Control algorithm for automatic loading model of cyclone well travelling crane
阅读说明：本技术 一种旋流井行车自动装车模型控制算法 (Control algorithm for automatic loading model of cyclone well travelling crane ) 是由 范来良 于 2021-06-30 设计创作，主要内容包括：本发明公开了一种旋流井行车自动装车模型控制算法,包括(1)汽车斗三维模型建立；(2)汽车装料模型建立；(3)塌方斜率；(4)汽车装料物料高度判定；(5)装车点阵顺序；(6)装车模型计算。本发明将汽车斗内氧化铁皮料堆进行有限的物料空间网格化,并设计装车模型控制算法,实现了行车抓斗自动控制装车,包括装车位置自动选点、自动卸料、料满自动停止及每次放料后的料堆模型自动更新,通过画面显示汽车斗各装车点物料高度,动态显示车内物料状况。(The invention discloses a control algorithm of a model for automatic loading of a whirling well travelling crane, which comprises the following steps of (1) establishing a three-dimensional model of a car hopper; (2) establishing an automobile loading model; (3) a slump slope; (4) judging the height of the automobile charging material; (5) loading a dot matrix sequence; (6) and (5) calculating a loading model. The invention carries out limited material space gridding on the iron oxide scale material pile in the car hopper, designs a loading model control algorithm, realizes automatic control loading of the travelling crane grab bucket, and comprises automatic point selection of a loading position, automatic unloading, automatic stop after full material and automatic updating of the material pile model after each discharging, displays the material height of each loading point of the car hopper through a picture, and dynamically displays the material condition in the car.)
1. The utility model provides a whirl well driving automatic loading model control algorithm which characterized in that: comprises that
(1) Establishing a three-dimensional model of the car hopper;
(2) establishing an automobile charging model: the method comprises the following steps of (1) arranging a loading lattice, wherein the number of the lattice is (the length of an automobile is-2 multiplied by the safety distance between a grab bucket and the automobile)/the width of the grab bucket; the number of the dot matrixes is rounded to be the finally determined number of the dot matrixes, and the width of the dot matrixes is recalculated according to the determined number of the dot matrixes; recording the height of the material for each dot matrix of the automobile loading;
(3) landslide slope: the slope surface collapse slope is tag (alpha), and the alpha is selected to be between 30 and 70 degrees; when the automobile is loaded, the slope (height difference/lattice distance) of the adjacent lattice is less than or equal to tag (alpha);
(4) judging the height of the automobile charging material: when discharging, the grab bucket falls under a closed state until the weight of the grab bucket is reduced to 0, and the height of the grab bucket is the height of the material;
(5) loading the lattice sequence: loading at intervals; when the height of the material at a certain point is more than or equal to (the height of a barrier plate of the car hopper-the height of the anti-scattering safe material discharge), skipping the point, and loading the material to the next dot matrix until all the dot matrixes are full of the material, and ending the loading;
(6) calculating a loading model: the height h of the increase of the diffusion point and the distance from the diffusion point to the closing axis follow a normal distribution curve: when the car is used for plane unloading, the unloaded material accounts for 80 percent of the total unloading amount of the grab bucket in the range that the diffusion radius r is equal to the opening width/3 of the grab bucket; when the slope is piled, the normal distribution function of the added height of each unloading point is as follows:
wherein, the value of the upper slope surface sigma is as follows: (1- λ k) r ═ 1.3 σ calculation, where: k is slope, namely unloading height of the central point of the grab bucket and height difference of an original point array/distance between two points, and lambda is a slope coefficient range and is between 0.3 and 0.7; the value of the lower slope surface sigma is as follows: (1+ λ k) r is calculated as 1.3 σ, wherein k is slope, λ is slope coefficient range, and is between 1 and 3;
the height of the dot matrix on the two sides of the central point of the grab bucket is corrected as follows:
2. the control algorithm for the cyclone well traveling crane automatic loading model according to claim 1, characterized in that: the method for establishing the three-dimensional model of the car hopper comprises the steps of determining the absolute position of the lower right corner of the car according to the left side position and the rear monitoring position of the car parking fixing, and obtaining the three-dimensional model of the car hopper according to the input length, width, floor height and barrier height of the car hopper.
3. The control algorithm for the cyclone well traveling crane automatic loading model according to claim 1, characterized in that: the lattice width calculation formula is as follows: the lattice width is (automobile length-2 multiplied by the safe distance between the grab bucket and the automobile)/the number of the lattices.
4. The control algorithm for the cyclone well traveling crane automatic loading model according to claim 1, characterized in that: in the judgment of the height of the automobile charging material, the height of the automobile charging material is lower than the height of an automobile bottom plate, the weight of the automobile charging material is not reduced, the system gives out a fault alarm, and the automobile charging material stops discharging.
Technical Field
The invention relates to a calculation method, in particular to an automatic loading model control algorithm suitable for a cyclone well travelling crane.
Background
The cyclone well travelling crane is used for storing and taking slag in a well, the cyclone well travelling crane comprises the steps of grabbing and storing the slag in a material pool pile, and the cyclone well travelling crane comprises the steps of grabbing and loading the slag from the material pool pile, and then transporting the slag out of a vehicle. In order to improve the production efficiency, the difficult problem of automatic loading control must be solved.
The technical difficulty of the automatic loading control function mainly lies in that: the method comprises the following steps of firstly, automobile positioning, secondly, material loading model control and thirdly, how to prevent material scattering and collision and safely control. Particularly, the loading model of the materials is a very complex material pile model, and generally, the materials in the vehicle are analyzed by means of laser scanning auxiliary image recognition and complex computer modeling, so that the optimal loading position is determined, and the loading is safely controlled. The process is complex to control, long in development period and high in cost, and has no successful industrial application case in China.
The existing automatic loading function adopts a method of building a middle bin conventionally, iron oxide sheets are grabbed into a fixed material bin, and the loading function is realized through unloading at the bottom of the bin. The method needs to establish an intermediate bin, and the most important point is that the height of a general iron scale cyclone well travelling crane is 9 meters, and the height of the bin, the unloading height of a car at the bottom of the bin and the height of a grab bucket generally exceed 12 meters, so that the automatic loading function in the prior art cannot be used for reference for the travelling crane of the cyclone well. Just so, restricted the automatic loading control of iron oxide scale heap and used, current direct grab bucket loading generally conventionally adopts artifical manual operation control driving grab to realize.
Therefore, a simple and practical automatic loading model control method for the iron oxide scale stacking is urgently needed.
Disclosure of Invention
The technical task of the invention is to provide a control algorithm of a rotational flow well travelling crane automatic loading model aiming at the defects of the prior art, the loading model control of the iron oxide scale is realized through the algorithm, and then the technical problem of automatic control loading of a travelling crane grab bucket is solved.
The technical scheme for solving the technical problem is as follows: the utility model provides a whirl well driving automatic loading model control algorithm which characterized in that: comprises the establishment of a three-dimensional model of a car hopper
(1) Establishing a three-dimensional model of the car hopper;
(2) establishing an automobile charging model: the method comprises the following steps of (1) arranging a loading lattice, wherein the number of the lattice is (the length of an automobile is-2 multiplied by the safety distance between a grab bucket and the automobile)/the width of the grab bucket; the number of the dot matrixes is rounded to be the finally determined number of the dot matrixes, and the width of the dot matrixes is recalculated according to the determined number of the dot matrixes; recording the height of the material for each dot matrix of the automobile loading;
(3) landslide slope: the slope surface collapse slope is tag (alpha), and the alpha is selected to be between 30 and 70 degrees; when the automobile is loaded, the slope (height difference/lattice distance) of the adjacent lattice is less than or equal to tag (alpha);
(4) judging the height of the automobile charging material: when discharging, the grab bucket falls under a closed state until the weight of the grab bucket is reduced to 0, and the height of the grab bucket is the height of the material;
(5) loading the lattice sequence: loading at intervals; when the height of the material at a certain point is more than or equal to (the height of a barrier plate of the car hopper-the height of the anti-scattering safe material discharge), skipping the point, and loading the material to the next dot matrix until all the dot matrixes are full of the material, and ending the loading;
(6) calculating a loading model: the height h of the increase of the diffusion point and the distance from the diffusion point to the closing axis follow a normal distribution curve: when the car is used for plane unloading, the unloaded material accounts for 80 percent of the total unloading amount of the grab bucket in the range that the diffusion radius r is equal to the opening width/3 of the grab bucket; when the slope is piled, the normal distribution function of the added height of each unloading point is as follows:
wherein, the value of the upper slope surface sigma is as follows: (1- λ k) r ═ 1.3 σ calculation, where: k is slope, namely unloading height of the central point of the grab bucket and height difference of an original point array/distance between two points, and lambda is a slope coefficient range and is between 0.3 and 0.7; the value of the lower slope surface sigma is as follows: (1+ λ k) r is calculated as 1.3 σ, wherein k is slope, λ is slope coefficient range, and is between 1 and 3;
the height of the dot matrix on the two sides of the central point of the grab bucket is corrected as follows:
the method for establishing the three-dimensional model of the automobile hopper comprises the steps of determining the absolute position of the lower right corner of the automobile according to the left side position and the rear monitoring position of the automobile parking fixing, and obtaining the three-dimensional position model of the automobile hopper according to the input length, width, floor height and barrier height of the automobile hopper.
The above lattice width calculation formula: the lattice width is (automobile length-2 multiplied by the safe distance between the grab bucket and the automobile)/the number of the lattices.
In the automobile charging material height judgment, the height of the automobile charging material is lower than the height of an automobile bottom plate, the weight of the automobile charging material is not reduced, the system gives out a fault alarm, and the discharging is stopped.
Compared with the prior art, the invention has the following outstanding beneficial effects:
1. the invention automatically acquires the position of the car hopper by laser ranging and scribing parking;
2. the method carries out limited material space gridding on the iron oxide scale material pile in the car hopper, designs a loading model control algorithm, realizes automatic control loading of the travelling crane grab bucket, and comprises automatic point selection of a loading position, automatic unloading, automatic stop after full material and automatic updating of a material pile model after each discharging, displays the material height of each loading point of the car hopper through a picture, and dynamically displays the material condition in the car;
3. the safety control of preventing material scattering and collision is realized.
Drawings
FIG. 1 is a schematic view of the automotive position detection of the present invention.
Fig. 2 is a flat stockpile material distribution diagram of the present invention.
FIG. 3 is a material distribution diagram of the present invention for a slant stacking.
Fig. 4 is a loading screen display diagram of the present invention.
Fig. 5 is a control process diagram of the loading process of the present invention.
Detailed Description
The invention is further described with reference to the drawings and the detailed description.
According to the invention, through automobile position detection, an automobile hopper space position area is obtained, an automobile material pile model is established, and an automobile material pile model control algorithm is designed, so that the automatic loading function of a travelling crane is realized.
1. Automobile positioning
In order to realize automatic loading of automobiles, a three-dimensional space area of an automobile hopper must be obtained, the automobile position parking has certain randomness, the automobile types are inconsistent, the width, the length and the height are different, and if the information cannot be mastered, the safety problems of smashing, scraping, scattering and the like of the grab bucket during loading of the grab bucket exist.
The positioning detection diagram is shown in figure 1, and in order to obtain accurate positioning of the automobile, the automobile is required to be parallel to a travelling crane (in the direction of a cart or a trolley, related to field arrangement) when being parked, and the problem can be solved by a management means; in order to facilitate the parking of the automobile, a left wheel pressing line belt of the automobile is drawn on the left side of the automobile, and when a driver is required to park the automobile, the left wheel of the automobile must be closely parked on the pressing line belt, so that the left/right parallel parking of the automobile is ensured, and the position of the left/right side baffle plate of the hopper is determined. If the position of the rear part of the automobile is determined, the whole automobile hopper space area can be obtained according to the input length, width, height of the bottom plate and height of the baffle plate of the automobile hopper, so that the position of the rear part of the automobile needs to be detected.
2. Material loading model
(1) Three-dimensional model of car hopper
According to the left side position and the rear monitoring position of the automobile parking fixing, the absolute position of the lower right corner of the automobile can be determined, and then according to the input length, width, floor height and barrier height of the automobile hopper, a three-dimensional position model of the automobile hopper can be obtained.
(2) Automobile charging model
The width of the truck is generally between 2.2 meters and 2.5 meters, the opening width of the grab bucket is 1.8 meters to 2 meters, and the width just can accommodate the emptying width of the grab bucket, so the automobile model is divided into a row of automobile loading dot matrixes, the number of the dot matrixes is determined according to the length of the automobile, and the dot matrixes at two ends of each automobile bucket must keep enough safety distance so as to ensure that the grab bucket cannot touch a head and tail baffle of the automobile bucket during loading, thereby realizing anti-collision safety control.
The number of the dot matrix is (the length of the automobile is-2 multiplied by the safe distance between the grab bucket and the automobile)/the width of the grab bucket
The number of the lattices obtained by the formula needs to be rounded, the number of the lattices is finally determined after rounding, the lattice width is recalculated according to the determined number of the lattices, and the calculation formula is as follows:
lattice width (automobile length-2 x grab bucket and automobile safety distance)/lattice number
And recording the height of the material for each dot matrix of automobile loading, so that the automobile hopper material is constructed into a three-dimensional area mathematical model.
(3) Slope of collapse
After the automobile is loaded once, the material pile part area can be caused to collapse. When the material pile collapses, the slope angle alpha of the material pile is the maximum slope of the material pile, the alpha is selected to be between 30 and 70 degrees according to the characteristics of iron scale, the alpha is 35 to 50 degrees in the optimization scheme, and the slope collapse slope is tag (alpha).
When the automobile is loaded, the slope (height difference/lattice distance) of the adjacent lattice is less than or equal to tag (alpha).
(4) Vehicle charge level
When the material is discharged, the grab bucket descends in a closed state until the weight of the grab bucket is reduced to 0, the grab bucket is indicated to touch the material, and the height of the grab bucket is the height of the material.
If the material is discharged, the height of the material is lower than the height of the automobile floor, the weight is not reduced, the grab bucket does not touch the automobile floor, the loading point does not park the automobile, the system gives out a fault alarm, the material discharge is stopped, and the safety is ensured. If the material is discharged for the first time, the height of the grab bucket is larger than or equal to the height of the car hopper baffle, the situation that the charging point touches the car hopper baffle is shown, the problem of car positioning is shown, the system sends out a fault alarm, and the material discharging is stopped. Through the judgment of the unloading height of the grab bucket, special conditions that the automobile is not accurately positioned or the automobile is not at a parking position can be eliminated, and the loading safety is effectively ensured. The safety control of preventing material scattering and collision under special conditions is realized.
(5) Loading dot matrix sequence
When the grab bucket is loaded, the grab bucket is not loaded according to the dot array sequence, but loaded at intervals. For example, if the number of the automobile loading dot matrixes is 5, the sequence of the loading dot matrixes is as follows: 1 → 3 → 5 → 2 → 4 → 1 … …, and so on.
The advantage of loading according to this order is for piling the peak between the blowing, and the grab bucket blowing is difficult for empting, and it is better to prevent spilling the material effect simultaneously.
When the height of the material at a certain point is more than or equal to (the height of the barrier plate of the car hopper-the height of the anti-scattering material safe discharge), the point is filled, and the material can not be charged any more, otherwise, the material overflows the barrier plate and scatters the material outwards, at the moment, the point is skipped over, the material is charged to the next dot matrix until all the dot matrices are filled with the material, and the charging is finished.
(6) Truck loading model calculation
When the grab bucket is loaded in the vehicle, the material distribution area takes the close shaft of the grab bucket as the central line and spreads to two sides in the opening direction of the grab bucket. The height h of the increase of the diffusion point and the distance from the diffusion point to the closing axis follow a normal distribution curve: and in the range of the spreading radius r being the opening width/3 of the grab bucket, the discharged materials account for 80 percent of the total discharge capacity of the grab bucket. By 2r, the discharge height is substantially zero. The normal distribution is shown in FIG. 2.
When the slope is piled, the material is unloaded obliquely to one side of the lower slope, so that in the distribution of the piled material region, the influence region of the upper slope is smaller, so that the distribution curve is closed to the center, the variance sigma of the lower slope is larger, the influence region is enlarged, the distribution curve is expanded to the periphery, and the distribution diagram is shown in fig. 3.
The normal distribution function of the added height of each unloading point is as follows:
hmaxis the highest discharge point height. And x is the distance from the discharging point to the closing shaft. σ is the variance. e is a natural constant.
If the material is unloaded in the plane in the vehicle, the material distribution accounts for 80% in the area of unloading radius r which is the width of the grab bucket/3, and the table lookup results in that x is 1.3 sigma, namely r is 1.3 sigma, and sigma is r/1.3.
If the discharging is carried out on the slope, sigma acquisition needs to analyze whether the discharging is carried out on the upward slope or the downward slope, and the calculation is as follows: ascending on the slope surface: the value of sigma is as follows: (1- λ k) r ═ 1.3 σ calculation, whichThe method comprises the following steps: k is slope (unloading height of a central point of the grab bucket and height difference of an original point array/distance between two points), lambda is slope coefficient, and lambda ranges from 0.3 to 0.7 according to the characteristics of iron scale. Lambda is related to the quantity of sludge contained in the material according to the viscosity of the material, the content of the material and the sludge in each cyclone well is not changed greatly, but different cyclone wells are different, so that the variable is added, when the viscosity of the material is higher or the content of the sludge is higher, the lambda value is large, and otherwise, the lambda value is small. For example, λ is 0.3 and k is 1, thenWhen the plane is unloaded, sigma is r/1.3. With σ unchanged, the discharge radius is reduced to 0.7 r. A downward slope surface: the value of sigma is as follows: and (1+ lambda k) r is calculated as 1.3 sigma, wherein k is slope, lambda is slope coefficient, and lambda ranges from 1 to 3 according to the characteristics of the iron scale. For example, when λ is 1 and k is 1, thenWhen the plane is unloaded, sigma is r/1.3. With σ unchanged, the discharge radius is increased to 2 r.
The height of the dot matrix on the two sides of the central point of the grab bucket is corrected as follows:
the corrected dot matrix height is the adjusted original height +
a) Adjusted original height
And if the slope between the unloading point at the center of the grab bucket and the dot matrix does not exceed the height collapse slope, taking the height of the original dot matrix, and otherwise, correcting according to the collapse slope by taking the unloading height at the center of the grab bucket as a datum point. Namely:
if the slope of the material slope meets the slope without collapse, taking the original point array height as the value;
if the slope surface slope is larger than the collapse slope, the unloading height of the central point of the grab bucket is taken as a datum point, and the height is reversely deduced according to the collapse slope.
b) Central point increased height h for unloadingmax
The height that the central unloading point increases is the biggest, and the calculation formula is:
hmaxgrab bucket unloading weight/iron scale density/spreading area
The unloading weight of the grab bucket is the weight difference before and after the grab bucket unloads. The iron oxide is iron powder and scrap iron, and the density of the iron oxide scale is 2.75t/m3。
Paving area is equal to grab bucket depth multiplied by 4r2And calculating, wherein r is the opening width/3 of the grab bucket.
(7) Loading stop mode
The loading stop mode has three types: full mode, weight mode, loading times mode.
Filling mode: that is, the filling height of all dot matrixes is more than or equal to (the height of a barrier plate of the car hopper-the anti-scattering safe discharging height);
weight mode: stopping when the weight of the charged materials exceeds a set weight value, and stopping when the full-filling mode condition is reached;
thirdly, loading times mode: the loading times of the grab bucket exceed the set value and stop, and the grab bucket also stops if the full mode condition is reached.
(8) Automobile charging material height display
According to the charging model, the height of each dot matrix of the automobile is automatically obtained, the height of the baffle plate is referenced, the height proportion of the baffle plate in the hopper is displayed, and the height of the material is displayed according to the proportion, so that the distribution condition of the material in the hopper and the height condition of the material surface can be visually displayed, and the picture display is shown in figure 4.
The specific implementation mode is as follows:
after the traveling crane performs one loading action, the system automatically performs height correction on the dot matrix according to the position, height and weight of the grab bucket so as to ensure the accuracy of the height of the stockpiling dot matrix.
As shown in fig. 5, the process control is described in detail as follows:
(1) real-time data acquisition
And reading the position of the travelling crane trolley, the height of the grab bucket, the weight of the grab bucket and the height data of the grab bucket in real time.
(2) Obtaining the dot matrix position of loading
And loading according to the loading sequence of the separated points, if the height of the dot matrix is more than or equal to (the height of a barrier plate of the car hopper-the height of the anti-scattering material safe unloading), skipping the point, and searching the next point until the dot matrix meeting the conditions is found.
(3) Controlling the position of a loading and unloading point of a travelling crane
(4) Discharge of grab bucket
After the travelling crane runs to the automobile loading point, the grab bucket begins to descend, when the weight of the grab bucket begins to be reduced, the grab bucket is indicated to touch materials, the height of the materials at the material stacking point can be accurately obtained through the height of the grab bucket, then the grab bucket is stopped after being lifted to a certain height, the closed cable continues to be lifted, the material feeding is started until the grab bucket is completely opened, and the material feeding is finished.
(5) Automobile stockpile model update
After the emptying is finished, the grab bucket rises to the safe translation height, and according to the loading model control algorithm, the height of each dot matrix in the automobile is corrected, and the control of the material model in the automobile is finished.
It should be noted that the present embodiment is not described in detail, and is a technique known in the art. In the foregoing, only certain exemplary embodiments have been described briefly. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the claimed embodiments. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.
While the invention has been described in detail and with reference to specific embodiments thereof, it will be apparent to one skilled in the art that various changes can be made therein without departing from the spirit and scope thereof.