阅读说明：本技术 一种智能抓斗的多模式工作方法 (Multi-mode working method of intelligent grab bucket ) 是由 成新民 李兵 于 2020-07-15 设计创作，主要内容包括：本发明涉及颗粒物料处理领域,具体涉及一种智能抓斗的多模式工作方法,包括步骤：S1、建立坐标系,设定抓取边界和堆放边界,所述抓取边界为堆料仓堆料区域,所述堆放边界为卸料仓堆料区域；S2、获取堆料仓图像：通过成像装置扫描获得堆料仓内料堆的网格图形数据,每个网格点记录坐标；根据网格数据提取料堆顶点D的位置坐标若干料堆峰值点Fi坐标；S3、料堆分层：以堆料仓深度方向自下而上进行分层,底层为堆料层、中层为节能清理层、顶层为高速清理层；S4、模式选择：根据控制中心指令选择操作模式,操作模式包括：停机模式、节能模式和高速模式；S5、计算路径：根据模式计算路径；S6、根据计算结果控制抓斗进行移动抓放物料。(The invention relates to the field of particle material processing, in particular to a multi-mode working method of an intelligent grab bucket, which comprises the following steps: s1, establishing a coordinate system, and setting a grabbing boundary and a stacking boundary, wherein the grabbing boundary is a stacking area of a stacking bin, and the stacking boundary is a stacking area of a discharging bin; s2, acquiring a stacking bin image: scanning by an imaging device to obtain grid graphic data of a material pile in the pile bin, and recording coordinates at each grid point; extracting position coordinates of a plurality of stockpile peak point Fi coordinates of a stockpile peak D according to the grid data; s3, layering of the material pile: layering from bottom to top in the depth direction of the stockpiling bin, wherein the bottom layer is a stockpiling layer, the middle layer is an energy-saving cleaning layer, and the top layer is a high-speed cleaning layer; s4, mode selection: selecting an operation mode according to the command of the control center, wherein the operation mode comprises the following steps: a shutdown mode, an energy saving mode, and a high speed mode; s5, calculating a path: calculating a path according to the pattern; and S6, controlling the grab bucket to move to grab and release the materials according to the calculation result.)

1. The multimode working method of the intelligent grab is characterized in that the intelligent grab comprises a large vehicle (power P1 and speed V1) for controlling the transverse movement of the grab, a small vehicle (power P2 and speed V2) for controlling the longitudinal movement of the grab, a crane for controlling the lifting of the grab and a device for pile imaging; the intelligent grab bucket obtains image data of a material piling bin and a material discharging bin in real time through an imaging device and acts under a moving path given by a control center, and the intelligent grab bucket comprises the following specific steps:

S1, establishing a coordinate system, and setting a grabbing boundary and a stacking boundary, wherein the grabbing boundary is a stacking area of a stacking bin, and the stacking boundary is a stacking area of a discharging bin;

s2, acquiring a stacking bin image: obtaining grid graphic data of a material pile in the pile bin by scanning through an imaging device, and recording coordinates (x, y and z) at each grid point, wherein x is a distance of a horizontal axis, y is a distance of a vertical axis, and z is height data; extracting position coordinates (xd, yd, zd) of a stockpile vertex D according to the grid data, wherein zd is stockpile vertex height data; selecting Fi coordinates (xfi, yfi, zfi) of a plurality of stock pile peak points according to the grid data and the peak heights, wherein zd is not less than 0.9 x zd and not more than zfi and not more than zd, and i is a natural number;

s3, layering of the material pile: layering from bottom to top in the depth direction of the stockpiling bin, wherein the bottom layer is a stockpiling layer, the middle layer is an energy-saving cleaning layer, and the top layer is a high-speed cleaning layer;

s4, mode selection: selecting an operation mode according to the command of the control center, wherein the operation mode comprises the following steps: a shutdown mode, an energy saving mode, and a high speed mode;

s5, calculating a path: calculating a path by adopting different algorithms according to the mode selected in the step S4;

and S6, after the path calculation is finished, controlling the grab bucket to move to grab and release the materials according to the calculation result.

2. The multi-mode working method of the intelligent grab bucket according to claim 1, wherein when in a shutdown mode, the cart, the trolley and the crane do not work, and the imaging device sets interval time to scan and refresh the images of the stockpiling bin; when the system is in an energy-saving mode and a high-speed mode, the cart, the trolley and the crane act along the calculated path under the control of the control center, the image forming device scans and refreshes the images of the stacking bin after the grabbing operation is finished each time, and the image forming device scans and refreshes the images of the discharging bin after the stacking operation is finished each time.

3. The multi-mode working method of the intelligent grab bucket according to claim 2, wherein the path calculation method in the energy-saving mode comprises the following steps:

1. determining a stacking point: according to the size of the hopper and the size of the discharging bin, coordinates (Xt1, Yt1, Zt1) - (Xtn, Ytn and Ztn) of a plurality of stacking points are preset and sorted, and the coordinates of the current stacking point are determined to be (Xtj, Ytj and Ztj), j (j is more than or equal to 1 and less than or equal to n) is the current stacking frequency;

2. selecting a grabbing point: selecting from a stockpile peak D and a stockpile peak point Fi, calculating energy consumption: Wd-xd-Xtj-xP 1/V1+ 'yd-Ytj-xP 2/V2, WFi-xfi-Xtj-xP 1/V1 +' yfi-Ytj-xP 2/V2, comparing the size of the Wd with that of all WFi, and selecting the coordinate of the minimum value of the stock pile vertex D or the coordinates of the stock pile peak point Fi as a grabbing point;

3. Generating a motion path: the motion path is the moving track from the grabbing point in the step 2 to the stacking point in the step 1.

4. The multi-mode working method of the intelligent grab bucket according to claim 2 or 3, wherein the path calculation method in the high-speed mode is as follows:

1. determining a stacking point: according to the size of the hopper and the size of the discharging bin, coordinates (Xt1, Yt1, Zt1) - (Xtn, Ytn and Ztn) of a plurality of stacking points are preset and sorted, and the coordinates of the current stacking point are determined to be (Xtj, Ytj and Ztj), j (j is more than or equal to 1 and less than or equal to n) is the current stacking frequency;

2. selecting a grabbing point: selecting from a stockpile peak D and a stockpile peak point Fi, and calculating time: Td-xd-Xtj-V1 + 'yd-Ytj-V2, TFi-xfi-Xtj-V1 +' yfi-Ytj-V2, comparing Td with all TFi, and selecting the coordinate of the minimum value of the stack vertex D or the stack vertex point Fi as a grabbing point;

3. generating a motion path: the motion path is the moving track from the grabbing point in the step 2 to the stacking point in the step 1.

5. The multi-mode working method of the intelligent grab bucket of claim 1, wherein in the step S4, the mode selection comprises automatic selection and manual selection; wherein the automatic selection logic is: when the zd height is less than the height of the stacking layer, selecting a shutdown mode; when the zd height is within the height range of the energy-saving cleaning layer, selecting an energy-saving mode; when the zd height is in the high speed cleaning layer height range, the high speed mode is selected.

6. The multi-mode working method of the intelligent grab bucket according to claim 5, wherein the height of the material piling layer is H/5, the height of the energy-saving cleaning layer is 7H/15, the height of the high-speed cleaning layer is H/3, and H is the maximum material piling height of the material piling bin.

Technical Field

The invention relates to the field of particle material processing, in particular to a multi-mode working method of an intelligent grab bucket.

Background

With the rapid development of economy, a large amount of garbage, steel scrap, nuclear waste, biomass and other bulk particulate matters need to be subjected to harmless treatment or recycling treatment, the garbage, the steel scrap, the nuclear waste, the biomass and other bulk particulate matters need to be loaded and unloaded into treatment equipment through a grab bucket crane in the treatment process, and a traditional loading and unloading process mode, namely a mode of manually and directly observing materials and manually operating the grab bucket crane, is generally adopted at present. However, the traditional loading and unloading mode has low working efficiency and high labor intensity of manual operation, and is easy to cause safety accidents after long-time work. In order to change the traditional loading and unloading process mode, improve the intelligent degree, the loading and unloading efficiency and the safety and reliability and reduce the labor intensity of workers, research institutions and manufacturers at home and abroad increasingly pay more attention to the research and development of the intelligent grab crane.

Disclosure of Invention

The invention aims to solve the problems in the background art and provides a multi-mode working method of an intelligent grab bucket.

The technical purpose of the invention is realized by the following technical scheme:

a multimode working method of an intelligent grab bucket comprises a large vehicle (power P1, speed V1) for controlling the grab bucket to move transversely, a small vehicle (power P2, speed V2) for controlling the grab bucket to move longitudinally, a crane for controlling the grab bucket to lift and a stacker for imaging; the intelligent grab bucket obtains image data of a material piling bin and a material discharging bin in real time through an imaging device and acts under a moving path given by a control center, and the intelligent grab bucket comprises the following specific steps:

S1, establishing a coordinate system, and setting a grabbing boundary and a stacking boundary, wherein the grabbing boundary is a stacking area of a stacking bin, and the stacking boundary is a stacking area of a discharging bin;

s2, acquiring a stacking bin image: obtaining grid graphic data of a material pile in the pile bin by scanning through an imaging device, and recording coordinates (x, y and z) at each grid point, wherein x is a distance of a horizontal axis, y is a distance of a vertical axis, and z is height data; extracting position coordinates (xd, yd, zd) of a stockpile vertex D according to the grid data, wherein zd is stockpile vertex height data; selecting Fi coordinates (xfi, yfi, zfi) of a plurality of stock pile peak points according to the grid data and the peak heights, wherein zd is not less than 0.9 x zd and not more than zfi and not more than zd, and i is a natural number;

s3, layering of the material pile: layering from bottom to top in the depth direction of the stockpiling bin, wherein the bottom layer is a stockpiling layer, the middle layer is an energy-saving cleaning layer, and the top layer is a high-speed cleaning layer;

s4, mode selection: selecting an operation mode according to the command of the control center, wherein the operation mode comprises the following steps: a shutdown mode, an energy saving mode, and a high speed mode;

s5, calculating a path: calculating a path by adopting different algorithms according to the mode selected in the step S4;

and S6, after the path calculation is finished, controlling the grab bucket to move to grab and release the materials according to the calculation result.

Preferably, when the system is in a shutdown mode, the cart, the trolley and the crane do not work, and the imaging device sets interval time to scan and refresh the images of the stacking bin; when the system is in an energy-saving mode and a high-speed mode, the cart, the trolley and the crane act along the calculated path under the control of the control center, the image forming device scans and refreshes the images of the stacking bin after the grabbing operation is finished each time, and the image forming device scans and refreshes the images of the discharging bin after the stacking operation is finished each time.

Preferably, the path calculation method in the energy saving mode comprises:

1. determining a stacking point: according to the size of the hopper and the size of the discharging bin, coordinates (Xt1, Yt1, Zt1) - (Xtn, Ytn and Ztn) of a plurality of stacking points are preset and sorted, and the coordinates of the current stacking point are determined to be (Xtj, Ytj and Ztj), j (j is more than or equal to 1 and less than or equal to n) is the current stacking frequency;

2. selecting a grabbing point: selecting from a stockpile peak D and a stockpile peak point Fi, calculating energy consumption: Wd-xd-Xtj-xP 1/V1+ 'yd-Ytj-xP 2/V2, WFi-xfi-Xtj-xP 1/V1 +' yfi-Ytj-xP 2/V2, comparing the size of the Wd with that of all WFi, and selecting the coordinate of the minimum value of the stock pile vertex D or the coordinates of the stock pile peak point Fi as a grabbing point;

3. generating a motion path: the motion path is the moving track from the grabbing point in the step 2 to the stacking point in the step 1.

Preferably, the path calculation method in the high-speed mode includes:

1. determining a stacking point: according to the size of the hopper and the size of the discharging bin, coordinates (Xt1, Yt1, Zt1) - (Xtn, Ytn and Ztn) of a plurality of stacking points are preset and sorted, and the coordinates of the current stacking point are determined to be (Xtj, Ytj and Ztj), j (j is more than or equal to 1 and less than or equal to n) is the current stacking frequency;

2. selecting a grabbing point: selecting from a stockpile peak D and a stockpile peak point Fi, and calculating time: Td-xd-Xtj-V1 + 'yd-Ytj-V2, TFi-xfi-Xtj-V1 +' yfi-Ytj-V2, comparing Td with all TFi, and selecting the coordinate of the minimum value of the stack vertex D or the stack vertex point Fi as a grabbing point;

3. generating a motion path: the motion path is the moving track from the grabbing point in the step 2 to the stacking point in the step 1.

Because the height difference between the top point of the material pile and the top point of the material pile is within 10 percent, and the positions of the stacking points are the same each time, the speed and the power consumption of the longitudinal crane can be omitted in the calculation, the calculation load of a control center is reduced, and the working efficiency is improved.

Preferably, in step S4, the mode selection includes automatic selection and manual selection; wherein the automatic selection logic is: when the zd height is less than the height of the stacking layer, selecting a shutdown mode; when the zd height is within the height range of the energy-saving cleaning layer, selecting an energy-saving mode; when the zd height is in the high speed cleaning layer height range, the high speed mode is selected. .

Preferably, the height of the stacking layer is H/5, the height of the energy-saving cleaning layer is 7H/15, the height of the high-speed cleaning layer is H/3, and H is the maximum stacking height of the stacking bin.

In summary, the multimode working method of the intelligent grab bucket provided by the invention measures and calculates different peaks and peak points of the material pile in different working modes in different modes to obtain the running route conforming to the current mode, thereby realizing the function of intelligently switching the modes according to the use scene.

Detailed Description

The following specific examples are given by way of illustration only and not by way of limitation, and it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made in the examples without inventive faculty, and yet still be protected by the scope of the claims.

The present invention will be described in detail with reference to examples.