CN115217352A - Intelligent canopy system of rigid landfill and control method - Google Patents
Intelligent canopy system of rigid landfill and control method Download PDFInfo
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- CN115217352A CN115217352A CN202210501322.9A CN202210501322A CN115217352A CN 115217352 A CN115217352 A CN 115217352A CN 202210501322 A CN202210501322 A CN 202210501322A CN 115217352 A CN115217352 A CN 115217352A
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H1/00—Buildings or groups of buildings for dwelling or office purposes; General layout, e.g. modular co-ordination or staggered storeys
- E04H1/12—Small buildings or other erections for limited occupation, erected in the open air or arranged in buildings, e.g. kiosks, waiting shelters for bus stops or for filling stations, roofs for railway platforms, watchmen's huts or dressing cubicles
- E04H1/1205—Small buildings erected in the open air
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
- B66C17/06—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports specially adapted for particular purposes, e.g. in foundries, forges; combined with auxiliary apparatus serving particular purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
- B66C9/14—Trolley or crane travel drives
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/24—Safety or protective measures preventing damage to building parts or finishing work during construction
- E04G21/28—Safety or protective measures preventing damage to building parts or finishing work during construction against unfavourable weather influence
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/30—Landfill technologies aiming to mitigate methane emissions
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- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The utility model relates to a hazardous waste landfill field provides an intelligent canopy system and control method of rigidity landfill, the crane rail that bridge crane and canopy share of this application, is equipped with crane side couple and canopy side couple on bridge crane and the canopy respectively, and the two is the couple subassembly that can link up automatically that corresponds. The method comprises the steps that a landfill yard operation and stop management system determines a target rain shading coordinate, a crane position detection system detects a real-time coordinate of a crane side hook, a crane control system sends a driving instruction to a crane traveling system according to a radar signal, so that a bridge crane is controlled by the crane traveling system to move a preset fixed distance towards a rainshelter, then a hook component is controlled to automatically grab and connect, and the rainshelter is dragged to an appointed rain shading landfill pit by the bridge crane according to the real-time coordinate and the target rain shading coordinate. Therefore, the system and the method of the embodiment of the application realize the organic combination of all elements, improve the management efficiency and the safety, reduce the operation posts and reduce the equipment cost.
Description
Technical Field
The application relates to the field of hazardous waste landfill treatment, in particular to an intelligent canopy system of a rigid landfill and a control method.
Background
With the development of industry, the discharge of hazardous wastes (hereinafter referred to as "hazardous wastes") in the industrial production process is increasing day by day, and the hazardous waste safe landfill is a hazardous waste disposal mode, which refers to a technology for finally disposing hazardous wastes after curing treatment in a safe landfill, and a rigid landfill is required to be constructed when the site of the landfill cannot meet the address condition and the saturated permeability coefficient of a natural foundation layer or the site is located in a high-compressibility silt, peat and soft soil area according to the hazardous waste landfill pollution control standard.
Fig. 1 (a) is a schematic plan view of a rigid landfill provided in the prior art, and (b) is a schematic elevation view of a rigid landfill provided in the prior art. The rigid landfill sites are independent bins, namely landfill pits 1, which are mutually isolated, are uniformly distributed in the transverse direction and the longitudinal direction to form mutually parallel unit rows and mutually parallel unit columns, the adjacent landfill pits 1 share a side wall retaining wall, and each rigid landfill pit 1 is subjected to waterproof reverse osmosis treatment. The top of the pit wall of the landfill pit is provided with a bridge crane rail 2 along the unit row direction, a bridge crane 3 moves along the bridge crane rail 2 from the upper part of a hoisting area 4 to the upper part of a rigid landfill pit 1 in the same unit row, the landfill operation is started, and the crane can not move across the unit row in normal operation.
And each rigid landfill pit 1 is sequentially filled with hazardous wastes, and a canopy is arranged in each rigid landfill pit 1 filled with the hazardous wastes according to the hazardous waste landfill pollution control standard so as to prevent rainwater from entering.At present, the area of a typical rigid landfill site landfill pit 1 does not exceed 50m 2 Volume of not more than 250m 3 For example, the size of the interior of a landfill pit of a rigid landfill site is 7m × 7m × 5m, and it takes about 10 working days to fill one landfill pit based on the size of the landfill pit and the current domestic filling efficiency, during which time it takes to rain and snow, and it is necessary to stop the landfill work, start the rain-shielding work, cover a rain shed in time, and stop the entry of rainwater. When dangerous waste fills a landfill pit, the landfill unit is sealed, a rain shed does not need to be covered any more, and the crane continues the landfill operation of the next landfill pit.
Conventional rigid landfill rainsheds have both full-coverage rainsheds and self-propelled rainsheds. The full-coverage type rain shed has large investment and high cost, under the general condition, the rigid landfill site needs years of time for full landfill, the full-coverage type rain shed is in an empty state in most of time, the use efficiency is low, the full-coverage type rain shed is easy to damage for a long time, the maintenance cost of the large rain shed is high, and the manpower and material resources are greatly consumed; the self-propelled canopy is generally sized to cover a rigid landfill pit, requires a self-provided motor power and a moving mechanism, and is provided with a canopy moving track independently, so that the structure is complex and the cost is high.
In order to overcome the problems of large investment and high cost of the traditional canopy, the prior art provides a hoisting type canopy 5, fig. 2 is a schematic plane view of the hoisting type canopy provided by the prior art, and fig. 3 is a front view of the hoisting type canopy provided by the prior art. The lifting lugs 51 are symmetrically arranged on the lifting type canopy 5, when the rain sheltering operation is carried out, a lifting rope or a lifting hook of the bridge crane 3 penetrates through the lifting lugs 51 to lift the lifting type canopy 5, then the bridge crane is controlled to move to the position above a landfill pit of the current rain sheltering operation, and then the rope is loosened or unhooked.
However, when the rain sheltering operation is performed through the hoisting type canopy, manual operation is required during hooking, positioning and unhooking, and the intelligence degree is low; in addition, since the hoisting canopy is hoisted, the width of the hoisting canopy in the Y direction (i.e., the direction of the row of units) needs to be smaller than the depth of the opposite side rail, and therefore, the edge of the hoisting canopy must be located inside the rail, which may cause the risk that rainwater cannot be smoothly discharged and enters the landfill pit being filled.
Disclosure of Invention
The application provides an intelligent canopy system of a rigid landfill and a control method, and aims to solve the problems that manual access links are multiple and rainwater cannot be smoothly discharged in the existing landfill canopy system.
The first aspect of the application provides an intelligent canopy system for a rigid landfill, which comprises a landfill parking management system 100, a crane control system 200, a crane traveling system 300, a crane position detection system 400, a crane rail 2 positioned on the wall of a landfill, a bridge crane 3 sliding along the crane rail and a canopy 6; the bridge crane 3 is connected with a crane walking system 300;
the canopy 6 comprises a canopy top 61 and pulleys 62 at the bottom of the canopy top, the pulleys 62 are used for sliding on the crane rails 2, a canopy side hook 63 is arranged on the outer edge of one side of the canopy top 61 close to the bridge crane 3, and the canopy 6 is placed on a landfill pit at the tail end of a landfill site for standby during landfill operation; the bridge crane 3 is provided with a beam 33, two ends of the beam 33 are respectively fixed at the tail ends of two supports close to the side of the canopy 6, the beam 33 is provided with a crane side hook 34, the crane side hook 34 and the canopy side hook 63 are hook components 500 capable of being automatically connected, so that the bridge crane 3 drags the canopy 6 on the crane track 2 through the hook components 500;
the landfill yard operation and stop management system 100 is configured to store target rain shading coordinates corresponding to each landfill yard according to the landfill yard plane layout, and send the target rain shading coordinates corresponding to a designated rain shading landfill yard to the crane control system 200, where the target rain shading coordinates are coordinates of the corresponding crane side hook 34 when the bridge crane 3 drags the rain shed 6 to the position above the designated landfill yard; the crane position detection system 400 includes a position detection device provided on the crane side hook 34, the position detection device being configured to detect a real-time coordinate of the crane side hook 34 and to transmit the real-time coordinate to the crane control system 200; the bridge crane 3 is further provided with a radar sensing device 600, and the radar sensing device 600 is used for sending a radar signal which is sensed to the canopy 6 to the crane control system 200;
the crane control system 200 is configured to perform the following operations:
according to the received radar signal, a traveling command is sent to the crane traveling system 300, so that the crane traveling system 300 controls the bridge crane 3 to move a preset fixed distance towards the rain shed 6;
the hook assembly 500 is controlled to automatically grab and engage and, based on the real-time coordinates and the target rain-sheltering coordinates, the bridge crane 3 is controlled to tow the rainshed 6 to the designated rain-sheltering landfill pit.
Alternatively, the direction in which the bridge crane 3 slides along the crane rail 2 is an X-axis direction, and the direction of the landfill unit row is a Y-axis direction;
the crane side hook 34 and the canopy side hook 63 are at the same position in the Y-axis direction;
the crane-side hook 34 and the canopy-side hook 63 are located at the same position in the Z-axis direction.
Optionally, the radar sensing device 600 includes a first radar 35 and a second radar 36, the first radar 35 is disposed at an end of the first bracket 31 corresponding to the side of the canopy 6, and the second radar 36 is disposed at an end of the second bracket 32 corresponding to the side of the canopy 6, where the first bracket 31 and the second bracket 32 are two brackets of the bridge crane 3 near the side of the canopy 6;
the equipment center heights of the first radar 35, the second radar 36 and the ceiling 61 are the same.
Optionally, the landfill yard operation and stop management system 100 includes a weather forecast system 101, an operation center 102, a communication unit 103, and a landfill yard operation and stop database 104;
the landfill yard stop database 104 is used for storing the progress state of the landfill yard and sending the progress state to the operation center 102;
the weather forecast system 101 is configured to obtain weather forecast information and send the weather forecast information to the operation center 102;
the operation center 102 is configured to generate a landfill rain-shielding plan according to the received weather forecast information and the received progress status, and send the landfill rain-shielding plan to the crane control system 200 through the communication unit 103, where the landfill rain-shielding plan includes a stop plan of landfill work and rain-shielding work, a designated rain-shielding landfill pit, and a corresponding target rain-shielding coordinate.
Optionally, the landfill yard operation and shutdown management system 100 further includes a rainfall monitoring system 105, where the rainfall monitoring system 105 is configured to monitor a real-time weather state and access the real-time weather state information to the operation center 102, so that the operation center 102 updates the landfill rain-shielding plan according to the real-time weather state.
The second aspect of the present application provides a method for controlling an intelligent canopy system of a rigid landfill, comprising:
storing target rain-shading coordinates corresponding to each landfill pit according to the planar arrangement of the landfill site, and sending the target rain-shading coordinates of the current rain-shading operation to the crane control system 200, wherein the target rain-shading coordinates are coordinates of a corresponding crane side hook 34 when the bridge crane 3 drags the rain shed 6 to the position above the specified landfill pit;
receiving rain shielding operation, and controlling the bridge crane 3 to move towards the rain shed 6;
receiving a radar signal sent by the radar sensing device 600, and controlling the bridge crane 3 to continuously move a preset fixed distance towards the canopy 6, so that the hook assemblies 500 can be connected;
controlling the hook assembly 500 to automatically grab and engage, acquiring the real-time coordinate of the crane side hook 34, and determining a rain shielding movement track according to the real-time coordinate and the target rain shielding coordinate; and sending the rain shielding movement track to a crane walking system 300, and controlling the bridge crane 3 dragged with the canopy 6 to slide by the crane walking system 300 according to the rain shielding movement track, so that the real-time coordinate of the crane side hook 34 is coincided with the target rain shielding coordinate, and the rain shielding operation is completed.
Optionally, the storing target rain-shading coordinates corresponding to each landfill pit according to the landfill site planar arrangement, and sending the target rain-shading coordinates of the current rain-shading operation to the crane control system includes:
acquiring a weather forecast and a progress state of a landfill site, and generating a landfill rain shielding plan according to the weather forecast and the progress state, wherein the landfill rain shielding plan comprises a landfill operation and a rain shielding operation stop plan, a designated rain shielding landfill pit and a corresponding target rain shielding coordinate;
the landfill rain shelter plan is directed to the crane control system 200 to initiate rain shelter operations by the crane control system 200 according to the operational stop plan for the rain shelter operations.
Optionally, the receiving a radar signal sent by the radar sensing device 600, and controlling the bridge crane 3 to move continuously to the canopy direction by a preset fixed distance includes:
when the radar sensing device 600 senses the canopy 6, a radar signal is sent to the crane control system 200;
the crane control system 200 receives the radar signal and controls the bridge crane 3 to move continuously to the rainshed 6 by a preset fixed distance, wherein the preset fixed distance is a radar sensing distance detected in the commissioning and debugging stage of the crane;
the direction that the bridge crane 3 slides along the crane track 2 and is far away from the hoisting area 4 is the X-axis forward direction, and when the crane control system 200 receives a radar signal, the preset fixed distance is the coordinate value of the rainshelter side hook 63 in the X-axis direction minus the coordinate value of the radar sensing device 600 in the X-axis direction.
Optionally, the method further comprises:
when the control hook assembly 500 automatically grabs and engages, the coordinates of the crane side hook at the moment are recorded as the coordinates for rain-stopping and standby,
before the landfill operation is restarted, controlling the bridge crane 3 to push the rain shed 6 to a standby position at the tail end of the landfill site according to the real-time coordinate and the rain stopping standby coordinate of the crane side hook 34;
the hook assembly 500 is controlled to automatically unhook and unhook.
Optionally, the method further comprises acquiring a real-time weather state, and intervening the landfill rain-shielding plan according to the real-time weather state.
According to the technical scheme, the bridge crane 3 and the canopy 6 share the crane track 2, the bridge crane 3 and the canopy 6 are respectively provided with the crane side hook 34 and the canopy side hook 63, and the crane side hook 34 and the canopy side hook 63 are corresponding hook components 500 capable of being automatically connected. The landfill yard operation and stop management system 100 determines a target rain shielding coordinate, the crane position detection system 400 detects a real-time coordinate of the crane side hook 34, the crane control system 200 transmits a driving command to the crane traveling system 300 according to a radar signal, so that the crane traveling system 300 controls the bridge crane 3 to move a preset fixed distance in the direction of the canopy 6, then the crane traveling system 300 controls the hook assembly 500 to automatically grab and engage, and the bridge crane 3 drags the canopy 6 to a designated rain shielding landfill pit according to the real-time coordinate and the target rain shielding coordinate. Therefore, the system and the method realize the organic combination of all elements, improve the management efficiency and the safety, reduce the operation posts and reduce the equipment cost; the size of the rain shed 6 is not limited by the overhead traveling crane 3.
Drawings
FIG. 1 is a schematic diagram of a rigid landfill provided in the prior art;
FIG. 2 is a schematic plan view of a suspended canopy of the prior art;
FIG. 3 is a front view of a suspended canopy of the prior art;
fig. 4 is a top view of an intelligent canopy system provided by an embodiment of the present application;
fig. 5 is a side view of an intelligent canopy system provided by an embodiment of the present application;
fig. 6 is a schematic structural diagram of a canopy according to an embodiment of the present disclosure;
FIG. 7 is a schematic structural diagram of an overhead traveling vehicle according to an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of an intelligent canopy system provided in an embodiment of the present application;
fig. 9 is a schematic structural diagram of a landfill yard outage management system according to an embodiment of the present application;
fig. 10 is a schematic view of an operation process of the intelligent canopy system according to the embodiment of the present application.
Detailed Description
Fig. 4 is a top view of an intelligent canopy system provided in an embodiment of the present application.
Fig. 5 is a side view of an intelligent canopy system provided in an embodiment of the present application.
Referring to fig. 4 and 5, the embodiment of the present application provides an intelligent canopy system for a rigid landfill site, which is used for sheltering a landfill pit in hazardous waste landfill from rain, so as to effectively isolate hazardous waste from rain. In the present embodiment, the landfill site 1 can be represented by row number and column number, as shown in fig. 4, the rigid landfill site includes rows a to E and columns 1 to 8, for example, C6 represents row C and column 6, the crane can not move across rows normally, the crane in row a moves on row a, and the crane can move to other rows after the landfill site in row a is completely filled with the landfill site. The 1 st and the last columns of the rigid landfill are not provided with landfill pits, a dangerous waste conveying vehicle enters a road below the 1 st column, the dangerous waste conveying vehicle conveys the dangerous waste to a hoisting area 4 so as to facilitate the bridge crane 3 to carry out landfill operation, and the last column is a standby staying area at the tail end of the landfill.
The intelligent canopy system of the embodiment of the application comprises a crane rail 2 located on the wall of a landfill pit, a bridge crane 3 sliding along the crane rail and a canopy 6, wherein a travelling mechanism is arranged below the canopy 6, and the travelling mechanism and the bridge crane 3 share the crane rail 2. During the landfill operation, canopy 6 is located the terminal landfill hole of landfill and is reserved, and canopy 6 simple structure does not have the motor by oneself, can't remove by oneself, and canopy side couple 63 is installed on the shed roof 61 of canopy 6 on the one side outer edge that is close to bridge crane 3. Be equipped with crossbeam 33 on the bridge crane, the both ends of this crossbeam 33 are fixed respectively and are being close to two support ends of canopy 6 side, install crane side couple 34 on the crossbeam 33, but crane side couple 34 and canopy side couple 63 are automatic couple subassembly 500 that links up, be close to canopy 6 when bridge crane 3, reach certain distance requirement after, can control couple subassembly 500 and link up automatically, accomplish the couple operation, then bridge crane 3 drags canopy 6 to appointed rain-sheltering landfill hole on crane track 2 through couple subassembly 500, accomplish the rain-sheltering operation.
Referring to fig. 6, (a) in fig. 6 is a front view of the canopy according to the embodiment of the present application, and (b) is a side view of the canopy according to the embodiment of the present application. Since the canopy 6 of the embodiment of the present application is towed, not hoisted, the size of the canopy 6 is not specifically limited, and the coverage area of the canopy 61 may be a size of a landfill pit, and the shape is preferably square. In a preferred embodiment, the edge of the rain shed 6 in the Y direction extends to cover the crane rail 2 to isolate all rain water outside the rail, and drainage ditches 21 are further arranged on both sides of the rail to drain the rain water more smoothly. Running gear below canopy 6 can be pulley equipment, and this application embodiment respectively establishes a pulley 62 at four angles of canopy 6 for canopy 6 moves steadily above crane rail 2. Canopy side couple 63 adopts the couple subassembly that can link up the straining automatically and can loosen automatically, and this application embodiment sets up canopy side couple 63 in the centre that is close to bridge crane 3 one side outer edge, makes things convenient for bridge crane side couple 34 to snatch the linking, and canopy side couple 63 sets up in the centre in order to prevent that canopy 6 from removing unbalance.
Referring to fig. 7, (a) in fig. 7 is a top view of the overhead traveling vehicle provided in the embodiment of the present application, (b) in a front view of the overhead traveling vehicle provided in the embodiment of the present application, and (c) in a side view of the overhead traveling vehicle provided in the embodiment of the present application. The bridge crane 3 is provided with four supports, two supports close to the side of the canopy 6 are a first support 31 and a second support 32, the first support 31 and the second support 32 are respectively positioned on the opposite crane rail 2, and the first support 31 and the second support 32 are parallel. In order to stably engage the canopy-side hook 63 with the crane-side hook 34, a cross member 33 is provided between the end of the first bracket 31 and the end of the second bracket 32, and the crane-side hook 34 is provided on the cross member 33, wherein the position of the crane-side hook 34 corresponds to the position of the canopy-side hook 63.
In order to more clearly explain the positional relationship between the crane-side hook 34 and the canopy-side hook 63, the following description is further made by three-dimensional coordinates. Establishing a three-dimensional coordinate system by taking the direction of the bridge crane 3 sliding along the crane track 2 and far away from the hoisting area 4 as an X-axis positive direction, the direction perpendicular to the crane track 2 and from the second support 32 to the first support 31 as a Y-axis positive direction, the direction of the depth of the landfill pit and from the pit bottom to the pit wall as a Z-axis positive direction, and the origin of coordinates is not particularly limited, wherein in a preferred embodiment, the vertical coordinate of the equipment center of the canopy top 61 is Z 0 At the end of the bridge crane 3 supportThe end vertical coordinate is an elevation position, a cross beam 33 is arranged, and the crane side hook coordinate (x) Side hook of crane ,y Side hook of crane ,z Side hook of crane ) The corresponding coordinate value is (x) 1i ,y 1 ,z 0 ) In which the abscissa varies with the movement of the bridge crane 3, the canopy side hook coordinate (x) Canopy side hook ,y Canopy side hook ,z Canopy side hook ) The corresponding coordinate value is (x) 1j ,y 1 ,z 0 ) Wherein the abscissa varies with the movement of the canopy 6, the ordinate and the ordinate of the crane side hook 34 of the canopy side hook 63 match each other in location, make things convenient for the crane side hook to grasp and link up the canopy side hook, in addition, preferably install the crane side hook 34 in the middle position of the crossbeam 33, in order to prevent that it is unbalanced when grasping the canopy.
In order to improve the working efficiency of the intelligent canopy system for the rigid landfill site and reduce the manual access links, in the embodiment of the present application, the control system is used to participate in the rain sheltering operation, as shown in fig. 8, the intelligent canopy system for the rigid landfill site further includes a landfill site parking management system 100, a crane control system 200, a crane traveling system 300, a crane position detection system 400 and a radar sensing device 600. The landfill yard operational stop management system 100 is connected for bidirectional data communication with the crane control system 200, and the crane control system 200 is connected with the crane traveling system 300, the crane position detection system 400, the radar sensing device 600, and the hook assembly 500, respectively.
The crane traveling system 300 is a driving system of the crane, and includes a switch, a contactor, a frequency converter, and the like, and the crane traveling system 300 receives an operation instruction of the crane control system 200, and is an execution link of the movement of the bridge crane 3.
The crane position detecting system 400 includes a position detecting device provided on the crane-side hook 34 for detecting a real-time three-dimensional coordinate of the crane-side hook 34 and transmitting the real-time three-dimensional coordinate to the crane control system 200. The position detection device comprises a position encoder, a laser ranging device, a position sensing belt and other modes, and various different detection modes have mature implementation schemes and are not described any more.
The radar sensing device 600 is arranged on the bridge crane 3When the bridge crane 3 moves a certain distance in front of the canopy 6, the radar senses the canopy and feeds information back to the crane control system 200. Because shed roof 61 is the slice under the usual condition, for better response, the position height that sets up radar induction system 600 is the same with shed roof 61 equipment center height, and radar induction system 600 of the embodiment of this application includes first radar 35 and second radar 36, first radar 35 is located the end that first support 31 corresponds canopy 6 side, and second radar 36 is located the end that second support 32 corresponds canopy 6 side, is Z for the equipment center vertical coordinate of canopy shed roof 61 0 In this case, the vertical coordinates of the center of the device of the first radar 35 and the second radar 36 are also set to Z 0 . In addition, for different crane size specifications, the relative equipment distance can be input into the crane control system 200, and the three-dimensional coordinates of the first radar 35 and the second radar 36 can be obtained through corresponding calculation according to the positions of the crane side hooks 34.
After receiving the radar signal, the crane control system 200 controls the bridge crane 3 to move forward by a preset fixed distance, i.e., adjusts the operation stop position to perform the next operation of hooking and grabbing the canopy 6. The preset fixed distance is the induction distance of the radar at the moment, and can be obtained through experiments in the commissioning and debugging stage of the crane. When the radar sensing device 600 senses the rainshed 6, the preset fixed distance may be the coordinate value of the rainshed side hook 63 in the X-axis direction minus the coordinate value of the radar sensing device 600 in the X-axis direction.
The landfill yard parking management system 100 is used for storing target rain-shading coordinates corresponding to each landfill pit according to the plane arrangement of the landfill yard, when the bridge crane 3 drags the rain sheds 6 to the designated rain-shading landfill pits, the coordinates of the crane side hooks 34 are the target rain-shading coordinates corresponding to the designated rain-shading landfill pits, for example, when the internal dimension of each landfill pit of a certain rigid landfill yard is 7m multiplied by 5m, the landfill pits are arranged in rows A to E and 1 to 8 rows, and according to the plane arrangement, the corresponding crane side hooks can be calculated and recorded as X (X) respectively when the crane successfully drags the rain sheds to the rows A to E and the designated landfill pits in the rows 1 to 8 are right above the corresponding crane side hooks A1 ,Y A1 ,Z A1 )、(X A2 ,Y A2 ,Z A2 )～(X E7 ,Y E7 ,Z E7 )、(X E8 ,Y E8 ,Z E8 ) And stored in a database. The landfill yard operation and stop management system 100 sends the target rain-shading coordinate of the current rain-shading operation to the crane control system 200, and the crane control system 200 drags the rainshed to the designated rain-shading landfill pit according to the target rain-shading coordinate and the real-time coordinate of the crane side hook 34 after controlling the bridge crane 3 to grab the rainshed 6.
In a preferred embodiment, the landfill yard operation and stop management system 100 specifically includes a weather forecast system 101, a computing center 102, a communication unit 103, a landfill yard operation and stop database 104 and a rainfall monitoring system 105.
The weather forecast system 101 adopts weather forecast information of a network platform, and is connected to the operation center 102 through software, so that the management system can predict rain information in the future in advance, and intelligently plan the operation and stop plans of the landfill operation and the rain shielding operation according to the weather forecast, wherein the operation and stop plans comprise when the landfill operation is executed and how the rain shielding operation is executed, the operation center 102 transmits the operation and stop plans to the crane control system 200 through the communication unit 101, so that the bridge crane 3 can drag the rain shed 6 to the upper part of a landfill pit before raining, and the rain of dangerous waste materials is avoided. The weather forecast and the communication mode of information access in various modes have mature application schemes, and are not described herein again.
The operation center 102 is a core calculation unit of the landfill yard operation and stop management system 100, the progress state and weather information of the landfill yard are all collected into the operation center for calculation, the operation center calculates a landfill rain shielding plan according to each collected information, the landfill rain shielding plan comprises an operation and stop plan of a landfill operation and a rain shielding operation, a designated rain shielding landfill pit and a corresponding target rain shielding coordinate, and then information such as the landfill rain shielding plan is output to a corresponding unit. The operation center can adopt various kinds of commercially mature control system CPU equipment.
The communication unit 103 is a device for bidirectional information transmission between the operation center 102 and the crane control system 200, the operation center 102 transmits the latest landfill rain-shading plan to the crane control system 200 through the communication unit 103, the communication unit 103 obtains the latest crane running state from the crane control system 200, and meanwhile, the communication unit 103 uploads each state information to the landfill cloud platform, so that the function of visiting and checking relevant landfill information filling by visitors is realized. Communication devices have been developed in various ways and embodiments, and are not described herein.
The landfill yard operation and stop database 104 is an electronic warehouse that organizes, stores, and manages data, and the landfill yard operation and stop database 104 organizes, stores, and manages data of each state of the landfill yard including target rain shading coordinates, a landfill yard filling progress, and the like corresponding to each landfill yard in a set manner, and an exemplary landfill yard filling progress table will be described as shown in table 1 below.
Table 1 landfill loading schedule
| Time | Filling plan time | Actual time of filling | Deviation duration (h) | Landfill numbering |
| 2021-6-10 | 8 | 8 | 0 | A1 |
| … | … | … | … | |
| 2021-6-18 | 8 | 8 | 2 | A1 |
| 2021-6-19 | Out of service | Out of service | 0 | A1 |
| … | … | … | … | |
| 2021-7-20 | 8:00 to 15 | 8 | 0 | A3 |
| 2021-7-21 | 13:00 to 18 | Temporarily do not go on |
The rainfall monitoring system 105 employs a rainfall monitoring instrument to monitor the weather conditions in real time, and can intervene in the execution of the rain sheltering operation, and the rainfall monitoring system 105 functions when the weather forecast does not suggest rainfall, but when it actually rains. When it is detected that it is raining, the information is accessed to the operation center, the operation center updates the daily landfill rain-shielding plan in real time according to the real-time weather state, and communicates the landfill rain-shielding plan to the crane control system 200, so that the crane stops the landfill operation, and the canopy covering work is performed. The rainfall detection device has various different detection modes and devices, and mature implementation schemes are provided, which are not described herein again.
The intelligent canopy system of the embodiment of the application can further comprise a remote controller 700, and the intelligent canopy system can be in an automatic control state and can also be in a manual control state. When the control is performed manually, a worker operates the bridge crane 3 through the remote controller 700 to move to a certain distance from the canopy 6, the hook assembly 500 is connected and then dragged to the canopy 6 to an appointed rain-sheltering landfill pit, namely, the remote controller 700 is connected with the crane control system 200, the remote controller 700 directly sends a driving operation instruction to the crane control system 200, and at the moment, the bridge crane 3 and the hook assembly 500 are controlled by the remote controller 700.
When the intelligent canopy system enters the automatic control state, the crane control system 200 receives the rain shielding operation according to the landfill rain shielding plan introduced by the landfill yard operation and stop management system 100, controls the bridge crane 3 to move toward the canopy 6, and controls the bridge crane 3 to move forward by a preset fixed distance when receiving the radar signal, so that the crane side hook 34 can grab the hook 63 connected to the canopy side. After the control hook assembly 500 is engaged, the real-time coordinates of the crane side hook 34 detected by the crane detection system 400 are recorded, the movement track of the bridge crane 3 is determined according to the target rain-sheltering coordinates and the real-time coordinates in the landfill rain-sheltering plan, and a driving command is sent to the crane traveling system 300, so that the crane traveling system 300 controls the bridge crane 3 to drag the canopy to a designated rain-sheltering landfill pit. When the rain is finished and before the landfill operation, the crane control system 200 sends an instruction to enable the bridge crane 3 to push the rain shed 6 to the original standby position, the hook component 500 is controlled to automatically unhook, and the bridge crane 3 returns to the original landfill pit designated by the crane control system 200 to start the landfill operation.
In order to more clearly illustrate the control process and the obtained beneficial effects of the intelligent canopy system provided by the embodiment, the embodiment further provides a control method of the intelligent canopy system of the rigid landfill site, the method is executed by the intelligent canopy system provided by the above embodiment, and the control method of the intelligent canopy system provided by the embodiment includes the following steps:
s1, storing target rain shading coordinates corresponding to each landfill pit according to the planar arrangement of the landfill site, and sending the target rain shading coordinates of current rain shading operation to a crane control system 200, wherein the target rain shading coordinates are coordinates of a corresponding crane side hook 3 when a bridge crane 3 drags a rain shed 6 to a position above a specified landfill pit.
After acquiring weather forecast information and a filling progress state of a landfill, determining a designated rain-sheltering landfill pit and a target rain-sheltering coordinate according to the rain time and the landfill pit in the landfill operation in the rain, and generating an operation and stop plan of the landfill operation and the rain-sheltering operation by an operation center according to the weather forecast information, wherein the normal landfill operation time of a crane is as early as 8:00 to night 18, assuming that the crane works above the landfill pit on the same day, the landfill yard operation and stop management system 100 receives the weather forecast for the second day on the same day, and plan for generating the landfill work and the rain shielding work according to the weather forecast for the second day is as follows:
for example, the second day weather forecast 1 to 10 rains, 10 to 24.
For another example, the second day weather forecast 12; the rest of the time period is not rainy. The landfill rain-shielding plan includes a landfill operation performed on the following days 8 00 to 11, and 11.
The allowance time interval set for the weather transition in the embodiment of the application is 10 minutes, and the allowance time interval can be set and changed according to actual requirements.
The landfill rain shelter plan is directed to the crane control system 200 to initiate rain shelter operations by the crane control system 200 according to the operational stop plan for the rain shelter operations. In addition, the worker may intervene in the implementation of the landfill rain shielding operation using the remote controller 700, start the rain shielding operation or stop the rain shielding operation using the remote controller 700, and also intervene in the implementation of the rain shielding operation using the feedback of the rainfall monitoring system 105, and when the weather forecast does not prompt rainfall but actually confirms the rainfall, the rainfall monitoring system 105 functions to feed back a rainfall signal to the operation center 102, and the operation center updates the landfill rain shielding plan and reintroduces the plan into the crane control system 200.
And S2, receiving rain shielding operation, and controlling the bridge crane 3 to move towards the canopy 6.
Referring to fig. 10, in the landfill operation, the bridge crane 3 loads hazardous wastes back and forth from the hoisting area 4 to the landfill pit 1, and the rain shed 6 is positioned on the landfill pit at the tail end of the landfill site for standby. After receiving the rain shielding operation, the bridge crane 3 moves toward the canopy 6.
And S3, receiving a radar signal sent by the radar sensing device 600, and controlling the bridge crane 3 to continuously move a preset fixed distance towards the rainshed 6 so that the hook component 500 can be connected.
When the radar sensing device 600 senses the canopy 6, a radar signal is sent to the crane control system 200, the crane control system 200 receives the radar signal, the bridge crane 3 is controlled to move continuously to the canopy 6 for a preset fixed distance, the preset fixed distance is the radar sensing distance detected in the crane commissioning debugging stage, and exemplarily, the preset fixed distance is the coordinate value of the canopy side hook 63 in the X-axis direction minus the coordinate value of the radar sensing device 600 in the X-axis direction.
S4, controlling the hook assembly 500 to automatically grab and link, acquiring the real-time coordinate of the crane side hook 34, determining a rain shielding movement track according to the real-time coordinate and the target rain shielding coordinate, sending the rain shielding movement track to the crane walking system 300, and controlling the bridge crane 3 dragged with the canopy 6 to slide by the crane walking system 300 according to the rain shielding movement track, so that the real-time coordinate of the crane side hook 34 and the target rain shielding coordinate coincide, and completing rain shielding operation.
When the hook component 500 is controlled to automatically grab and engage, the crane side hook coordinate at the moment can be recorded as a rain stopping standby coordinate, the rain stopping standby coordinate is fed back to the crane control system 200, after the rain is stopped, the bridge crane 3 is controlled to push the rain shed 6 to a standby position at the tail end of the landfill according to the real-time coordinate and the rain stopping standby coordinate of the crane side hook 34, and then the hook component 500 is controlled to automatically unhook and unhook. After the completion of the unhooking, the bridge crane 3 returns to the landfill operation state, and continues to perform the landfill work of the corresponding landfill pit. And updating the next landfill rain-shading plan, and after the current-day rain-shading and landfill operation is completed, updating and generating the next landfill rain-shading plan by the operation center 102 according to the latest weather forecast of the future day.
As can be seen from the foregoing embodiments, in the intelligent canopy system for a rigid landfill and the control method thereof provided by the embodiments of the present application, the bridge crane 3 and the canopy 6 share the crane rail 2, the bridge crane 3 and the canopy 6 are respectively provided with the crane-side hook 34 and the canopy-side hook 63, and the crane-side hook 34 and the canopy-side hook 63 are corresponding hook assemblies 500 capable of being automatically engaged. The landfill yard operation and stop management system 100 determines a target rain-shielding coordinate, the crane position detection system 400 detects a real-time coordinate of the crane side hook 34, the crane control system 200 sends a driving command to the crane traveling system 300 according to a radar signal, so that the crane traveling system 300 controls the bridge crane 3 to move a preset fixed distance in the direction of the canopy 6, then the hook assembly 500 is controlled to automatically grab and engage, and the bridge crane 3 tows the canopy 6 to a designated rain-shielding landfill pit according to the real-time coordinate and the target rain-shielding coordinate. Therefore, the system and the method of the embodiment of the application realize the organic combination of all elements, improve the management efficiency and the safety, reduce the operation posts and reduce the equipment cost.
The above-described embodiments of the present application do not limit the scope of the present application.
Claims (10)
1. An intelligent canopy system for a rigid landfill, comprising: the system comprises a landfill yard operation and stop management system (100), a crane control system (200), a crane traveling system (300), a crane position detection system (400), a crane rail (2) positioned on the wall of a landfill pit, a bridge crane (3) sliding along the crane rail and a canopy (6); the bridge crane (3) is connected with a crane walking system (300);
the rain shed (6) comprises a shed roof (61) and pulleys (62) at the bottom of the shed roof, the pulleys (62) are used for sliding on the crane rails (2), a rain shed side hook (63) is mounted on the outer edge of one side, close to the bridge crane (3), of the shed roof (61), and the rain shed (6) is placed on a landfill pit at the tail end of a landfill site for standby during landfill operation; the bridge crane (3) is provided with a cross beam (33), two ends of the cross beam (33) are respectively fixed at the tail ends of two supports close to the side of the rain shed (6), a crane side hook (34) is installed on the cross beam (33), and the crane side hook (34) and the rain shed side hook (63) are hook components (500) capable of being automatically connected, so that the bridge crane (3) drags the rain shed (6) on the crane rail (2) through the hook components (500);
the landfill yard operation and stop management system (100) is used for storing target rain shielding coordinates corresponding to each landfill yard according to the plane arrangement of the landfill yard, and sending the target rain shielding coordinates corresponding to the designated rain shielding landfill yard to the crane control system (200), wherein the target rain shielding coordinates are coordinates of corresponding crane side hooks (34) when the bridge crane (3) drags the rain shed (6) to the position above the designated landfill yard; the crane position detection system (400) comprises a position detection device arranged on the crane side hook (34), and the position detection device is used for detecting the real-time coordinate of the crane side hook (34) and sending the real-time coordinate to the crane control system (200); the bridge crane (3) is also provided with a radar sensing device (600), and the radar sensing device (600) is used for sending a radar signal sensed to the canopy (6) to the crane control system (200);
the crane control system (200) is configured to perform the following operations:
according to the received radar signals, a traveling command is sent to the crane traveling system (300), so that the crane traveling system (300) controls the bridge crane (3) to move a preset fixed distance towards the rain shed (6);
the hook component (500) is controlled to automatically grab and link, and the bridge crane (3) is controlled to drag the canopy (6) to an appointed rain shielding landfill pit according to the real-time coordinate and the target rain shielding coordinate.
2. The intelligent canopy system for a rigid landfill according to claim 1, wherein the direction in which the overhead traveling vehicle (3) slides along the crane rail (2) is an X-axis direction, and the direction in which the pit unit row is buried is a Y-axis direction;
the crane side hook (34) and the canopy side hook (63) are in the same position in the Y-axis direction;
the crane side hook (34) and the canopy side hook (63) are located at the same position in the Z-axis direction.
3. The intelligent canopy system for a rigid landfill according to claim 1, wherein the radar sensing device (600) comprises a first radar (35) and a second radar (36), the first radar (35) is provided at the end of the first bracket (31) corresponding to the side of the canopy (6), the second radar (36) is provided at the end of the second bracket (32) corresponding to the side of the canopy (6), wherein the first bracket (31) and the second bracket (32) are two brackets of the bridge crane (3) close to the side of the canopy (6);
the equipment center heights of the first radar (35), the second radar (36) and the shed roof (61) are the same.
4. The intelligent canopy system for a rigid landfill as claimed in claim 1, wherein the landfill yard operational stop management system (100) comprises a weather forecast system (101), a computing center (102), a communication unit (103) and a landfill yard operational stop database (104);
the landfill yard operation and stop database (104) is used for storing the progress state of the landfill yard and sending the progress state to the operation center (102);
the weather forecast system (101) is used for acquiring weather forecast information and sending the weather forecast information to the operation center (102);
the operation center (102) is used for generating a landfill rain shielding plan according to the received weather forecast information and the progress state, and sending the landfill rain shielding plan to the crane control system (200) through the communication unit (103), wherein the landfill rain shielding plan comprises an operation stop plan of landfill operation and rain shielding operation, a designated rain shielding landfill pit and a corresponding target rain shielding coordinate.
5. The intelligent canopy system for a rigid landfill according to claim 4, wherein the landfill yard operational stop management system (100) further comprises a rainfall monitoring system (105), the rainfall monitoring system (105) is used for monitoring the real-time weather state, and the real-time weather state information is accessed to the operation center (102) so that the operation center (102) can update the landfill rain-sheltering plan according to the real-time weather state.
6. The intelligent canopy system control method for the rigid landfill site is characterized by comprising the following steps:
storing target rain shading coordinates corresponding to each landfill pit according to the planar arrangement of the landfill site, and sending the target rain shading coordinates of current rain shading operation to a crane control system (200), wherein the target rain shading coordinates are coordinates of corresponding crane side hooks (34) when a bridge crane (3) drags a rain shed (6) to a position above a specified landfill pit;
receiving rain shielding operation, and controlling the bridge crane (3) to move towards the rain shed (6);
receiving a radar signal sent by a radar sensing device (600), and controlling the bridge crane (3) to continuously move a preset fixed distance towards the rainshed (6) so that the hook components (500) can be connected;
controlling the hook assembly (500) to automatically grab and join, acquiring real-time coordinates of the crane side hook (34), and determining a rain shielding movement track according to the real-time coordinates and the target rain shielding coordinates; and sending the rain shielding movement track to a crane walking system (300), and controlling a bridge crane (3) dragged with a canopy (6) to slide by the crane walking system (300) according to the rain shielding movement track, so that the real-time coordinate of a crane side hook (34) is coincided with the target rain shielding coordinate, and the rain shielding operation is completed.
7. The intelligent canopy system control method for the rigid landfill site according to claim 6, wherein the storing of the target rain sheltering coordinates corresponding to each landfill pit according to the landfill site plane arrangement and the sending of the target rain sheltering coordinates of the current rain sheltering operation to the crane control system comprises:
acquiring a weather forecast and a progress state of a landfill site, and generating a landfill rain shielding plan according to the weather forecast and the progress state, wherein the landfill rain shielding plan comprises a landfill operation and a rain shielding operation stop plan, a designated rain shielding landfill pit and a corresponding target rain shielding coordinate;
-introducing a landfill flashing plan into the crane control system (200) for initiating a flashing operation by the crane control system (200) in accordance with a stop plan for the flashing operation.
8. The intelligent canopy system control method for the rigid landfill according to claim 6, wherein the step of receiving the radar signal sent by the radar sensing device (600) to control the bridge crane (3) to move continuously to the canopy direction by a preset fixed distance comprises:
when the radar sensing device (600) senses the rainshed (6), a radar signal is sent to the crane control system (200);
the crane control system (200) receives the radar signal and controls the bridge crane (3) to move continuously to the direction of the canopy (6) for a preset fixed distance, wherein the preset fixed distance is a radar sensing distance detected in the commissioning and debugging stage of the crane;
the direction that the bridge crane (3) slides along the crane track (2) and is far away from the hoisting area (4) is the X-axis forward direction, and when the crane control system (200) receives a radar signal, the preset fixed distance is the coordinate value of the canopy side hook (63) in the X-axis direction minus the coordinate value of the radar sensing device (600) in the X-axis direction.
9. The intelligent canopy system control method for a rigid landfill as claimed in claim 6, further comprising:
when the control hook component (500) automatically grabs and connects, recording the coordinates of the crane side hook at the moment as the coordinates for standby rain stopping,
before the landfill operation is restarted, controlling a bridge crane (3) to push a canopy (6) to a standby position at the tail end of a landfill site according to the real-time coordinate and the rain stopping standby coordinate of a crane side hook (34);
the hook component (500) is controlled to automatically unhook and unhook.
10. The intelligent rainshed system control method for the rigid landfill site as claimed in claim 6, further comprising acquiring real-time weather conditions and intervening the landfill rain shelter plan according to the real-time weather conditions.
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