CN115724221A - Intelligent bulk material feeding system - Google Patents
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- CN115724221A CN115724221A CN202211430611.0A CN202211430611A CN115724221A CN 115724221 A CN115724221 A CN 115724221A CN 202211430611 A CN202211430611 A CN 202211430611A CN 115724221 A CN115724221 A CN 115724221A
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- 239000010421 standard material Substances 0.000 claims abstract description 9
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Abstract
The invention discloses an intelligent bulk material feeding system, which is characterized in that a vehicle scanning module inputs vehicle information and driver information and transmits the vehicle information and the driver information to a dispatching control center; the vehicle which finishes scanning moves to the position under the hopper through the vehicle moving module, the material adding monitoring module simulates to obtain a standard material pile model, and then the number and the position of the blanking points are determined; meanwhile, whether the internal state of the cargo bucket meets the transportation standard or not is judged; the material adding monitoring module also controls the opening and closing of a hopper valve, detects and compares a real-time material pile model of a material pile, and judges whether the loading of the position of a blanking point is finished according to the simulation of the contact ratio of the real-time material pile model and a standard material pile model, and the vehicle moving module moves out a vehicle and informs a driver to drive away after the whole feeding is finished; the intelligent feeding system provides an intelligent scheme for bulk material feeding, has accurate data support and monitoring in the early feeding stage, the feeding process and the feeding dust treatment, and realizes accurate feeding.
Description
Technical Field
The invention relates to the technical field of bulk cargo loading, in particular to an intelligent bulk cargo feeding system.
Background
During the transportation of the bulk materials, the bulk materials need to be loaded into a truck through a hopper and then transported to a designated yard. During the loading of a truck, the hopper needs to be unloaded evenly. The traditional hopper counterpoint mode is artifical counterpoint, and both the operators adopt to look at and counterpoint hopper and truck, and this kind of counterpoint mode is inefficient, and moves the position of vehicle easily repeatedly, has increased workman's intensity of labour simultaneously. The in-process of unloading can produce a large amount of dust, causes the harm to workman's the personal health, and a large amount of dust is unfavorable for visual observation, often causes the condition of feeding and overflowing to take place.
Chinese patent document CN112816042a discloses an automatic loading system, including track, trigger unit, the slope body, the track sets up in the top of weighbridge unit, and the trigger unit can bear the freight train, and two sets of slope bodies set up in orbital both ends, and the clearance subassembly sets up in the bottom of loading board, and the clearance subassembly is including clearing up the barrier head, has the clearance between clearance head and track, the weighbridge unit, and the material on the track can be clear away in the first reciprocating motion of clearing up the barrier. The wagon runs onto the bearing plate along the slope body, the wagon can be weighed by the wagon balance unit, the driving assembly can drive the wagon balance unit to reciprocate, when the wagon moves along with the wagon balance unit, the discharging unit starts to convey materials into the wagon, the wagon charges materials in the moving process, the charging uniformity and stability are guaranteed, the wagon weight can be monitored by the wagon balance unit in real time, and after the wagon finishes charging, the wagon runs down from the slope body at the other end of the track; the wrecker component moves back and forth along with the plate car unit, and the wrecker head can remove materials on the track, so that the loading reliability is improved. However, the loading mode is judged only by simple stacking height or weight, large errors can be caused when the humidity or the purity of the materials is different, the system has no dust feedback and calculates the material loss, the control on environmental indexes is lacked, data support is lacked in material adding positions and quantity, and accurate scheduling is difficult to achieve; therefore, an intelligent bulk material charging system is provided.
Disclosure of Invention
The invention aims to provide an intelligent bulk material charging system.
The invention can be realized by the following technical scheme: the intelligent bulk material feeding system comprises a vehicle scanning module, a vehicle moving module, a material adding monitoring module and a dispatching control center;
the vehicle scanning module is used for inputting vehicle information and driver information and transmitting the vehicle information and the driver information to the dispatching control center;
the vehicle which finishes scanning moves to the position under the hopper through the vehicle moving module, the material adding monitoring module carries out material pile state simulation according to the type and the granularity of the material to obtain a standard material pile model, and then the number and the position of the blanking points are determined; meanwhile, the internal state of the cargo bucket is judged, and the internal state of the cargo bucket is ensured to meet the corresponding transportation standard;
the material adding monitoring module also controls the opening and closing of the hopper valve, detects and compares a real-time material pile model of the material pile, simulates the contact ratio of the real-time material pile model and a standard material pile model, judges whether the loading of the material discharging point position is finished or not, and moves out the vehicle and informs a driver to drive away after the whole feeding is finished.
The system also comprises an environment-friendly dust removal module, wherein the environment-friendly dust removal module comprises a dust bin, the change condition of the mass of the material in the dust bin is calculated after each time of loading is finished, and the change condition of the mass of the material is calculated together with the loading weight in the cargo hopper and the material transfer amount in the hopper to obtain the mass of the escaped dust;
and carrying out ratio operation on the mass of the escaping dust and the loading weight to obtain a dust escaping coefficient, and judging whether to generate an alarm signal or not by comparing the dust escaping coefficient with an allowable escaping value.
The invention has further technical improvements that: the material adding center inquires corresponding internal friction angles according to different types and particle sizes of materials, and determines a corresponding height value according to the depth of a cargo hopper in vehicle information, so that the bottom area of a standard stock pile model is determined according to the corresponding relation between the height and the radius of the cone, and the number of blanking points is determined according to the bottom area and the area of the cargo hopper; and establishing a coordinate model according to the length of the cargo hopper and the number of the blanking points to determine the coordinate positions of the blanking points corresponding to the hopper and the cargo hopper.
The invention has the further technical improvements that: the material adds the monitoring module and when confirming the unloading point position, still carries out image acquisition analysis to the fill internal state of goods fill, judges whether the goods fill internal state is dry, whether have remaining debris and whether have obvious crack, has established material transportation standard archives at dispatch control center, sets for the requirement to material granularity, transportation condition, filters and screens the vehicle that is not conform to the material that the transportation corresponds.
The invention has the further technical improvements that: the material adding module obtains the height value of the material pile and the sections of two sides of the material pile through the spindle-shaped waveform sent by the ultrasonic detection sensor, so that a real-time material pile model is constructed, the real-time material pile model is matched with the standard material pile model in a contact ratio mode, when the contact ratio of the two models reaches a set expected value, the corresponding discharging point is judged to be completely loaded, and the vehicle moving module is started to move to the next discharging point.
The invention has further technical improvements that: the environment-friendly dust removal module generates an alarm signal and then sends the alarm signal to the dispatching control center, the dispatching control center adjusts the distance between the hopper and the bottom of the cargo hopper, and meanwhile, the set height of the standard stockpile model is reset or the power of a power source of the environment-friendly dust removal module is increased.
The invention has further technical improvements that: the environment-friendly dust removal module is synchronously opened and continuously works in the opening state of the valve of the hopper, and the work setting time is delayed after the environment-friendly dust removal module is switched to the closing state at the valve.
The invention has further technical improvements that: the dispatching control center also determines the volume according to the set height and the radius of the stockpile, obtains the weight of a single blanking point according to the volume and the material density, further obtains the total weight, compares the total weight with the maximum load of the truck, and resets the height of the stockpile and the radius of the stockpile according to the maximum load if the total weight exceeds the maximum load.
Compared with the prior art, the invention has the following beneficial effects:
1. vehicle information and driver information are input through the vehicle-associated scanning module, and after the above-mentioned information is confirmed, the driver leaves the car, follow-up by the vehicle remove the module move the vehicle to the steelframe in, the material adds the type and the granularity of monitoring module to the material and carries out the analysis, thereby simulate out standard stockpile model under the condition of setting for the stockpile height, and then determine unloading point number and unloading point position, and then can be accurate the goods fill to the vehicle feed in raw material, reinforced and control for intelligence provides strong data support.
2. The internal state of the cargo bucket is checked through the material adding monitoring module, whether the corresponding truck meets the transportation requirement is judged, and the problem of loss or quality reduction of the material in the transportation process is solved;
3. in the feeding process, a real-time material pile model is constructed for the material pile in the loading hopper and the contact ratio is calculated, so that whether the material at the blanking point position is loaded or not is accurately judged, the whole material adding process is comprehensively and integrally controlled, the condition that the material pile is not real when the single detection height is adopted is avoided, and the transportation quality and stability can be ensured;
4. retrieve the dust that appears in reinforced in-process through environmental protection dust removal module, reduced the pollution to production environment, protected staff's physical and mental health, also reduced the material loss simultaneously, transfer control center simultaneously in coordination and carry out the analysis and calculation to the escape coefficient of dust together, the escape volume of dust is provided out to the accurate to adjust for follow-up power or the hopper height of unloading to environmental protection dust removal module, control dust escape volume.
Drawings
To facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of a system framework of the present invention;
fig. 2 is a block diagram of the system of the present invention.
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description of the embodiments, structures, features and effects according to the present invention will be given with reference to the accompanying drawings and preferred embodiments.
Referring to fig. 1-2, an intelligent bulk material feeding system includes a vehicle scanning module, a vehicle moving module, a material adding monitoring module, an environmental protection dust removing module and a dispatching control center;
the method comprises the following steps that a vehicle scanning module scans and registers trucks to be charged one by one, the vehicle scanning module collects vehicle information of at least two trucks to be charged in the front row in a vehicle channel, the vehicle information comprises license plate numbers, vehicle sizes and the highest load, and the vehicle information is recorded into a dispatching control center;
the dispatching control center examines the vehicle information and guides a driver of the truck to be charged to drive the vehicle into a designated area of the vehicle moving module through voice broadcasting, then the driver can leave the vehicle by himself, and the vehicle moving module places a cargo hopper of the vehicle under a hopper discharge port according to the size of the vehicle;
the hopper is arranged on the steel frame, the steel frame is arranged right above the vehicle moving module, when a truck to be fed reaches a designated position, the material adding monitoring module detects the state of a cargo hopper of the vehicle, when loading conditions are met, a material discharging valve on the hopper is started to be opened for material adding, in the material adding process, the material adding monitoring module continuously detects the height of a material pile formed in the cargo hopper below the hopper, whether the cargo hopper is full or not is further judged, when the cargo hopper is full, the vehicle moving module drives the truck to move forwards for a certain distance to continue feeding, the operation is repeated until the cargo hopper of the whole truck is full, and finally the cargo hopper of the whole truck is moved out of a feeding area by the vehicle moving module and a driver is informed to drive away from the vehicle;
in the charging process, the environment-friendly dust removal module synchronously works, and after charging is finished, the environment-friendly dust removal module is closed after continuously delaying the working set time.
In the invention, when a vehicle scanning module collects vehicle information, a two-dimensional laser scanner and an ultrasonic sensor are adopted, after a truck enters a vehicle channel in front of a steel frame, the ultrasonic sensor firstly detects that the truck enters, a vehicle appearance scanning system is started, scanning data is led into a dispatching control center for background three-dimensional modeling, a group of height values are obtained, and the length data, the width data and the height data of the whole cargo hopper of the truck are measured and calculated according to the distribution condition of the group of height values;
driver information needs to be input in vehicle information collection, and the vehicle information is bound with the driver information so as to facilitate later vehicle scheduling and inform the driver of driving away from the vehicle;
after a driver drives the truck into a designated area of the vehicle moving module, the driver can stop and leave the truck; the vehicle moving module translates the vehicle into the steel frame through the rail by using a hydraulic driving device, the vehicle moving module is integrated on a wagon balance, and the wagon balance weighs the vehicle and marks the vehicle as an initial weight after the vehicle enters the steel frame;
before feeding, the dispatching control center simulates feeding points according to the obtained length data, width data and height data of the cargo hopper, obtains the volume of a feeding pile with a set height corresponding to the feeding points and the bottom area of the feeding pile according to the variety type of the material, such as powder, particle or block (at the moment, the feeding pile is regarded as an approximate cone in the simulation), and compares the sum of the bottom areas of the feeding pile with the total area of the cargo hopper, so as to identify the optimal number and position of the feeding points;
specifically, when the material is coal powder, sand, ore and other materials with larger mass, the set height of the material pile is set to be four-thirds of the depth of the cargo bucket or other suitable height values, the actual set height is determined according to the granularity and the type of the conveyed material, and the radius of the bottom of the conical material pile is determined under the condition that the height of the material pile is determined;
taking sand without moisture as an example: dry sand we generally believe that there is no cohesive force (in the presence of water, sand will have some cohesive force), i.e. c =0, only the internal friction angle; when the sandy soil is naturally accumulated, a self-stabilizing angle, namely an angle of repose, is formed; the slope body formed by the sand accumulation is called a natural repose angle at a limit slope angle in a natural stable state, and the natural repose angle value of the sand is close to the internal friction angle (actually smaller than the internal friction angle). The sand has different internal friction angles according to different particle sizes, and the included angle between the stacking surface and the horizontal plane is fixed when the same sand is stacked into a cone, namely the ratio of the height to the radius is fixed.
Therefore, according to the difference of the material granularity, the corresponding internal friction angle under the material granularity can be inquired through the network, so that according to the formula:
wherein, alpha represents the internal friction angle of a certain type of material under the corresponding granularity, h represents the set height of the stock pile, and r represents the radius of the stock pile after the stock pile is formed;
calculating the bottom area of the blanking pile at a set height according to the formula, carrying out ratio operation on the area of a cargo bucket of the truck and the bottom area of the blanking pile, and carrying out rounding to obtain the number of blanking points, establishing a virtual coordinate axis model along a central line in the extension direction of the cargo bucket according to length data of the cargo bucket, and then equally dividing the virtual coordinate axis established along the central line according to the number of the blanking points, wherein the positions of the dividing points are the positions of the blanking points;
when the number of the blanking points is determined, the scheduling control center determines the volume according to the set height and the radius of the material pile, obtains the weight of a single blanking point according to the volume and the material density, multiplies the determined number of the blanking points to obtain the total weight, compares the total weight with the highest load of the truck, and determines the height of the material pile and the radius of the material pile again according to the highest load if the total weight exceeds the highest load;
when the position of the blanking point is determined, the material adding monitoring module performs image acquisition and analysis on the internal state of the cargo bucket, and judges whether the internal state of the cargo bucket is dry, whether residual sundries exist and whether obvious cracks exist; a material transportation standard file is established in a dispatching control center, and requirements on material granularity and transportation conditions are set; for example, in order to transport metal particles with requirements on purity and cleanliness, the cargo hopper needs to be kept dry and free of residual impurities, so that the quality of metal powder is not damaged in the transportation process, and when the powdery material is transported, obvious cracks can cause leakage of the material, thereby causing unnecessary loss, so that the inspection of the internal state of the cargo hopper is very necessary; when the obtained image analysis result is not matched with the set transportation requirement, the truck is removed from the steel frame in time through the vehicle moving module, and meanwhile, a driver is informed to drive away from the truck, and the loading process of the next truck is carried out;
when the state in the hopper of the vehicle meets the transportation requirement, namely meets the loading condition, the vehicle moving module moves the vehicle to a corresponding position according to the position of the previously simulated blanking point, and a valve of the hopper is opened for adding materials; the method comprises the following steps that a plurality of ultrasonic detection sensors are arranged on the periphery of a discharging opening of a hopper, detection waves are mechanical waves with vibration frequency higher than 20kHz, spindle waveforms are presented, the height value of a material pile can be accurately detected, meanwhile, an ultrasonic distance meter arranged on the hopper along the width direction of the hopper of the truck can detect square areas on the left side and the right side of the material pile, two sections on the two sides of the material pile are obtained, the shape of the material pile in the hopper is further judged, the shape of the material pile is compared with the shape of a cone in an ideal state under the condition of the set height, a real-time material pile model is constructed by the two sections and the height value of the material pile, a standard material pile model constructed by the set height h and the corresponding height r in the ideal state is compared with a real-time material pile model, when the coincidence degree of the two models reaches an expected value, the discharging point is judged to be loaded, a truck is driven by a vehicle moving module, a discharging opening of the hopper is positioned right above the position of the next discharging opening, and a valve of the hopper is not closed during the movement;
repeating the operation, after the loading of the last unloading point position is finished, controlling the closing of an outlet valve of a hopper by the material adding monitoring module, recording the weight of the whole truck by the wagon, and moving the truck out of the steel frame and informing a driver of driving away by the truck moving module;
in the whole material feeding process, the environment-friendly dust removal system is always in a working state and comprises a plurality of dust absorption steel pipes, a Roots blower and a dust bin, the dust absorption steel pipes are respectively arranged at a feeding port and a discharging port of a hopper, the Roots blower is started to form negative pressure to carry out dust removal during working, and finally dust enters the dust bin; a gravity measurer is arranged in the dust bin, and when the material addition of the vehicle is completed each time, the material change condition in the dust bin is calculated and marked as delta G;
calculating the difference value of the vehicle weight before and after loading the material to obtain the loading weight G z And the material transfer amount in the hopper is G, and then the calculation formula is substituted:
G Y ＝(G-G z -ΔG)*A
wherein G is Y In order to escape the dust quality, A is a correction coefficient and the value range is [0.8,1 ];
calculating the ratio of the mass of the escaping dust to the loading weight to obtain a dust escaping coefficient, generating an alarm signal when the dust escaping coefficient exceeds an allowable escaping value, and otherwise, not processing;
alarm signal is sent to dispatch control center by environmental protection dust removal module, and dispatch control center controls the distance between hopper and the goods fill bottom, resets the loading height of material pile simultaneously, reduces the dust escape coefficient, alleviates environmental pollution and material loss, also can adopt to increase roots's fan power, improves the mode reduction loss of suction.
Although the present invention has been described with reference to the preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but is intended to cover various modifications, equivalents and alternatives falling within the spirit and scope of the invention.
Claims (8)
1. Intelligent bulk cargo charging system, its characterized in that: the system comprises a vehicle scanning module, a vehicle moving module, a material adding monitoring module and a dispatching control center;
the vehicle scanning module is used for inputting vehicle information and driver information and transmitting the vehicle information and the driver information to the dispatching control center;
the vehicle which finishes scanning moves to the position under the hopper through the vehicle moving module, the material adding monitoring module carries out material pile state simulation according to the type and the granularity of the material to obtain a standard material pile model, and then the number and the position of the blanking points are determined; meanwhile, the internal state of the cargo bucket is judged, and the internal state of the bucket is ensured to meet the corresponding transportation standard;
the material adding monitoring module also controls the opening and closing of the hopper valve, detects and compares a real-time material pile model of the material pile, simulates the contact ratio of the real-time material pile model and a standard material pile model, judges whether the loading of the material discharging point position is finished or not, and moves out the vehicle and informs a driver to drive away after the whole feeding is finished.
2. The intelligent bulk material charging system according to claim 1, further comprising an environment-friendly dust removal module, wherein the environment-friendly dust removal module comprises a dust bin, the dust bin calculates the change of the mass of the material inside the dust bin after each loading, and calculates the change of the mass of the material, the loading weight in the cargo hopper and the material transfer amount in the hopper to obtain the mass of the escaping dust;
and carrying out ratio operation on the mass of the escaping dust and the loading weight to obtain a dust escaping coefficient, and judging whether to generate an alarm signal or not by comparing the dust escaping coefficient with an allowable escaping value.
3. The intelligent bulk material charging system according to claim 1, wherein the material charging center queries corresponding internal friction angles according to different types and particle sizes of materials, and determines a corresponding height value according to the depth of a cargo hopper in vehicle information, so as to determine a bottom area of a standard pile model according to a corresponding relation between the height and a cone radius, and further determine the number of blanking points according to the bottom area and the area of the cargo hopper; and establishing a coordinate model according to the length of the cargo hopper and the number of the blanking points to determine the coordinate positions of the blanking points corresponding to the hopper and the cargo hopper.
4. The intelligent bulk material charging system according to claim 1, wherein the material adding monitoring module is used for performing image acquisition and analysis on the internal state of the cargo hopper while determining the position of the blanking point, judging whether the internal state of the cargo hopper is dry, whether residual impurities exist and whether obvious cracks exist, establishing a material transportation standard file in a dispatching control center, setting requirements on material granularity and transportation conditions, and filtering and screening vehicles which do not conform to the transportation of corresponding materials.
5. The intelligent bulk material charging system according to claim 1, wherein the material adding module obtains a height value of the pile and sections of two sides of the pile through a spindle-shaped waveform sent by the ultrasonic detection sensor, so as to construct a real-time pile model, match the overlap ratio of the real-time pile model with a standard pile model, determine that the loading of a corresponding discharging point is finished when the overlap ratio of the two models reaches a set expected value, and start the vehicle moving module to move to the next discharging point.
6. The intelligent bulk material charging system according to claim 2, wherein the environmental protection dust removal module generates an alarm signal and sends the alarm signal to the dispatching control center, and the dispatching control center adjusts the distance between the hopper and the bottom of the cargo hopper, and resets the set height of the standard material pile model or increases the power of the power source of the environmental protection dust removal module.
7. The intelligent bulk material charging system according to claim 2, wherein the environmental dust removal module is synchronously opened and continuously operated when a valve of the hopper is opened, and the environmental dust removal module delays to operate for a set time when the valve is switched to a closed state.
8. The intelligent bulk material charging system according to claim 1, wherein the dispatch control center further determines a volume based on the set height and the radius of the pile, obtains a weight of a single drop point based on the volume and the material density, further obtains a total weight, compares the total weight with a maximum load of the truck, and resets the height of the pile and the radius of the pile based on the maximum load if the total weight exceeds the maximum load.
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| CN112744615A (en) * | 2020-12-31 | 2021-05-04 | 山东泰安煤矿机械有限公司 | Model obtaining method and system, controller and control method for rapid and quantitative automobile loading based on unattended operation |
| CN113562478A (en) * | 2021-07-16 | 2021-10-29 | 安徽海螺信息技术工程有限责任公司 | Anti-cheating integrated system for quantitatively loading bulk materials |
| CN115236628A (en) * | 2022-07-26 | 2022-10-25 | 中国矿业大学 | Method for detecting residual cargos in carriage based on laser radar |
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