阅读说明：本技术 一种物料长堆无人堆取料智能调度系统 (Intelligent scheduling system for long-material unmanned material piling and taking ) 是由 张闯 袁亦斌 臧剑波 李志丹 赵玉薇 赵华 俞利涛 于 2021-09-01 设计创作，主要内容包括：本发明涉及物料调度系统技术领域,具体涉及一种物料长堆无人堆取料智能调度系统,包括无人化散料输送系统、上位机软件系统、无线通信系统和双控控制系统,其中,无人化散料输送系统包括卸料区控制系统、堆场控制系统和调配与原煤库控制系统,所述上位机软件系统用于通过无线通信系统网络连接无人化散料输送系统和双控控制系统并收发信息,利用双控控制系统控制将物料依次通过卸料区控制系统、堆场控制系统和调配与原煤库控制系统输送后进行水泥原料的制备生产。本发明大大减少了散料输送过程中的人工成本,实现现场无人化,从而降低了人工操作量以及因人工操作出现的故障率,有效提高了整个系统的安全性,增强了系统的可靠性。(The invention relates to the technical field of material scheduling systems, in particular to an intelligent scheduling system for long-pile unmanned material stacking and taking, which comprises an unmanned bulk material conveying system, an upper computer software system, a wireless communication system and a double-control system, wherein the unmanned bulk material conveying system comprises a discharging area control system, a yard control system and a blending and raw coal yard control system, the upper computer software system is used for connecting the unmanned bulk material conveying system and the double-control system through a wireless communication system network and transmitting and receiving information, and the double-control system is used for controlling materials to be conveyed through the discharging area control system, the yard control system and the blending and raw coal yard control system in sequence and then preparing and producing cement raw materials. The invention greatly reduces the labor cost in the bulk cargo conveying process and realizes the field unmanned operation, thereby reducing the manual operation amount and the failure rate caused by the manual operation, effectively improving the safety of the whole system and enhancing the reliability of the system.)

1. The long-material unmanned stacking and taking intelligent scheduling system is characterized by comprising an unmanned bulk material conveying system, an upper computer software system, a wireless communication system and a double-control system, wherein the unmanned bulk material conveying system comprises a discharging area control system, a yard control system and a blending and original coal bunker control system, the upper computer software system is used for connecting the unmanned bulk material conveying system and the double-control system through a wireless communication system network and receiving and transmitting information, and the double-control system is used for controlling materials to be conveyed through the discharging area control system, the yard control system and the blending and original coal bunker control system in sequence and then preparing and producing cement raw materials.

2. The system for intelligently scheduling the unmanned material piling and taking of the long material piling as claimed in claim 1, wherein the discharging area control system is used for controlling the materials, namely raw coal and auxiliary materials: iron powder, sandstone and shale are conveyed and discharged to a corresponding discharging area through a raw coal and iron powder pit conveyor and a sandstone and shale pit belt, and then conveyed to a storage yard control system through the conveyor, wherein the sandstone and the shale are pretreated through a crusher and then discharged.

3. The system as claimed in claim 2, wherein the yard control system comprises an entrance belt, a yard area, a stocker, a reclaimer and an exit belt, the entrance belt automatically discharges raw coal and auxiliary materials onto the corresponding stocker through the respective entrance belt, the raw coal and auxiliary materials are automatically transported to the corresponding yard area through the stocker, the raw coal and auxiliary materials are automatically delivered to the exit belt through the reclaimer, the auxiliary materials are iron powder, sandstone and shale, the reclaimer is divided into a raw coal reclaimer and an auxiliary material reclaimer, and the auxiliary material reclaimer comprises: the first auxiliary material reclaimer is used for conveying sandstone and shale; and the second auxiliary material reclaimer is used for conveying and reclaiming the shale and the iron powder.

4. The system as claimed in claim 3, wherein the yard control system is further configured with a three-dimensional scanning module and a laser range finder, both mounted in the two side areas of the top of the cantilever of the stacker, for performing laser scanning on the stockpile area, displaying the material condition of the stockpile area in real time, and realizing safe collision avoidance.

5. The system as claimed in claim 3, wherein the stocker and the reclaimer are configured with a precise positioning module, wherein the stocker includes a raw coal stocker and an auxiliary material stocker, the raw coal stocker, the auxiliary material stocker, the first auxiliary material reclaimer and the second auxiliary material reclaimer are positioned by merging with an encoder using a double-california RFID, and the raw coal reclaimer is positioned by merging with an encoder using a step-measuring L2 laser ranging sensor.

6. The system for intelligently dispatching the long-pile unmanned material stacking and reclaiming materials of claim 5, wherein the double-control system comprises a PLC control system and a DCS control system.

7. The system as claimed in claim 6, wherein the PLC control system comprises an on-board PLC and a central control PLC, the on-board PLC is in Siemens S7-1200 series, and the central control PLC is used for connecting and communicating the upper computer and the on-board PLC for realizing cluster control of five on-site machines, namely, a raw coal stacker, an auxiliary material stacker, a first auxiliary material reclaimer, a second auxiliary material reclaimer and a raw coal reclaimer.

8. The system for intelligently dispatching the unmanned long-pile material stacking and reclaiming materials of the materials as claimed in claim 2, wherein the dispatching and raw coal bunker control system is provided with a warehousing belt, a storage warehouse and a discharging belt, the warehousing belt is divided into an auxiliary material warehousing belt and a raw coal warehousing belt, and the storage warehouse comprises a raw material dispatching warehouse and a raw coal bunker; the auxiliary materials and the raw coal are respectively conveyed to respective storage warehouse through an auxiliary material warehousing belt and a raw coal warehousing belt, and then are delivered out of the warehouse through an ex-warehouse belt according to production needs.

9. The intelligent scheduling system for unmanned long-pile material stacking and reclaiming of materials according to claim 1, wherein the upper computer software system mainly comprises a three-dimensional presentation of a yard, a blending library, a raw coal library, a system belt, a data panel, a state information panel, an operation panel and a fault information panel, and is used for displaying the running states of the machine equipment and each belt in real time, including current values, position information and angle information, and pushing information prompts and corresponding voice information prompts in real time by fault alarm information.

10. The intelligent scheduling system for unmanned material long-pile material stacking and taking as claimed in claim 1, wherein the system is further configured with a yard safety protection system, which comprises an audible and visual alarm and a personnel identification module, wherein the audible and visual alarm is arranged on the warehousing belt and the ex-warehouse belt, and is used for alarming before the belt is started by one key, and the personnel identification module is used for automatically monitoring the personnel entering and exiting.

Technical Field

The invention relates to the technical field of material scheduling systems, in particular to an intelligent scheduling system for long-pile unmanned material stacking and taking.

Background

At present, cement raw materials need to be applied to a large number of machines and transportation equipment in the transportation and stacking processes, related transportation sites and related equipment need to be observed and operated and controlled manually, for example, a scheduling system used in the production of Sophora canna shown in the attached drawing 1, so that the operation is often required depending on the experience of workers in partial work, uncertain factors exist in the quality control of the raw materials, and a large amount of labor is input, so that the whole transportation production process has huge potential safety hazards, and the potential safety hazards of equipment and more critical personal potential safety hazards of the workers are involved.

Disclosure of Invention

In order to solve the technical problems in the prior art, the invention provides an intelligent scheduling system for long-material unmanned stacking and reclaiming, which has high automation, digitalization, visualization, process and modeling and realizes the full process automation and unmanned targets of materials from trucks to storage yards and storage yards to blending warehouses and raw coal warehouses, and the specific technical scheme is as follows:

the long-material unmanned stacking and taking intelligent scheduling system comprises an unmanned bulk material conveying system, an upper computer software system, a wireless communication system and a double-control system, wherein the unmanned bulk material conveying system comprises a discharging area control system, a yard control system and a blending and raw coal bunker control system, the upper computer software system is used for being connected with the unmanned bulk material conveying system and the double-control system through a wireless communication system network and receiving and transmitting information, and the double-control system is used for controlling materials to be conveyed through the discharging area control system, the yard control system and the blending and raw coal bunker control system in sequence and then preparing and producing cement raw materials.

Further, the discharge area control system is used for discharging the materials, namely raw coal and auxiliary materials: iron powder, sandstone and shale are conveyed and discharged to a corresponding discharging area through a raw coal and iron powder pit conveyor and a sandstone and shale pit belt, and then conveyed to a storage yard control system through the conveyor, wherein the sandstone and the shale are pretreated through a crusher and then discharged.

Further, stock yard control system is equipped with approach belt, stockpile district, stocker, reclaimer and the belt of leaving a yard, the approach belt is automatic with raw coal and auxiliary material through the approach belt that corresponds separately and is unloaded to corresponding the stocker on, back through the automatic transportation of stocker to corresponding the stockpile district, then through the automatic material of reclaimer get carry to the belt of leaving a yard, carry to allotment and raw coal storehouse system through the belt of leaving a yard, auxiliary material wherein is iron powder, sandstone and shale, the reclaimer divide into raw coal reclaimer and auxiliary material reclaimer, auxiliary material reclaimer wherein includes: the first auxiliary material reclaimer is used for conveying sandstone and shale; and the second auxiliary material reclaimer is used for conveying and reclaiming the shale and the iron powder.

Further, the yard control system is also provided with a three-dimensional scanning module and a laser range finder which are arranged in the areas on two sides of the top of the cantilever of the stacker and used for carrying out laser scanning on the stockpile area, displaying the material condition of the stockpile area in real time and realizing safe collision avoidance.

Further, accurate positioning module is all installed in the configuration of stocker and reclaimer, and wherein the stocker includes raw coal stocker and auxiliary material stocker, raw coal stocker, auxiliary material stocker, first auxiliary material reclaimer and second auxiliary material reclaimer all adopt doubly to add good RFID and encoder and fuse the location, and raw coal reclaimer adopts to take a step to survey L2 laser ranging sensor and encoder and fuses the location.

Further, the double-control system comprises a PLC control system and a DCS control system.

Furthermore, the PLC control system comprises an on-board PLC and a central control PLC, the on-board PLC is controlled by a Siemens S7-1200 series, and the central control PLC is used for connecting and communicating communication between the upper computer and the on-board PLC and is used for realizing cluster control of five on-site machines, namely a raw coal stocker, an auxiliary material stocker, a first auxiliary material reclaimer, a second auxiliary material reclaimer and a raw coal reclaimer.

Further, the blending and raw coal bunker control system is provided with a warehousing belt, a storage warehouse and a discharging belt, wherein the warehousing belt is divided into an auxiliary material warehousing belt and a raw coal warehousing belt, and the storage warehouse comprises a raw material blending bunker and a raw coal bunker; the auxiliary materials and the raw coal are respectively conveyed to respective storage warehouse through an auxiliary material warehousing belt and a raw coal warehousing belt, and then are delivered out of the warehouse through an ex-warehouse belt according to production needs.

Further, the upper computer software system mainly comprises a storage yard three-dimensional presentation and allocation library, a raw coal library, a system belt, a data panel, a state information panel, an operation panel and a fault information panel, and is used for displaying the running states of the machine equipment and the belts in real time, including current values, position information and angle information, and pushing information prompts and corresponding voice information prompts in real time when fault alarm information exists.

Further, this system still disposes the stock yard safety protection system, including audible-visual annunciator and personnel identification module, wherein audible-visual annunciator sets up in the belt of warehousing and the belt of leaving warehouse for before the belt key starts, audible-visual annunciator reports to the police, and personnel identification module is used for the discrepancy of automatic monitoring personnel.

The system of the invention has the advantages that:

the invention greatly reduces the labor cost in the bulk cargo conveying process, realizes the field unmanned operation, thereby reducing the manual operation amount and the failure rate caused by the manual operation, effectively improving the safety of the whole system, and enhancing the reliability of the system by adopting the double control system and the corresponding intelligent operation software.

Drawings

FIG. 1 is a schematic view of a presently existing bulk material conveying system;

FIG. 2 is a schematic view of an unmanned bulk material conveying system of the present invention;

FIG. 3 is a schematic diagram of the overall architecture of the system of the present invention;

FIG. 4 is a schematic diagram of a PLC control system architecture of the present invention;

FIG. 5 is a schematic diagram of the raw coal pile control flow of the present invention;

FIG. 6 is a schematic view of the iron powder pile control flow of the present invention;

FIG. 7 is a schematic view of a raw coal extraction control flow of the present invention;

FIG. 8 is a schematic view of the control flow of the additive pile of the present invention;

FIG. 9 is a schematic view of an adjuvant material withdrawal control flow of the present invention;

fig. 10 is a schematic view of the overall structure of the stockpiling zone of the present invention.

Detailed Description

In order to make the objects, technical solutions and technical effects of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings.

As shown in fig. 2 and 3, the intelligent scheduling system for long-pile unmanned material stacking and taking of materials of the invention comprises an unmanned bulk material conveying system, an upper computer software system, a wireless communication system and a double-control system, wherein the unmanned bulk material conveying system comprises a discharging area control system, a yard control system and a blending and raw coal bunker control system, the double-control system comprises a PLC control system and a DCS control system, the upper computer software system is used for connecting the unmanned bulk material conveying system and the double-control system through a wireless communication system network and receiving and transmitting information, and the double-control system is used for controlling the materials to be conveyed through the discharging area control system, the yard control system and the blending and raw coal bunker control system in sequence and then preparing and producing cement raw materials.

The unloading area control system is used for conveying and unloading materials, namely raw coal, iron powder, sandstone and shale, to the corresponding unloading area through a raw coal and iron powder pit conveyor and a sandstone and shale pit belt, and then conveying the materials to the yard control system through the conveyor, wherein the sandstone and the shale are pretreated by the crusher and then unloaded.

The yard control system is equipped with the approach belt, the material pile district, the stocker, reclaimer and the belt of leaving a yard, the approach belt is automatic with raw coal and auxiliary material through the approach belt that corresponds separately and is unloaded to corresponding the stocker on, back through the automatic transportation of stocker to corresponding the material pile district, then through the automatic material of reclaimer get carry to the belt of leaving a yard, carry to allotment raw coal storehouse system through the belt of leaving a yard, wherein the auxiliary material is iron powder, sandstone and shale promptly, the reclaimer divide into raw coal reclaimer and auxiliary material reclaimer, auxiliary material reclaimer wherein includes: the first auxiliary material reclaimer is used for conveying sandstone and shale; and the second auxiliary material reclaimer is used for conveying and reclaiming the shale and the iron powder.

The storage yard control system is also provided with a three-dimensional scanning module and a laser range finder which are both arranged in the areas on two sides of the top of a cantilever of the stacker and used for carrying out laser scanning on the material pile area, displaying the material condition of the material pile area in real time and realizing safe collision avoidance.

Accurate positioning module is installed in stocker and reclaimer all configuration, and wherein the stocker includes raw coal stocker and auxiliary material stocker, raw coal stocker, auxiliary material stocker, first auxiliary material reclaimer and second auxiliary material reclaimer all adopt doubly to add good fortune RFID and encoder and fuse the location, and raw coal reclaimer adopts to take a step to survey L2 laser ranging sensor and encoder and fuses the location.

The blending and raw coal bunker control system is provided with a warehousing belt, a storage warehouse and a delivery belt, wherein the warehousing belt is divided into an auxiliary material warehousing belt and a raw coal warehousing belt, and the storage warehouse comprises a raw material blending bunker and a raw coal bunker; the auxiliary materials and the raw materials are respectively conveyed to respective storage warehouse through an auxiliary material warehousing belt and a raw coal warehousing belt, and then are delivered out of the warehouse through a delivery belt according to production needs.

As shown in fig. 4, the PLC control system includes an onboard PLC and a central PLC, the onboard PLC controls the onboard PLC using siemens S7-1200 series, the model is S7-1212, and the central PLC, the model is S7-1511PLC, and is configured to connect and communicate communications between the host computer and the onboard PLC, in order to realize cluster control of five on-site machines, i.e., a raw coal stocker, an auxiliary material stocker, a first auxiliary material reclaimer, a second auxiliary material reclaimer, and a raw coal reclaimer.

The system is also provided with a yard safety protection system which comprises an audible and visual alarm and a personnel identification module, wherein the audible and visual alarm is arranged on the warehousing belt and the ex-warehouse belt and used for giving an alarm about one minute before the belt is started by one key so as to remind field personnel of evacuating in time, and the personnel identification module is used for automatically monitoring the personnel entering and exiting and ensuring that irrelevant personnel cannot enter and exit randomly.

The upper computer software system mainly comprises a storage yard three-dimensional presentation and allocation library, a raw coal library, a system belt, a data panel, a state information panel, an operation panel and a fault information panel, can display the running states of machine equipment and each belt in real time, including current values, position information, angle information and the like, and can push information prompts and corresponding voice information prompts in real time when fault alarm information exists.

The control and transportation process of the long-material-pile unmanned material stacking and taking intelligent scheduling system for the materials mainly comprises a raw coal stacking control process, an iron powder stacking control process, a raw coal material taking control process, an auxiliary material stacking control process and an auxiliary material taking control process.

Specifically, as shown in fig. 5, the raw coal stacking control process includes: firstly, selecting a material area, and if the material area does not need to be selected and adjusted, starting and completing the pitching material detection, the machine upper belt, the machine lower belt and the plate feeding machine of the raw coal stacker in sequence so as to complete one-key starting; if the region needs to be adjusted, the stacker rises to the maximum pitch angle, and the coal reclaimer is harrowed to the position of the cab. And then adjusting the raw coal stacker to the selected material area, and then sequentially starting and completing the pitching material detection, the machine upper belt, the machine lower belt and the plate feeding machine of the raw coal stacker, thereby completing one-key starting.

As shown in fig. 6 and 10, the iron powder stacking control flow: firstly, selecting a material area, and if the material area does not need to be selected and adjusted, starting and completing the pitching material detection, the machine upper belt, the machine lower belt and the plate feeding machine of the iron powder stacker in sequence so as to complete one-key starting; if the area needs to be adjusted, judging whether the area is in a raw coal area or not at present, if so, performing pitching and descending detection in an area 6 and an area 7, wherein an iron powder stacking area is divided into an area 5 and an area 6, a raw coal stacking area is divided into an area 7 and an area 8, and a raw coal stacking machine can be used for iron powder and raw coal stacking;

if not, skipping and falling the pitching material detection, then judging whether to avoid the vehicle by the iron powder material taking machine, wherein the vehicle avoiding is that: prevent that second auxiliary material reclaimer and raw coal stacker from colliding, if need keep away the car, then the iron powder reclaimer second auxiliary material machine every single move targets in place promptly, specifically be because the stacker is not allowed in same district operation with the reclaimer, like the district, then all warning shut down, when the raw coal stacker is in 5 and 6 districts, the every single move angle need be established to and is kept away the collision angle, for example acquiescence 2, iron powder auxiliary material reclaimer every single move needs to promote the maximum value, for example acquiescence 49.9, two machines are not running before reaching the angle of respective settlement. When the raw coal stacker enters the areas 5 and 6 of the iron powder stacking area from the areas 7 and 8 of the raw coal stacking area, the raw coal stacker can automatically stop at the middle positions of the areas 7 and 6 to reduce the pitch to a collision-preventing angle such as default 3.2 degrees, and then the raw coal stacker stops to wait if the iron powder reclaimer walks; and then, the iron powder stacker, namely the auxiliary material stacker, is adjusted to the selected material area, and then the iron powder stacker is started in sequence to finish pitching material detection, an upper belt, a lower belt and a plate feeding machine, so that one-key starting is finished.

As shown in fig. 7, the raw coal reclaiming control process: when the storage volume of the raw coal bin is low, the feeding belt, the discharging belt and the raw coal reclaimer are sequentially started, the raw coal bin is full through automatic adjustment of the walking frequency, and the raw coal reclaimer, the discharging belt and the feeding belt are sequentially stopped after the raw coal bin is full.

Wherein, the automatic walking frequency adjustment is as follows: when the current of the scraper blade or the current of the warehousing belt is too large, the raw coal reclaimer is adjusted to be lowered to a low speed, otherwise, the position of the raw coal reclaimer is judged according to the set 100-second adjusting period, if the current of the scraper blade or the current of the warehousing belt is too small, the position of the raw coal reclaimer is adjusted to be raised to be fast in the middle part and raised to be high speed when the current of the scraper blade or the current of the warehousing belt is not too small, and the position of the raw coal reclaimer is adjusted to be a constant speed when the current of the scraper blade or the current of the warehousing belt is not too small; if the time is less than 100 seconds, the speed is not required to be adjusted.

As shown in fig. 8, the control flow of the auxiliary material stacking comprises: firstly, selecting a material area, and if the material area does not need to be selected and adjusted, starting and completing the pitching material detection, the machine upper belt, the machine lower belt, the pit belt and the crusher of the auxiliary material stacker in sequence so as to complete one-key starting; if the area needs to be adjusted, the sandstone reclaimer avoids the car to process and the iron powder reclaimer avoids the car to process, then the auxiliary material stacker is adjusted to the selected material area, and then the auxiliary material stacker is sequentially started and finishes pitching material detection, the machine-loading belt, the machine-unloading belt, the pit belt and the crusher, thereby finishing one-key starting.

As shown in fig. 9, the auxiliary material taking control flow is as follows: when the storage quantity of the auxiliary material bin is low, firstly, taking materials and starting, selecting a material taking machine and a material area, opening a specified turning plate, then sequentially starting a warehousing belt, a machine discharging belt and the auxiliary material taking machine, enabling the auxiliary material bin to be full through automatic adjustment of walking frequency, stopping the auxiliary material taking machine, the machine discharging belt and the warehousing belt after the bin is full, and finishing taking materials; wherein when the other storehouse bottom belt material is empty after the reclaimer stops, it is also finished to get the material. The auxiliary material storehouse includes: shale silo, iron powder silo, sandstone silo.

Wherein, the automatic walking frequency adjustment is as follows: when the current of the scraper blade or the current of the warehousing belt is too large, the auxiliary material reclaimer is adjusted to be reduced to low speed, otherwise, the auxiliary material reclaimer is adjusted to be reduced to low speed according to the set 100-second adjusting period, and if the current of the scraper blade and the current of the warehousing belt are too small when the current of the scraper blade and the current of the warehousing belt are too small, the auxiliary material reclaimer is adjusted to be increased to be constant speed; if the time is less than 100 seconds, the speed is not required to be adjusted.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way. Although the foregoing has described the practice of the present invention in detail, it will be apparent to those skilled in the art that modifications may be made to the practice of the invention as described in the foregoing examples, or that certain features may be substituted in the practice of the invention. All changes, equivalents and modifications which come within the spirit and scope of the invention are desired to be protected.