the stacker shown in FIG. 3, the operating parameters include, but are not limited to, the pitch angle β of the boom 4 i Rotation angle omega of large arm 4 i-j-k Walking position I of stacker on track 7 i-j-k 。
In some embodiments, the pitch angle β is calculated as follows i ：
Wherein H represents the height of the pitch rotation point of the boom 4, L represents the length of the boom 4, and Z is the same material layer at each discharge point because the length L of the boom and the height H of the pitch rotation point of the boom 4 are fixed values i The same, so that the pitch angle beta adopted when stacking the material pile at each unloading point in the same material layer i Are identical.
In some embodiments, the swivel angle ω is calculated as follows i-j-k ：
Wherein X is i-j-k And the X-axis coordinate of the unloading point corresponding to the jth row and the kth column of the material pile in the ith material layer is shown.
In some embodiments, the travel position I of the stacker is calculated as follows i-j-k ：
I i-j-k ＝Y i-j-k -L×cosβ i *sinω i-j-k
Wherein Y is i-j-k And the Y-axis coordinate of the unloading point corresponding to the jth row and the kth column of the material pile in the ith material layer is shown.
And step S30, after the operation state of the stacking device at each unloading point is adjusted according to the operation parameters, controlling the stacking device to unload at the unloading point.
The operation parameter corresponding to each discharging point is { beta } i ，ω i-j-k ，I i-j-k The operation parameters are attitude parameters of a pitching rotating mechanism 3, a horizontal rotating mechanism 2 and a traveling mechanism 5 of the stacker, and the operation parameters { beta } are calculated according to the operation parameters i ，ω i-j-k ，I i-j-k Adjusting the operational attitude and motion of the mechanisms at each discharge point, in some embodiments, the computerized control system based on beta i Generating a first control command and sending the first control command to the pitching rotation mechanism 3 to control the pitching rotation mechanism to rotate to beta i An angle; the computer control system is based on ω i-j-k Generating a second control instruction and sending the second control instruction to the horizontal rotating mechanism 2, and controlling the horizontal rotating mechanism 2 to horizontally rotate by a corresponding angle to enable the rotation angle to reach omega i-j-k The method comprises the steps of carrying out a first treatment on the surface of the The computer control system is according to I i-j-k And generating a third control instruction and sending the third control instruction to the travelling mechanism 5, and controlling the travelling mechanism 5 to translate a corresponding distance along the track. After each mechanism of the stacking device is adjusted based on the operation parameters, the discharge opening 41 is aligned with the discharge opening, so that the positioning matching of the discharge point and the discharge opening 41 is completed, and then the conveying mechanism 6 is started to drive forward, so that materials can be conveyed to the discharge opening 41 for discharging.
And S40, when the material piles corresponding to the unloading points reach the preset material pile height, continuing to unload at the next unloading point until all the material piles in the current material layer reach the preset material pile height, and continuing to execute the material pile process on the material layer on the current material layer until all the material layers in the material pile space are fully piled, wherein the material pile process is finished.
When discharging is performed at each discharging point, since each pile has a limit of a preset pile height, it is necessary to detect whether the pile reaches the preset pile height, so as to determine when to end the discharging process of the current pile, that is, to temporarily stop the operation of the conveying mechanism 6, and to resume the forward transmission of the conveying mechanism 6 when the discharging opening 41 is positioned at the next discharging point.
In some embodiments, the method further comprises: acquiring the stacking height of the current material stack measured by the distance measuring device; when the difference between the preset material pile height and the material pile height is smaller than a preset threshold value, controlling the discharge openingAnd stopping discharging. In this embodiment, whether each unloading process reaches the end point is determined by the stacking height, that is, the distance measuring device is used to detect the real-time stacking height of each stack, once the stacking height reaches the preset stacking height H y And controlling the discharge opening to stop discharging. The control of the discharge opening to stop discharging may be implemented by directly controlling the conveying mechanism 6 to stop running, or for example, a valve may be disposed at the discharge opening 41, the discharge process of the discharge opening is stopped by controlling the valve to be closed, and the discharge process is started by controlling the valve to be opened.
In some embodiments, the method further comprises: projecting the three-dimensional material pile model scanned by the scanning device in an XOY coordinate system to obtain a projection plane of the material pile; calculating the residual material quantity of the material pile according to the projection plane; and when the residual material quantity is equal to a threshold value, controlling the discharge opening to stop discharging. In this embodiment, whether each discharging process reaches the end point is determined by the residual material amount of the material pile, the scanning device can scan the three-dimensional material pile model of the material pile, which is a three-dimensional model in the XYZ coordinate system, and the three-dimensional material pile model can be projected in any coordinate plane of the XYZ coordinate system, for example, in the XOY, XOZ and YOZ sub-coordinate systems, so as to obtain the corresponding projection plane. The method comprises the steps of calculating the residual material quantity by utilizing a projection plane in the XOY, and when the residual material quantity is equal to a threshold value, considering that a material pile reaches the preset material quantity, controlling a discharge opening to stop discharging, wherein the setting of the threshold value is not limited. In some embodiments, the pile height H will be preset y And the residual quantity V i-j-k Combining, the two constraints control when the front feeding system belt and the discharge opening 41 stop discharging, so that the stacking amount of each stack is controlled more accurately, and accurate stacking is realized.
In some embodiments, the remaining volume V of the pile is calculated according to the formula i-j-k ：
In the method, in the process of the invention,
represents the area represented by each material point (i.e. pixel point) in the projection plane, d represents the distance between each material point in the projection plane and the projection point of the discharge point in the projection plane, θ represents the angle of repose, (m, n) represents the coordinate value of each material point in the projection plane, h m,n Representing the height of the material point (m, n) in the projection plane.
Here, assuming that the pile is approximately a cone, the cone pile projection appears as (X) in the XOY coordinate system i-j-k ，Y i-j-k ) The material pile interval r is preset to be a circle with a radius as a circle center, the material points are pixel points in the circle area, and the actual height h corresponding to each material point (m, n) can be obtained through a three-dimensional material pile model m,n . Where the angle of repose θ can be specified and entered by the user and can be seen as a fixed angle value, such as 38.
The application provides a layering windrow mode, divide into a plurality of layers with windrow region, every material layer has fixed preset windrow height, includes a plurality of windrows in every material layer, has fixed preset windrow interval between two adjacent windrows to make every material layer realize even windrow, the material of every windrow stacks is more regular, does benefit to realization automation windrow control. Each material pile is provided with a corresponding unloading point, namely, the large arm unloading opening is aligned with the position of the unloading point, and then the unloading can be started until the material pile is piled up until the preset material quantity is reached, then the unloading is continued at the next unloading point of the same material layer, and the like until the material layer is piled up, the material layers are piled up one by one upwards until all the material layers are piled up, and then the piling of the whole piling area is finished. According to the method, the coordinates of the discharging points of each material pile in each material layer are accurately calculated, the operation parameters of the positions of each discharging point are calculated, the operation parameters are important parameters for controlling the movement track and the movement position of the discharging opening at the tail end of the large arm in the stacking device, such as the pitching angle and the rotation angle of the large arm, the walking position of the stacking device and the like, and the discharging opening is automatically adjusted to be matched with the corresponding discharging point according to the operation parameters, so that automatic discharging at the positions of each discharging point is completed. And combining the preset material pile height and the residual material quantity, and controlling the material pile quantity of the material pile at each unloading point through double constraint to realize the accurate control of the material pile. According to the automatic control system and the automatic control method, according to the pre-planned stacking mode, through the guidance of the operation parameters, the operation state, the gesture and the action of each adjusting mechanism in the stacking device can be automatically and accurately controlled, manual participation is not needed, the stacking efficiency and accuracy are improved, the safe and stable operation of the on-site stacking device is ensured, and unmanned automatic control stacking of the stacking device is realized.
It will be apparent to those skilled in the art that the techniques of embodiments of the present invention may be implemented in software plus a necessary general purpose hardware platform. In a specific implementation, the present invention also provides a computer storage medium, where the computer storage medium may store a program, where the program when executed may include all the program steps involved in a stacking method that the computer control system is configured to execute. The computer storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), a random-access memory (random access memory, RAM), or the like.
In this specification, the same and similar parts of the embodiments are referred to each other, and some embodiments are not described in detail.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope of the invention being indicated by the following claims. The true scope and spirit of the invention is indicated by the following claims.
Claims (13)
1. A stacking method, comprising:
calculating the number of material layers in the material piling area, the number of material piles of each material layer and the corresponding coordinates of discharging points of each material pile by using the preset material pile interval, the preset material pile height, the length and the width of each material layer and the length, width and the height of the material piling area; the height coordinate of the unloading point is calculated according to the unloading reserved height, the layer number of the material layer and the preset material pile height, so that the minimum height difference between the unloading opening of the material pile device and the current material layer is equal to the unloading reserved height;
calculating the operation parameters of the stacking device at each unloading point by using the coordinates of the unloading point corresponding to each stack;
after the operation state of the stacking device at each unloading point is adjusted according to the operation parameters, controlling the stacking device to unload at the unloading point;
when the material piles corresponding to the unloading points reach the preset material pile height, continuing to unload at the next unloading point until all the material piles in the current material layer reach the preset material pile height, and continuing to execute the material pile process on the material layer on the current material layer until all the material layers in the material pile space are fully piled, wherein the material pile process is finished.
2. The method according to claim 1, characterized in that the number of piles comprised per layer is calculated in the following way:
wherein M is i The number of the stockpiles of the ith material layer is equal to or more than 1 and equal to or less than N, and N is the number of the material layers; a is that i Represents the number of piles included in the ith layer, B i Representing the number of stockpiles included in the ith layer; l (L) i For the length of each layer, W i For the width of each layer, W 1 For the width of the stacking area L 1 And r is the preset material pile interval for the length of the material pile area.
3. A method according to claim 2, characterized in that the coordinates [ X ] of the discharge point for each pile are calculated as follows i-j-k ，Y i-j-k ，Z i ]：
[X i-j-k ,Y i-j-k ]＝[k×r,j×r]+(i-1)[r,r]
Z i ＝i×H y +h
Wherein X is i-j-k X-axis coordinates representing discharge points corresponding to the jth row and kth column of stockpiles in the ith material layer, Y i-j-k Representing Y-axis coordinates of a discharging point corresponding to a jth row and a kth column of stockpiles in an ith material layer, Z i Representing Z-axis coordinates of a discharging point corresponding to each material pile in the ith material layer, wherein j is more than or equal to 1 and less than or equal to A i ，1≤k≤B i ；H y And h represents the preset pile height, and h represents the unloading reserved height.
4. A method according to claim 3, wherein the stacker is provided with a boom, the end of which is provided with a discharge opening for discharging at the discharge point, and the operating parameters include the pitch angle of the boom, the swivel angle of the boom and the travelling position of the stacker.
5. The method of claim 4, wherein the pitch angle β is calculated as follows i ：
Wherein H represents the height of the pitch rotation point of the boom; l represents the length of the large arm.
6. The method according to claim 5, characterized in that the swivel angle ω is calculated as follows i-j-k ：
Wherein X is i-j-k And the X-axis coordinate of the unloading point corresponding to the jth row and the kth column of the material pile in the ith material layer is shown.
7. The method according to claim 6, characterized in that the travel position I of the stacker is calculated in the following way i-j-k ：
I i-j-k ＝Y i-j-k -L×cosβ i *sinω i-j-k
Wherein Y is i-j-k And the Y-axis coordinate of the unloading point corresponding to the jth row and the kth column of the material pile in the ith material layer is shown.
8. The method according to claim 4, wherein the method further comprises:
acquiring the stacking height of the current material stack measured by the distance measuring device; wherein the distance measuring device is arranged at the discharge opening;
and when the difference between the preset material pile height and the material pile height is smaller than a preset threshold value, controlling the discharge opening to stop discharging.
9. The method according to claim 4, wherein the method further comprises:
projecting the three-dimensional material pile model scanned by the scanning device in an XOY coordinate system to obtain a projection plane of the material pile;
wherein the scanning device is arranged on the large arm;
calculating the residual material quantity of the material pile according to the projection plane; the residual material quantity is used for guiding the material feeding quantity of the material during stacking.
10. The method according to claim 9, characterized in that the remaining volume V of the pile is calculated according to the formula i-j-k ：
In the method, in the process of the invention,
representing the area represented by each material point in the projection plane, d representing the distance between each material point in the projection plane and the projection point of the discharge point in the projection plane, θ representing the angle of repose, (m, n) representing the coordinate value of each material point in the projection plane, h m,n Representing the height of the material point (m, n) in the projection plane.
11. A stacker apparatus, comprising:
the base is provided with a travelling mechanism moving along the track at the bottom and used for adjusting the travelling position of the pushing device; the conveying mechanism is used for conveying materials to the discharge opening; the horizontal rotating mechanism is used for adjusting the rotation angle of the large arm, and the pitching rotating mechanism is used for adjusting the pitching angle of the large arm; a computer control system configured to perform the following program steps:
calculating the number of material layers in the material piling area, the number of material piles of each material layer and the corresponding coordinates of discharging points of each material pile by using the preset material pile interval, the preset material pile height, the length and the width of each material layer and the length, width and the height of the material piling area; the height coordinate of the unloading point is calculated according to the unloading reserved height, the layer number of the material layer and the preset material pile height, so that the minimum height difference between the unloading opening of the material pile device and the current material layer is equal to the unloading reserved height;
calculating the operation parameters of the stacking device at each unloading point by using the coordinates of the unloading point corresponding to each stack;
controlling the actions of the horizontal rotating mechanism, the pitching rotating mechanism and the travelling mechanism according to the operation parameters so as to lead the discharge opening to be aligned with the discharge point, starting the forward transmission of the conveying mechanism, and conveying the materials to the discharge opening for discharging;
when the material piles corresponding to the discharging points reach the preset material pile height, the discharging opening is controlled to move to the next discharging point to discharge until all the material piles in the current material layer reach the preset material pile height, the material pile process is continuously executed on the material layer of the current material layer until all the material layers in the material pile space are fully piled, and then the material pile process is finished.
12. The apparatus of claim 11, wherein the device comprises a plurality of sensors,
the distance measuring device is used for detecting the stacking height, so that when the difference value between the preset stacking height and the stacking height is smaller than a preset threshold value, the computer control system controls the conveying mechanism to stop conveying materials to the discharge opening;
and/or the discharge opening is provided with a scanning device which is used for scanning the three-dimensional material pile model, so that the computer control system utilizes a projection plane of the three-dimensional material pile model projected on a horizontal coordinate system to calculate the residual material quantity of the material pile, and the residual material quantity is used for guiding the incoming material quantity of the material during material piling.
13. The apparatus of claim 11 or 12, wherein the end of the large arm is further provided with a bucket-wheel reclaimer mechanism, the bucket-wheel reclaimer mechanism remaining inactive when the stacker is stacking; when the stacker-reclaimer reclaims materials, the bucket-wheel reclaimer is controlled to rotate, the conveying mechanism is controlled to reversely drive, and the materials acquired by the bucket-wheel reclaimer are conveyed away through the conveying mechanism.
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| JPS5770212A (en) * | 1980-10-22 | 1982-04-30 | Toshiba Corp | Measuring device for profile of heap of charge in blast furnace |
| DE102004049047A1 (en) * | 2004-08-31 | 2006-03-09 | Abb Patent Gmbh | Bulk loose material volume measuring system, e.g. for measuring power station coal reserve, has volume scanning system that moves and operates independently of filling and emptying systems |
| CN101104480B (en) * | 2006-07-14 | 2011-01-19 | 宝山钢铁股份有限公司 | Unmanned piling and taking technique for bulk cargo stock yard |
| CN106892278A (en) * | 2017-01-09 | 2017-06-27 | 中交航局安装工程有限公司 | A kind of method that stacker is layered automatic stockpiling |
| CN107010425B (en) * | 2017-05-11 | 2019-01-15 | 上海振华重工电气有限公司 | Full-automatic windrow operational method |
| CN107324075B (en) * | 2017-06-27 | 2019-08-02 | 上海振华重工(集团)股份有限公司 | Windrow method based on the movement of stacker row |
| CN108147147B (en) * | 2017-12-13 | 2022-04-01 | 泰富重工制造有限公司 | Automatic intelligent material piling and taking system |
| CN108128638B (en) * | 2017-12-13 | 2021-12-07 | 泰富重工制造有限公司 | Automatic material taking method of material taking system |
| CN108549337A (en) * | 2018-04-02 | 2018-09-18 | 泰富智能科技有限公司 | A kind of dispatching method of feeding |
| CN111115289A (en) * | 2019-12-05 | 2020-05-08 | 神华粤电珠海港煤炭码头有限责任公司 | Automatic material piling and taking wharf control method and system based on three-dimensional modeling |
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