CN117185138A - Material grabbing and transferring system and method and blast furnace slag grabbing method and system - Google Patents

Abstract

The application provides a material grabbing and transferring system, a method and a blast furnace slag grabbing method and a system, wherein the material grabbing and transferring system comprises a travelling crane, a three-dimensional imaging mechanism and a travelling crane control mechanism, the three-dimensional imaging mechanism comprises a purging device, a three-dimensional scanner protection device, a three-dimensional scanner and an imaging algorithm device and is used for fixing and purging the three-dimensional scanner and realizing accurate acquisition of a three-dimensional model of a material to be grabbed, and the travelling crane control mechanism comprises a positioning device, a safety protection device and a travelling crane control device and is used for generating a travelling crane control instruction according to the three-dimensional model of the material to be grabbed so as to control the travelling crane to accurately grab and transfer the material to be grabbed. The three-dimensional imaging mechanism and the driving control mechanism of the system can be suitable for intelligent grabbing and transferring of materials under different process conditions, and can ensure the accuracy and high efficiency of grabbing and transferring of materials under severe process environments.

Description

Material grabbing and transferring system and method and blast furnace slag grabbing method and system

Technical Field

The application relates to the technical field of automatic equipment, in particular to a material grabbing and transferring system and method and a blast furnace slag grabbing method and system.

Background

In industrial production, a large amount of bulk materials are usually grabbed and transferred, the bulk materials are firstly required to be transferred from a production place to a conveying device, forklift, stacker-reclaimer and the like can be adopted for transferring the bulk materials with a large production place range, and bridge cranes (travelling crane) with grab hoppers are usually adopted for transferring the bulk materials with a small production place range, such as a blast furnace water slag tank, a steelmaking slag tank, a garbage disposal tank, a cyclone well, various sedimentation tanks and the like. Because industrial production's process environment is usually abominable, accompanies a large amount of poisonous and harmful gases, dust etc. with utilizing forklift, driving transportation material, can cause huge injury to operative employee's health, in addition, production technology is 24 hours incessant operations each day, and operative employee easily tired and at night sight relatively poor, leads to the material to transport inefficiency, also probably causes the grab bucket to strike other equipment to produce safety problem because of misoperation simultaneously.

At present, an intelligent grabbing and transferring technology is realized for material grabbing operation, but in the related technology, certain technical defects still exist in the intelligent grabbing and transferring device for materials, for example, a material position sensing device is lacked or a 2D laser scanning device is adopted, accurate material three-dimensional position information cannot be obtained, and the situation that the materials are missed to grab can be caused. In addition, due to factors such as material positioning, process environment and the like, the operating efficiency is low and the applicability is low when the grab bucket grabs the materials on the production line. Therefore, an intelligent material grabbing scheme applicable to various process conditions is required to be provided, and accurate and efficient grabbing and transferring of materials in a complex environment are realized.

Disclosure of Invention

The application aims to provide a material grabbing and transferring system which solves the technical problems of low applicability, inaccurate positioning and grabbing of materials and low grabbing efficiency of an intelligent grabbing and transferring technology in the prior art; the second purpose is to provide a material grabbing and transferring method; thirdly, providing a slag grabbing method of the blast furnace; the fourth purpose is to provide a slag grabbing system of a blast furnace.

In order to achieve the above purpose, the technical scheme adopted by the application is as follows:

in a first aspect, the application provides a material grabbing and transferring system, which comprises a travelling crane, a three-dimensional imaging mechanism and a travelling crane control mechanism, wherein the three-dimensional imaging mechanism comprises a blowing device, a three-dimensional scanner protection device, a three-dimensional scanner and an imaging algorithm device, and the travelling crane control mechanism comprises a positioning device, a safety protection device and a travelling crane control device; the three-dimensional scanner protection device is used for fixing the three-dimensional scanner; the purging device is used for purging the three-dimensional scanner; the three-dimensional scanner is used for scanning the surface of the material to obtain point cloud data information of the material to be grasped; the imaging algorithm device is used for generating a three-dimensional model of the material to be grasped based on the point cloud data information; the positioning device is used for determining the current position of the travelling crane in real time; the safety protection device is used for determining the safety movement range of the travelling crane according to the current position; the travel control device is used for carrying out coordinate conversion on the three-dimensional model corresponding to the material to be grasped, determining the target position of the material to be grasped under a reference coordinate system, generating a travel control instruction according to the current position, the target position and the safety movement range, and responding to the travel control instruction to grasp and transport the material to be grasped.

In an embodiment of the application, the three-dimensional scanner protection device comprises a bottomless box body and a shock absorber, wherein the bottomless box body and the purging device are both fixed on a cart of the traveling crane, and the three-dimensional scanner and the shock absorber are arranged in the bottomless box body.

In an embodiment of the present application, the purging device includes a bleed air connector, an air compressor, and a pipe, wherein an opening is provided on the three-dimensional scanner protection device, the bleed air connector is used for introducing external air into the air compressor, the air compressor is used for compressing the external air to form compressed air, and the pipe is used for introducing the compressed air to the opening to purge the three-dimensional scanner.

In an embodiment of the application, the travelling crane control mechanism further comprises a communication device, a vehicle-mounted PLC is mounted on the travelling crane, the travelling crane control device is mounted in the main control CPU, and the travelling crane control device sends the travelling crane control instruction to the vehicle-mounted PLC through the communication device so as to control the travelling crane to grasp and transport the material to be grasped.

In an embodiment of the present application, the communication device includes a wireless bridge, a switch, a photoelectric converter, an optical fiber, and a network cable, where the wireless bridge includes an on-board mobile station and a ground fixed station, the on-board mobile station is connected to the on-board PLC, the ground fixed station is connected to the on-board mobile station through the network cable, and is connected to a main control CPU through the switch, and the switch is connected to the optical fiber through the photoelectric converter, so that when the positioning device determines that the current position is at the target position, the travel control device sends the travel control instruction to the on-board PLC.

In an embodiment of the application, the travelling crane comprises a cart, a trolley and a grab bucket, and the positioning device comprises a gray bus positioning unit, an absolute value encoder and an inductive proximity switch; the gray bus positioning units and the inductive proximity switches are arranged on the cart and the trolley, the gray bus positioning units are used for positioning the cart and the trolley, and the inductive proximity switches are used for performing fault detection on the gray bus positioning units; and the absolute value encoders are arranged on the lifting reel and the opening and closing reel of the grab bucket and are used for determining the length of the steel wire rope of the grab bucket.

In an embodiment of the present application, the wheels of the cart and the trolley are respectively provided with the absolute value encoders, so that the cart and the trolley are respectively positioned when the gray bus positioning unit fails, and the inductive proximity switch is further used for providing a reference for correction of the absolute value encoders on the cart and the trolley.

In an embodiment of the application, the vehicle-mounted PLC controls lifting, opening and closing of the cart, the trolley and the grab bucket of the travelling crane according to the travelling control instruction, wherein travelling speeds of the cart and the trolley comprise acceleration, deceleration, uniform speed, acceleration, deceleration and deceleration, the grab bucket is lifted, opening and closing in a steel wire rope speed and torque double-parameter control mode, and the grab bucket is judged to be contacted with the surface of the material to be grabbed through torque abrupt change.

In an embodiment of the application, the safety protection device is arranged on the traveling crane and comprises an ultrasonic anti-collision unit and a safety protection unit, wherein the ultrasonic anti-collision unit is used for detecting the distance between the traveling crane and other traveling cranes, and the safety protection unit is used for acquiring and analyzing the data of the gray bus positioning unit and the absolute value encoder, the motor rotating speed and the distance, determining the safety movement range and carrying out collision early warning on the traveling crane according to the preset safety distance.

In a second aspect, the present application also provides a method for gripping and transporting materials, using the system for gripping and transporting materials according to the first aspect, the method comprising: scanning the surface of a material to be grasped to obtain point cloud data information of the material to be grasped, and generating a three-dimensional model of the material to be grasped based on the point cloud data information; acquiring the current position of a travelling crane in real time, and determining the safe moving range of the travelling crane based on the current position; performing coordinate transformation on the three-dimensional model corresponding to the material to be grasped, and determining a target position of the material to be grasped under a reference coordinate system; generating a travel control instruction according to the current position, the target position and the safe moving range; and responding to the running control instruction to grab and transport the material to be grabbed.

In a third aspect, the application also provides a blast furnace slag grabbing method, which comprises the following steps: scanning the slag surface of a working area to obtain point cloud data information of residues to be grabbed, and generating a three-dimensional model of the residues to be grabbed based on the point cloud data information, wherein the number of the residues to be grabbed is at least one; acquiring the current position of a travelling crane in real time, and determining the safe moving range of the travelling crane based on the current position; performing coordinate transformation on the three-dimensional models corresponding to the residues to be grabbed respectively, and determining respective target positions of the residues to be grabbed under a reference coordinate system; generating a travel control instruction according to the current position, the target position and the safety movement range, responding to the travel control instruction to move, judging whether the grab bucket reaches the slag surface, grabbing and transferring the residues to be grabbed if the grab bucket reaches the slag surface, and adjusting the descending height of the grab bucket until the grab bucket reaches the slag surface if the grab bucket does not reach the slag surface; and scanning the slag surface again, and continuing grabbing and transferring the missing residues until the residues are cleaned.

In a fourth aspect, the application also provides a blast furnace slag-grabbing system, which comprises the material grabbing and transferring system according to the first aspect, or a blast furnace slag-grabbing method according to the third aspect is used.

The application has the beneficial effects that:

(1) The high-density and high-precision point cloud data of the material to be grasped can be obtained rapidly by scanning the surface of the material by the three-dimensional scanner, the working efficiency is improved, the imaging algorithm device is used for generating a three-dimensional model of the material to be grasped based on the point cloud data, the obtained three-dimensional model is higher in precision, accurate positioning of the material to be grasped is facilitated, and meanwhile, the scanning of the material with specific shape is also applicable;

(2) The three-dimensional scanner is fixed by the three-dimensional scanner protection device and purged by the purge device, so that vibration in driving operation can be avoided, and the influence of external factors such as steam, dust and the like on a scanning result can be avoided, and the three-dimensional scanner can accurately acquire point cloud data under a severe process environment;

(3) According to the interaction of the positioning device, the safety protection device and the travelling control device, the travelling crane is accurately positioned, accurate and intelligent grabbing of materials to be grabbed is achieved, the operation intensity of operators is reduced, the accuracy and the efficiency of material grabbing are improved, and accurate and quick grabbing of the materials can be achieved under different process environments.

Drawings

FIG. 1 is a block diagram of a material handling system according to an exemplary embodiment of the present application;

FIG. 2 is a schematic diagram of the installation of a three-dimensional scanner according to an exemplary embodiment of the present application;

FIG. 3 is a block diagram of another material handling system according to an exemplary embodiment of the present application;

FIG. 4 is a flow chart illustrating a method of material handling according to an exemplary embodiment of the present application;

FIG. 5 is a flow chart of a slag grabbing method for a blast furnace according to an exemplary embodiment of the present application;

fig. 6 is a flowchart illustrating another slag grasping method of a blast furnace according to an exemplary embodiment of the present application.

Detailed Description

Other advantages and effects of the present application will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present application with reference to specific examples. The application may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present application. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict. It is also to be understood that the terminology used in the examples of the application is for the purpose of describing particular embodiments only, and is not intended to limit the scope of the application. The test methods in the following examples, in which specific conditions are not noted, are generally conducted under conventional conditions or under conditions recommended by the respective manufacturers.

It should be understood that the structures, proportions, sizes, etc. shown in the drawings are for illustration purposes only and should not be construed as limiting the application to the extent that it can be practiced, since modifications, changes in the proportions, or adjustments of the sizes, which are otherwise, used in the practice of the application, are included in the spirit and scope of the application which is otherwise, without departing from the spirit or scope thereof. Also, the terms such as "upper," "lower," "left," "right," "middle," and "a" and the like recited in the present specification are merely for descriptive purposes and are not intended to limit the scope of the application, but are intended to provide relative positional changes or modifications without materially altering the technical context in which the application may be practiced.

Where numerical ranges are provided in the examples, it is understood that unless otherwise stated herein, both endpoints of each numerical range and any number between the two endpoints are significant both in the numerical range. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs and to which this application belongs, and any method, apparatus, or material of the prior art similar or identical to the methods, apparatus, or materials of the embodiments of the application may be used to practice the application.

The industrial production process environment is generally severe, the forklift and the travelling crane are utilized to transport materials, huge damage is caused to the bodies of operators, the production process is generally continuous operation every day, and the transportation efficiency of the operators is low, so that an intelligent grabbing and transporting technology is generated for grabbing and transporting the materials, however, the inventor researches find that the intelligent grabbing and transporting technology of the materials still has certain defects, such as incapability of obtaining accurate three-dimensional position information of the materials, which can cause the situation of missing grabbing the materials, and in addition, the operation efficiency is low when the grab bucket grabs the materials on a production line due to the factors of material positioning, process environment and the like, and the applicability is low.

It should be noted that, traveling crane is a common name for a crane, a carrier vehicle, a crown block, etc., and is a mechanical device for horizontally transporting objects, and generally has a mobile architecture and an electric or manual control system, which are used for material handling, workshop transportation, unloading, loading, etc. The travelling crane comprises a cart, a trolley, a grab bucket and the like, wherein the cart generally refers to a large structural member such as a main beam, an end beam and a cross beam, and the trolley generally refers to a lifting mechanism and a mechanical part for carrying the lifting mechanism to do transverse movement, such as a double-beam trolley, an electric hoist and a hoist double-trolley.

Accordingly, the present application provides a material grabbing and transferring system, please refer to fig. 1, fig. 1 is a block diagram of a material grabbing and transferring system according to an exemplary embodiment of the present application, as shown in fig. 1, the system 100 at least includes a crane 110, a three-dimensional imaging mechanism 120 and a crane control structure 130, wherein the three-dimensional imaging mechanism 120 at least includes a three-dimensional scanner protection device 121, a purging device 122, a three-dimensional scanner 123 and an algorithm imaging device 124, and the crane control structure 130 at least includes a positioning device 131, a safety protection device 132 and a travelling control device 133, which are described in detail as follows:

a three-dimensional scanner protection device 121 for fixing the three-dimensional scanner; a purging device 122 for purging the three-dimensional scanner; the three-dimensional scanner 123 is used for scanning the surface of the material to obtain point cloud data information of the material to be grasped; the imaging algorithm 124 is configured to generate a three-dimensional model of the material to be grasped based on the point cloud data information.

It should be noted that, the three-dimensional scanner 123 is a laser scanner, and can directly scan and record information such as three-dimensional coordinates, gray scale, reflectivity, texture and the like of a large number of dense points on the surface of the material to be grasped, so as to obtain point cloud data information of the material to be grasped, quickly obtain high-density and high-precision point cloud data of the material to be grasped, improve working efficiency, and is also suitable for scanning the material with specific shape.

In addition, the three-dimensional scanner 123 is fixed by the three-dimensional scanner protection device 121 and the three-dimensional scanner 123 is purged by the purge device 122, so that vibration in operation of the traveling crane 110 can be avoided, influence of external factors such as steam and dust on a scanning result can be avoided, point cloud data can be accurately obtained by the three-dimensional scanner 123 in a severe process environment, a three-dimensional model of a material to be grasped is generated based on the point cloud data by the imaging algorithm device 124, the obtained three-dimensional model is higher in precision, and accurate positioning of the material to be grasped is facilitated.

It should be further noted that the three-dimensional imaging device 124 may be disposed in a computer, so as to implement accurate generation of the three-dimensional model of the material to be grasped.

As one possible embodiment, the three-dimensional imaging mechanism 120 workflow is: the three-dimensional scanner 123 scans the material to be gripped in the working area to obtain point cloud data information, and then the imaging algorithm device 124 is utilized to generate a precise three-dimensional model of the scanned material to be gripped according to the point cloud data information.

Specifically, the three-dimensional scanner protection device 121 includes a bottomless case and a shock absorber, both of which are fixed on the cart of the crane 110, and the three-dimensional scanner 123 and the shock absorber are disposed inside the bottomless case.

In this embodiment, the bottomless box can shield the three-dimensional scanner 123 from the suspended particles in the process environment, which may affect the scanning result, to some extent, and the shock absorber can attenuate the vibration caused to the three-dimensional scanner 123 during the operation of the travelling crane 110 to some extent.

Referring to fig. 2, fig. 2 is an installation schematic diagram of a three-dimensional scanner according to an exemplary embodiment of the present application, as shown in fig. 2, a side surface of a box is fixed on a cart 110 of a crane, a bottom surface of the box is opened to form a box without a bottom surface, suspended particles that may affect a scanning result due to steam, dust, etc. in a process environment can be shielded for the three-dimensional scanner 123, and a damper is disposed inside the box with the three-dimensional scanner 123, wherein the three-dimensional scanner 123 is connected to the box based on the damper, and during operation of the crane 110, the influence of vibration of the cart on the scanning result of the three-dimensional scanner 123 can be reduced.

Specifically, the purging device 122 includes a bleed air connector, an air compressor and a pipe, the three-dimensional scanner protection device 121 is provided with an opening, the bleed air connector is used for introducing external air into the air compressor, the air compressor is used for compressing the external air to form compressed air, and the pipe is used for introducing the compressed air into the opening to purge the three-dimensional scanner 123.

In this embodiment, the purge device 122 is utilized to purge the three-dimensional scanner 123, so that the influence of external factors such as steam and dust on the scanning result in the operation of the travelling crane 110 can be avoided, and the three-dimensional scanner 123 can accurately obtain the point cloud data of the material to be gripped under the severe process environment.

With continued reference to fig. 2, an opening is provided in the box of the three-dimensional scanner protection device 121, external air is introduced into the air compressor by the bleed air connector, the air compressor is used to compress the external air into compressed air, and then the compressed air is introduced into the opening on the box through a pipeline to purge the three-dimensional scanner 123. It should be understood that the position and the size of the opening on the case are determined according to the installation position of the three-dimensional scanner 123, so that the three-dimensional scanner 123 can be purged accurately.

The positioning device 131 is used for determining the current position of the travelling crane 110 in real time.

In one embodiment, the travelling crane 110 comprises a cart, a trolley and a grab bucket, and the positioning device 131 comprises a gray bus positioning unit, an absolute value encoder and an inductive proximity switch; gray bus positioning units and inductive proximity switches are arranged on the cart and the trolley, the Gray Lei Muxian positioning units are used for positioning the cart and the trolley, and the inductive proximity switches are used for performing fault detection on the Gray bus positioning units; and absolute value encoders are arranged on the lifting winding drum and the opening and closing winding drum of the grab bucket and are used for determining the length of the steel wire rope of the grab bucket.

In this embodiment, the gray bus positioning unit applies the electromagnetic induction principle to position detection, and the lattice Lei Muxian positioning unit on the cart and the trolley can position the cart and the trolley, specifically, position detection is performed by electromagnetic coupling between the flat gray bus and the antenna box, which are close to each other, and the positioning unit includes: gray bus, antenna box, address code generator and address decoder, wherein, gray bus is similar to a scale that has the scale, and the antenna box is similar to the pointer, and the scale that the pointer pointed to is current position value promptly, need not initial reference point, and positioning accuracy is 5mm, can obtain the displacement volume on the car or on the ground in succession, and address information can be transmitted through data radio station or signal cable. Gray bus has the advantages of water resistance, oil resistance, dust resistance, acid and alkali resistance and the like, and can be suitable for complex and severe process generation scenes.

In this embodiment, the inductive proximity switch is a sensor manufactured by using the eddy current effect, and the inductive proximity switch on the cart and the cart can perform fault detection on the gray bus positioning unit, specifically, the inductive proximity switch is installed near the grid Lei Muxian, the current change on the gray bus is detected, when the current on the gray bus changes, the inductive proximity switch senses the change and generates a corresponding signal, and the signal is further processed and analyzed to determine whether the grid Lei Muxian fault exists. The inductive proximity switch has the characteristics of water resistance, shock resistance, oil resistance, dust resistance, corrosion resistance and the like, and has strong applicability to severe environments.

In the embodiment, the absolute value encoder is equipment for compiling signals or data and converting the signals or the data into signal forms which can be used for communication, transmission and storage, the absolute value encoder on the lifting reel and the opening and closing reel of the grab bucket can determine the length of the steel wire rope of the grab bucket, and the absolute value encoder is utilized to convert the angular displacement or the linear displacement of the steel wire rope into an electric signal for positioning, so that the absolute value encoder is a traditional positioning mode which is mature in industry, and has the advantages of high positioning precision, stable operation and the like.

In an embodiment, absolute value encoders are further arranged on the wheels of the cart and the trolley respectively, the absolute value encoders are used for positioning the cart and the trolley respectively when the Gray bus positioning unit fails, and the inductive proximity switch is further used for providing reference for correction of the absolute value encoders on the cart and the trolley.

In the embodiment, when the Gray bus positioning units on the cart and the trolley are in failure, the absolute value encoders on the cart wheels and the trolley wheels are used for respectively realizing the accurate positioning of the cart and the trolley, so that the influence on the positioning of the cart and the trolley caused by the failure of the Gray bus positioning units is avoided. It should be noted that, the inductive proximity switch provides a correction reference for absolute value encoders on the cart and the trolley, specifically, the absolute value encoder is rotated to an initial position (known absolute angle or position), so that the inductive proximity switch can detect a specific position when the absolute value encoder rotates, the absolute value encoder rotates for a complete 360 degrees (or a corresponding linear distance), the inductive proximity switch senses the position in the rotating process of the absolute value encoder, the actual rotation angle or position of the encoder is determined according to the change of the inductive proximity switch signal, and whether the angle or position is accurate or not is judged.

The safety protection device 132 is used for determining the safety movement range of the travelling crane 110 according to the current position.

It should be noted that, the positioning device 131 determines the current position of the traveling crane 110 in real time, which indicates that the current position is continuously changing, and the safety protection device 132 can continuously determine the safe moving range of the traveling crane 110 at the current position according to the current position of the traveling crane 110, so as to ensure the safe operation of the traveling crane 110.

Specifically, the safety protection device 132 is disposed on the traveling crane 110, and includes an ultrasonic anti-collision unit and a safety protection unit, the ultrasonic anti-collision unit is used for detecting a distance between the traveling crane 110 and other traveling cranes, the safety protection unit is used for acquiring and analyzing data of the gray bus positioning unit and the absolute value encoder, a motor rotation speed and a distance, determining a safety movement range, and performing collision early warning on the traveling crane 110 according to a preset safety distance.

In this embodiment, the ultrasonic anti-collision unit and the safety protection unit can communicate, and the ultrasonic anti-collision unit is installed on the driving 110, detects the distance between two driving, and the safety protection unit carries out early warning to safety problems such as collision in advance according to preset safety distance through analyzing data such as Gray bus positioning unit, absolute value encoder and motor rotating speed, two driving distances, and guarantees that driving cart, dolly, grab bucket lifting wire rope and grab bucket opening and closing wire rope all normally operate in the safety range.

The travel control device 133 is configured to perform coordinate transformation on a three-dimensional model corresponding to the material to be gripped, determine a target position of the material to be gripped in a reference coordinate system, generate a travel control instruction according to the current position, the target position and the safe moving range, and perform gripping and transferring on the material to be gripped in response to the travel control instruction.

The reference coordinate system refers to the position and direction of the three-dimensional model in space, and is usually defined according to scene characteristics and application requirements, and when coordinate transformation is performed, consistency and accuracy of data are ensured, and accuracy of the target position of the material to be grasped is ensured.

The three-dimensional imaging device 124 in the three-dimensional imaging mechanism 120 is provided in a computer, and is capable of information interaction with the driving control mechanism 130.

It should be understood that the positioning device 131, the safety protection device 132 and the travel control device 133 are always in an interactive communication state in the operation engineering of the traveling crane 110, that is, the positioning device 131 determines the current position of the traveling crane 110 in real time, the safety protection device 132 determines the safety movement range of the traveling crane 110 in real time according to the current position, and the travel control device 133 generates a travel control instruction according to the current position, the target position and the safety movement range, and the current position and the safety movement range are continuously changed and updated in the process of the traveling crane 110 responding to the travel control instruction to grasp the material to be grasped, so that the traveling crane 110 can be ensured to grasp the material to be grasped safely and accurately.

In an embodiment, the crane control mechanism 130 further includes a communication device 134, the crane 110 is provided with a vehicle-mounted PLC, the travelling control device 133 is installed in the main control CPU, and the travelling control device 133 sends a travelling control instruction to the vehicle-mounted PLC through the communication device 134, so as to control the crane 110 to grasp and transport the material to be grasped.

Referring to fig. 3, fig. 3 is a block diagram of another material grabbing and transferring system according to an exemplary embodiment of the present application, and as shown in fig. 3, the material grabbing and transferring system at least includes a crane 110, a three-dimensional imaging mechanism 120 and a crane control structure 130, wherein the three-dimensional imaging mechanism 120 at least includes a three-dimensional scanner protection device 121, a purging device 122, a three-dimensional scanner 123 and an algorithm imaging device 124, and the crane control structure 130 at least includes a positioning device 131, a safety protection device 132, a travelling control device 133 and a communication device 134.

In this embodiment, a PLC (Programmable Logic Controller ) is used to control the travelling crane to perform a gripping operation of the material to be gripped according to the travelling control instruction. In addition, a main control CPU (Central Processing Unit ) may be provided in the computer. The traveling crane 110 is controlled to grasp and operate the material to be grasped through the traveling control instruction generated according to the current position, the target position and the safety moving range, so that the accurate and intelligent grasping of the material to be grasped is realized, the operation intensity of operators is reduced, the accuracy and the efficiency of grasping the material are improved, and the accurate and quick grasping of the material can be realized under different process environments.

In one embodiment, the communication device 134 includes a wireless bridge, a switch, a photoelectric converter, an optical fiber, and a network cable, where the wireless bridge includes an on-board mobile station and a ground fixed station, the on-board mobile station is connected to the on-board PLC, the ground fixed station is connected to the on-board mobile station through the network cable, and is connected to the main control CPU through the switch, and the switch is connected to the optical fiber through the photoelectric converter, so that when the positioning device 131 determines that the current position is at the target position, the travel control device 133 sends a travel control command to the on-board PLC.

In this embodiment, the positioning position 131 and the travel control device 133 may communicate with each other, and when the positioning device 131 determines that the current position of the travelling crane 110 is at the target position, the travel control device 133 is notified to send a travel control instruction to the vehicle-mounted PLC, where the transmission route of the travel control instruction is that the travel control device 133 sends the travel control instruction to the ground fixed station through the exchange station, and the travel control instruction is transmitted to the vehicle-mounted mobile station through the ground fixed station, and finally is transmitted to the vehicle-mounted PLC, so as to control the travelling crane 110 to perform an operation according to a preset operation procedure, where the preset operation procedure refers to a preset procedure of performing a grabbing operation on a material to be grabbed.

In an embodiment, the vehicle-mounted PLC controls lifting, opening and closing of the cart, the trolley and the grab bucket of the crane 110 according to the travelling control instruction, wherein travelling speeds of the cart and the trolley comprise acceleration, deceleration, uniform speed, acceleration, deceleration and deceleration, the grab bucket is lifted, opening and closing in a steel wire rope speed and torque double-parameter control mode, and the grab bucket is judged to be contacted with the surface of the material to be grabbed through torque abrupt change.

In this embodiment, the traveling speeds of the cart and the trolley include acceleration, deceleration, uniform speed, acceleration, deceleration and deceleration, and different modes are used according to different scenes to ensure that the operation process of the whole traveling crane 110 is stable. In addition, the speed and torque double-parameter control mode is to control the steel wire rope in a mode of combining the speed and the torque, wherein abrupt change of the change rate of the torque is utilized to assist in judging that the grab bucket is contacted with the surface of the material, and quick, accurate and effective grabbing of the material to be grabbed is effectively achieved.

As a possible embodiment, the operation flow of the travel control device 130 is as follows: the crane 110 presets the descending height of the grab bucket according to the target position of the material to be grabbed obtained by the travelling control device, meanwhile, judges whether the grab bucket is contacted with the surface of the bulk material according to the torque parameter of the grab bucket steel wire rope, records the height, and when the grab bucket does not reach the lowest threshold value of the material surface, adjusts the descending preset height of the grab bucket by taking the current height as a reference in the next round of operation, meanwhile, judges whether the grab bucket is contacted with the surface of the bulk material again according to the torque parameter of the grab bucket steel wire rope, and when the grab bucket is contacted with the surface position of the bulk material according to the recorded height, starts to control the crane 110 to grab the material to be grabbed. Further, after the grab bucket rotates and grabs the material to be grabbed, the material is scanned and analyzed again, and the possibly existing material is cleaned, if the partially missing material is found, the crane 110 is controlled to grab the material again in a targeted manner, so that the aim of grabbing cleanly and thoroughly is fulfilled.

According to the material grabbing and transferring system, the high-density and high-precision point cloud data of the material to be grabbed can be obtained rapidly through scanning the surface of the material by the three-dimensional scanner, the working efficiency is improved, the imaging algorithm device is used for generating the three-dimensional model of the material to be grabbed based on the point cloud data, the obtained three-dimensional model is higher in precision, accurate positioning of the material to be grabbed is facilitated, and meanwhile, the scanning of the material with a specific shape is also applicable; (2) The three-dimensional scanner is fixed by the three-dimensional scanner protection device and purged by the purge device, so that vibration in driving operation can be avoided, and the influence of external factors such as steam, dust and the like on a scanning result can be avoided, and the three-dimensional scanner can accurately acquire point cloud data under a severe process environment; (3) According to the interaction of the positioning device, the safety protection device and the travelling control device, the travelling crane is accurately positioned, accurate and intelligent grabbing of materials to be grabbed is achieved, the operation intensity of operators is reduced, the accuracy and the efficiency of material grabbing are improved, and accurate and quick grabbing of the materials can be achieved under different process environments.

The present application also provides a material grabbing and transferring method, please refer to fig. 4, fig. 4 is a flowchart of a material grabbing and transferring method according to an exemplary embodiment of the present application. As shown in fig. 4, the method at least includes steps S410 to S450, which are described in detail as follows:

step S410, scanning the surface of the material to be grasped to obtain point cloud data information of the material to be grasped, and generating a three-dimensional model of the material to be grasped based on the point cloud data information;

step S420, acquiring the current position of the travelling crane in real time, and determining the safe moving range of the travelling crane based on the current position;

step S430, performing coordinate transformation on the three-dimensional model corresponding to the material to be grasped, and determining a target position of the material to be grasped in a reference coordinate system;

step S440, generating a travel control instruction according to the current position, the target position and the safe moving range;

and S450, responding to the running control instruction, and grabbing and transferring the material to be grabbed.

It should be noted that, the material grabbing and transferring method provided in the above embodiment and the material grabbing and transferring system provided in the above embodiment belong to the same concept, and each step has been described in detail in the embodiment of the material grabbing and transferring system, and will not be described here again.

The application also provides a blast furnace slag grabbing method, referring to fig. 5, fig. 5 is a flowchart of the blast furnace slag grabbing method according to an exemplary embodiment of the application. As shown in fig. 5, the method at least includes steps S510 to S550, which are described in detail as follows:

step S510, scanning the slag surface of the operation area to obtain point cloud data information of the to-be-grabbed residues, and generating a three-dimensional model of the to-be-grabbed residues based on the point cloud data information, wherein the number of to-be-grabbed residues is at least one;

step S520, the current position of the travelling crane is obtained in real time, and the safe moving range of the travelling crane is determined based on the current position;

step S530, performing coordinate transformation on the three-dimensional models corresponding to the residues to be grasped respectively, and determining the target positions of the residues to be grasped respectively under a reference coordinate system;

step S540, generating a travel control instruction according to the current position, the target position and the safety movement range, responding to the travel control instruction to move, judging whether the grab bucket reaches the slag surface, grabbing and transferring residues to be grabbed if the grab bucket reaches the slag surface, and adjusting the descending height of the grab bucket until the grab bucket reaches the slag surface if the grab bucket does not reach the slag surface;

step S550, scanning the slag surface again, and continuing to grasp and transport the missing residues until the residues are cleaned.

In this embodiment, the height of the slag surface can be determined based on the target position of the slag, that is, based on the coordinate rotation of the target position of the slag in a reference coordinate system established based on a three-dimensional space, for example, based on the Z-axis in the coordinate conversion.

Specifically, referring to fig. 6, fig. 6 is a flowchart illustrating another slag grabbing method for a blast furnace according to an exemplary embodiment of the present application. As shown in fig. 6, the three-dimensional scanner is used to perform three-dimensional scanning on the residue in the residue surface of the operation area, then the imaging algorithm device is used to rapidly image according to the three-dimensional model, that is, the three-dimensional model of the residue is generated to determine the target position of the residue (including the accurate height information of the residue surface), further, the preset height of the falling of the grab bucket is set according to the target position, the crane 110 is controlled to descend according to the preset height, the crane performs operation, at this time, the grab bucket is determined to be contacted with the residue surface by combining the torque parameters of the grab bucket wire rope (when the grab bucket contacts the residue surface, the torque value of the grab bucket is suddenly changed, the change rate of the torque is also rapidly increased, whether the grab bucket reaches the residue surface or not can be accurately determined according to the characteristic), if the grab bucket does not reach the residue surface, the falling height of the grab bucket is adjusted by taking the current preset height as a reference, until the grab bucket can reach the residue surface, if not, the operation is finished, the residue is controlled to descend, the crane further performs scanning analysis on the residue surface according to the preset height, the grab bucket is controlled to fall again, the residue is completely, the grab bucket is completely, and the residue is completely cleaned again, and the operation is performed again, and the grab operation is performed again according to the preset.

The application also provides a blast furnace slag grabbing system, which comprises the material grabbing and transferring system or adopts the blast furnace slag grabbing method.

It should be noted that, the blast furnace slag grasping system provided in the foregoing embodiment and the material grasping and transferring system or the blast furnace slag grasping method provided in the foregoing embodiment belong to the same concept, where each component has been described in detail in the embodiment of the material grasping and transferring system, or specific usage steps have been described in detail in the embodiment of the blast furnace slag grasping method, which is not repeated here.

The above embodiments are merely illustrative of the principles of the present application and its effectiveness, and are not intended to limit the application. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the application. Accordingly, it is intended that all equivalent modifications and variations of the application be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.

Claims (12)

1. The material grabbing and transferring system is characterized by comprising a travelling crane, a three-dimensional imaging mechanism and a travelling crane control mechanism, wherein the three-dimensional imaging mechanism comprises a blowing device, a three-dimensional scanner protection device, a three-dimensional scanner and an imaging algorithm device, and the travelling crane control mechanism comprises a positioning device, a safety protection device and a travelling crane control device;

the three-dimensional scanner protection device is used for fixing the three-dimensional scanner; the purging device is used for purging the three-dimensional scanner; the three-dimensional scanner is used for scanning the surface of the material to obtain point cloud data information of the material to be grasped; the imaging algorithm device is used for generating a three-dimensional model of the material to be grasped based on the point cloud data information;

the positioning device is used for determining the current position of the travelling crane in real time; the safety protection device is used for determining the safety movement range of the travelling crane according to the current position;

the travel control device is used for carrying out coordinate conversion on the three-dimensional model corresponding to the material to be grasped, determining the target position of the material to be grasped under a reference coordinate system, generating a travel control instruction according to the current position, the target position and the safety movement range, and responding to the travel control instruction to grasp and transport the material to be grasped.

2. The material grabbing and transferring system according to claim 1, wherein the three-dimensional scanner protection device comprises a bottomless box and a shock absorber, the bottomless box and the purging device are both fixed on a cart of the crane, and the three-dimensional scanner and the shock absorber are arranged inside the bottomless box.

3. The material handling system of claim 2, wherein the purge device comprises a bleed air fitting for introducing external air into the air compressor, an air compressor for compressing the external air to form compressed air, and a conduit for introducing the compressed air into the aperture for purging the three-dimensional scanner.

4. The material grabbing and transferring system according to claim 1, wherein the travelling crane control mechanism further comprises a communication device, a vehicle-mounted PLC is installed on the travelling crane, the travelling crane control device is installed in a main control CPU, and the travelling crane control device sends the travelling crane control instruction to the vehicle-mounted PLC through the communication device so as to control the travelling crane to grab and transfer the material to be grabbed.

5. The material grabbing and transferring system according to claim 4, wherein the communication device comprises a wireless bridge, a switch, a photoelectric converter, an optical fiber and a network cable, the wireless bridge comprises an on-board mobile station and a ground fixed station, the on-board mobile station is connected with the on-board PLC, the ground fixed station and the on-board mobile station are connected through the network cable and are connected with a main control CPU through the switch, the switch is connected with the optical fiber through the photoelectric converter, so that when the positioning device determines that the current position is at the target position, the travel control device sends the travel control command to the on-board PLC.

6. The material grabbing and transferring system according to claim 5, wherein the travelling crane comprises a cart, a trolley and a grab bucket, and the positioning device comprises a gray bus positioning unit, an absolute value encoder and an inductive proximity switch; the gray bus positioning units and the inductive proximity switches are arranged on the cart and the trolley, the gray bus positioning units are used for positioning the cart and the trolley, and the inductive proximity switches are used for performing fault detection on the gray bus positioning units; and the absolute value encoders are arranged on the lifting reel and the opening and closing reel of the grab bucket and are used for determining the length of the steel wire rope of the grab bucket.

7. The material grabbing and transferring system according to claim 6, wherein the absolute value encoders are further arranged on the wheels of the cart and the trolley respectively and used for positioning the cart and the trolley respectively when the gray bus positioning unit fails, and the inductive proximity switch is further used for providing reference for correction of the absolute value encoders on the cart and the trolley.

8. The material grabbing and transferring system according to claim 6, wherein the vehicle-mounted PLC controls lifting and opening and closing of a cart, a trolley and a grab bucket of the crane according to the travelling control instruction, travelling speeds of the cart and the trolley comprise acceleration, deceleration, uniform speed, acceleration and deceleration, and the grab bucket lifting and opening and closing adopt a steel wire rope speed and torque double-parameter control mode, and the grab bucket is judged to be contacted with the surface of the material to be grabbed through torque abrupt change.

9. The material grabbing and transferring system according to any one of claims 1 to 8, wherein the safety protection device is arranged on the travelling crane and comprises an ultrasonic anti-collision unit and a safety protection unit, the ultrasonic anti-collision unit is used for detecting the distance between the travelling crane and other travelling cranes, and the safety protection unit is used for acquiring and analyzing the data of the gray bus positioning unit and the absolute value encoder, the motor rotating speed and the distance, determining the safety movement range and performing collision early warning on the travelling crane according to a preset safety distance.

10. A method of material handling, wherein a material handling system according to any one of claims 1 to 9 is used, the method comprising:

scanning the surface of a material to be grasped to obtain point cloud data information of the material to be grasped, and generating a three-dimensional model of the material to be grasped based on the point cloud data information;

acquiring the current position of a travelling crane in real time, and determining the safe moving range of the travelling crane based on the current position;

performing coordinate transformation on the three-dimensional model corresponding to the material to be grasped, and determining a target position of the material to be grasped under a reference coordinate system;

generating a travel control instruction according to the current position, the target position and the safe moving range;

and responding to the running control instruction to grab and transport the material to be grabbed.

11. A blast furnace slag-grasping method, characterized in that the method comprises:

scanning the slag surface of a working area to obtain point cloud data information of residues to be grabbed, and generating a three-dimensional model of the residues to be grabbed based on the point cloud data information, wherein the number of the residues to be grabbed is at least one;

acquiring the current position of a travelling crane in real time, and determining the safe moving range of the travelling crane based on the current position;

performing coordinate transformation on the three-dimensional models corresponding to the residues to be grabbed respectively, and determining respective target positions of the residues to be grabbed under a reference coordinate system;

generating a travel control instruction according to the current position, the target position and the safety movement range, responding to the travel control instruction to move, judging whether the grab bucket reaches the slag surface, grabbing and transferring the residues to be grabbed if the grab bucket reaches the slag surface, and adjusting the descending height of the grab bucket until the grab bucket reaches the slag surface if the grab bucket does not reach the slag surface;

and scanning the slag surface again, and continuing grabbing and transferring the missing residues until the residues are cleaned.

12. A blast furnace slag-grasping system comprising the material-grasping transfer system according to any one of claims 1 to 9, or using the blast furnace slag-grasping method according to claim 11.