CN109132592A - The unattended control method of bucket wheel machine based on the storage of plc data subregion - Google Patents
The unattended control method of bucket wheel machine based on the storage of plc data subregion Download PDFInfo
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- CN109132592A CN109132592A CN201810652433.3A CN201810652433A CN109132592A CN 109132592 A CN109132592 A CN 109132592A CN 201810652433 A CN201810652433 A CN 201810652433A CN 109132592 A CN109132592 A CN 109132592A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/28—Piling or unpiling loose materials in bulk, e.g. coal, manure, timber, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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Abstract
A kind of control method that the bucket wheel machine based on the storage of plc data subregion is unattended, include the following steps: 1, artificial division coal yard region is carried out to coal yard, 2, when bucket wheel machine carries out the operation of coal yard regional choice, PLC reads the data boundary in the region, it is compared with bucket wheel machine position data, bucket wheel machine carries out walking motion if bucket wheel machine is not currently in the region, 3, when bucket wheel machine first enters the region, bucket wheel machine is established in the primary data in the region and is stored into PLC, 4, the historical data in the region will be generated after bucket wheel machine operation, position data at the end of position data and feeding at the end of bucket wheel machine windrow is stored respectively, 5 carry out bucket wheel machine in automatic stockpiling operation, 6, bucket wheel machine is carried out in automatic material taking operation, the invention has the advantages that not needing by laser scanner just Positioning of the bucket wheel machine to coal yard can be achieved, and compared with the data in coal yard region and bucket wheel machine current location data, realize positioning of the bucket wheel machine to coal yard.
Description
Technical field
The present invention relates to be related to solid particle to dissipate the cantilever bucket-wheel stacker reclaimer that material is stacked or extraction is removed, and in particular to
The unattended control method of bucket wheel machine based on the storage of plc data subregion.
Background technique
Cantilever bucket-wheel stacker reclaimer by, running mechanism, swing mechanism, belt conveyor, trailer, pitching, water spray dedusting, electricity
Twenties component compositions (Fig. 1) such as cable reel, counterweight, gate seat.It is set as a kind of continuous, efficient loose unpacked material handling transport
It is standby, there is very strong regularity, easily realize automation.It is widely used in large-size thermal power plant, industrial and mining enterprises and harbour to dissipate
Fill material bedding plant.
The existing bucket wheel machine method of operation is roughly divided into three classes:
One, it manually controls on the spot: referring to that operator carries out execute-in-place to single device in bucket wheel machine driver's cabin, it cannot
Realize the interlock requirement of system complex, bucket wheel machine independent operating.The indoor staff of coal handling system master control does not know about scene and sets
The operating parameter of standby working condition and equipment, the also not no alarm signal and dependency number of equipment in control room, such mode is
Gradually it is eliminated.
Two, semiautomatic control: the normal operation of bucket wheel machine be all by manual operation, but central station of floating dock host computer also have it is certain
Control authority, the staff in central station of floating dock can directly control the start and stop of bucket wheel, the movement etc. of cart.These operations are not necessary
The license for crossing the driver in bucket wheel machine control room can carry out, and such mode is coped in small-scale operation.
Three, automatically control: automatic control refers to that bucket wheel machine realizes unmanned control mode, and staff can control in the distance
Interior carries out heap feeding and various controls to bucket wheel machine.Staff can monitor bucket wheel by monitoring system in control room in the distance
The working condition of machine, a distant place control the operating condition for having reflection bucket wheel machine operating position and working condition in indoor monitor screen
Diagram, there is automatic alarm system, the various operating parameters of bucket wheel machine can also be understood by computer and be obtained by printer
Required data.
The automatic control mode of bucket wheel machine is (unattended) mainly realizing by way of Fig. 2 at this stage, technique
Process is substantially are as follows: 1, the entire material heap progress sectoring by laser scanner to stock ground.2, bucket wheel machine positioning system determines
The stroke of stacker-reclaimer, revolution, pitch angle data.3, data communication is by the location parameter for the bucket wheel machine having good positioning and material heap
Data boundary is sent to operating terminal.4, image processing software handles laser scanner, location data etc., is converted into expecting
The intuitive 3-D image of heap, and the coordinate parameters of material heap critical boundaries point are provided.5, controllers are according to actual job task
Production plan is established, issues job instruction after initialization model parameter, it is automatic using Neosinocalamus affinis and PLC module control bucket wheel machine
It is turned into industry.But it is this by laser scanner positioning unattended system it is at high cost and also from laser measurement to from data
All there is errors for reason, in addition, the installation site of existing laser scanner is largely mounted on cantilever, and cantilever is often located
In motion state, the scanning accuracy of laser scanner is influenced indirectly.
Summary of the invention
The object of the present invention is to provide the control methods that the bucket wheel machine stored based on plc data subregion is unattended, use
It is stored in bucket wheel machine data subregion, realizes that bucket wheel machine positions the coal yard of different zones, to reach the full-automatic nothing of bucket wheel machine
People's function on duty, to overcome above-mentioned the deficiencies in the prior art.
The technical proposal of the invention is realized in this way, and the unattended control system of the bucket wheel machine specifically includes following step
It is rapid:
Step S1: artificial division coal yard region is carried out to coal yard, and by each coal yard zone boundary data after division according to coal
Field areas quantity subregion stores into PLC the condition that bucket wheel machine storage data in each coal yard region are stored as subregion；
Step S2: by the coal yard regions store divided in step S1 into industrial personal computer configuration software, and coal yard regional choice is set
Button, while bucket wheel machine carries out the operation of coal yard regional choice, PLC reads the data boundary in the region, with bucket wheel machine position
Data compare, and bucket wheel machine carries out walking motion if bucket wheel machine is not currently in the region；
Step S3: when bucket wheel machine first enters the region, bucket wheel machine is established in the primary data in the region and is stored to PLC
In, wherein if coal yard is empty coal yard, the primary data of bucket wheel machine is set as a certain fixed position of coal yard and starts operation；Such as
There is material in fruit coal yard region, bucket wheel machine need to be reached to the position for needing operation manually by remote console, then according to reality
Situation selects operation mode；
Step S4: will generate the historical data in the region after bucket wheel machine operation, PLC can according to the operation mode of bucket wheel machine,
Position data at the end of position data and feeding at the end of bucket wheel machine windrow is stored respectively, when bucket wheel machine is connected to work again
Industry is injunctive, the bucket wheel machine historical position data in the region in PLC memory is triggered, according to current job command and operation area
Call the historical data of the region bucket wheel machine windrow or feeding in domain；
Step S5: the historical data of the region bucket wheel machine is compared with current bucket wheel machine position data, is ensuring bucket wheel machine
Under the premise of running track safety, the operating point that bucket wheel machine can be automatically positioned the last time, which is realized, positions coal yard region,
Automatic heap, which is carried out, after bucket wheel machine reaches predetermined position takes coal operation；
Step S6: bucket wheel machine is in automatic stockpiling operation, using the level-sensing device of bucket wheel chain-drive section, when windrow reaches setting height
Bucket wheel machine carries out next windrow movement, to realize bucket wheel machine automatic stockpiling, limits in conjunction with the protection on bucket wheel machine and high
Clear video monitoring system ensures that bucket wheel machine safety and steady is run;
Step S7: bucket wheel machine is turned round in automatic material taking operation using weighing belt or laser stream sensor cooperation bucket wheel machine
Angle, after bucket wheel machine revolution reaches historical point view and when the stream value of weighing belt or laser stream sensor is less than certain value,
Determining bucket wheel machine, feeding is to dump edge, and then bucket wheel machine carries out forward motion, and bucket wheel machine opposite direction returns after advance
Turn, similarly automatic material taking is realized in reciprocating action.
Advantages of the present invention and good effect are:
1, the present invention does not need to realize positioning of the bucket wheel machine to coal yard by laser scanner, by dividing coal yard region,
And compared with the data in coal yard region and bucket wheel machine current location data, positioning of the bucket wheel machine to coal yard is realized, then by bucket wheel
Machine enters coal yard region as the PLC bucket wheel machine all data for reading region coal yard storage and is automatically positioned coal as bucket wheel machine
The foundation of field, all data of coal yard starts to be constantly updated according to the state of bucket wheel machine after bucket wheel machine starts to carry out operation, directly
It stops operation to bucket wheel machine.
2, the present invention is based on the unattended control systems of bucket wheel machine of plc data subregion storage to breach sensor positioning
Traditional mode, positioning of the bucket wheel machine to coal yard setting is realized with a kind of data sectional formula storage, not only reduces bucket wheel
The cost of machine automatic station-keeping system, and be also greatly reduced because of sensor measurement and complicated calculations bring error, then tie
Close the technologies such as PLC control, video monitoring, detecting element and host computer, realize bucket wheel machine " start & shutdown through one key ", intelligently mix coal blending and
Unattended function, the probability of happening for having saved human resources, having improved production efficiency, reducing live personal injury, and
And the present invention is based on the automatic positionings that plc data storage can not only be applied to bucket wheel machine, for large scale equipment complex working condition
Automatic positioning also plays enlightening effect.
Detailed description of the invention
Fig. 1 is the bucket wheel machine structural schematic diagram of the prior art.
Fig. 2 is flow chart of the invention.
Fig. 3 is control flow chart of the invention.
Fig. 4 is the principle of the present invention flow chart.
Specific embodiment
The present invention is that position data at the end of bucket wheel machine is worked in coal yard each region by PLC stores,
Then when bucket wheel machine next time is to the region coal yard operation different condition triggering read bucket wheel machine the region historical data,
Positioning of bucket wheel machine of the position to realize to coal yard when bucket wheel machine can be allowed to be automatically found subjob, in conjunction with bucket wheel machine
Automatic job technique is to realize that bucket wheel machine is unattended.
Referring to Fig. 3, the present embodiment specifically comprises the following steps:
Step S1: to coal yard carry out artificial division coal yard region I, II, III, IV, and by after division coal yard region I, II,
III, IV data boundary store respectively into PLC the condition as bucket wheel machine storage data in coal yard region I, II, III, IV；
Step S2: coal yard region I, II, III, IV that step S1 is divided are stored into industrial personal computer configuration software, and coal yard is set
Regional choice button I, II, III, IV, while bucket wheel machine selects coal yard region I, PLC reads the number of boundary of coal yard region I
According to, it comparing with bucket wheel machine position data, bucket wheel machine carries out walking motion if bucket wheel machine is not currently in coal yard region I,
Enter the designated position in the I of coal yard region；
Step S3: when bucket wheel machine first enters coal yard region I, primary data and storage of the bucket wheel machine in coal yard region I are established
In the coal yard region I divided to PLC, wherein if coal yard region I is empty coal yard, the primary data of bucket wheel machine is set as coal
The a certain fixed position field areas I starts operation；If coal yard region I has material, operator need to be manual by remote console
Bucket wheel machine is reached to the position for needing operation, then selects operation mode according to the actual situation；
Step S4: the historical data of coal yard region I will be generated after bucket wheel machine operation, PLC can be according to the operator of bucket wheel machine
Formula is different, stores respectively to the position data at the end of the position data and feeding at the end of bucket wheel machine windrow, when bucket wheel machine again
It is secondary to be connected to job command formula, the bucket wheel machine historical position data of coal yard region I in PLC memory is triggered, according to current operation
The historical data of coal yard region I bucket wheel machine windrow or feeding is called in order and operating area；
Step S5: the historical data of coal yard region I bucket wheel machine is compared with current bucket wheel machine position data, is ensuring bucket wheel
Under the premise of machine running track safety, bucket wheel machine, which can be automatically positioned last operating point and realize, determines coal yard region
Position carries out automatic heap after bucket wheel machine reaches predetermined position and takes coal operation；
The calling of bucket wheel machine historical data, when bucket wheel machine enters the coal yard region I of setting, bucket wheel machine will call coal yard area
Then the historical data of domain I transfers coal yard region I history (heap according to the current job command of bucket wheel machine (windrow or feeding)
Material or feeding) position data, steps are as follows:
If this subjob is windrow, the last position data is the position data of windrow on the bucket wheel machine of coal yard region I,
Bucket wheel machine then calls directly the data；
If this subjob is windrow, the last position data is the position data of feeding on the I bucket wheel machine of coal yard region, and
The height of luffing is lower than the feed height of setting in the historical data of feeding, then the position data of windrow is the fixation heap in the region
Expect preset data；If the luffing height of history feeding data is greater than or equal to the feed height of setting, the positional number of windrow
According to the position data for last feeding.
If this subjob is feeding, the last position data is the position data of feeding on the region bucket wheel machine,
Bucket wheel machine then calls directly the data；
If this subjob is feeding, the last position data is the position data of windrow, bucket wheel on the region bucket wheel machine
Machine will do preset reduction after calling the data on the data of luffing height, because of height of the material heap to bucket wheel when windrow
Degree is preset by level-sensing device.
Step S6: bucket wheel machine sets feed height in automatic stockpiling operation, and bucket wheel machine starts heap after reaching heap shots
Material, when level-sensing device detection reaches default feed height, bucket wheel machine left-hand rotation windrow, (revolution range can be with after last time is turned round
It is preset in PLC, can also be arranged on host computer), level-sensing device acts again, and bucket wheel machine retreats, bucket wheel machine after retrogressing
Continue windrow, level-sensing device movement bucket wheel machine does reversed turning, and cart continues to retreat after revolution, thus operation repeatedly.
Step S7: for bucket wheel machine in automatic material taking operation, bucket wheel machine starts feeding, initial revolution side after reaching feeding point
If being in feeding left-hand rotation so this operation if it is feeding to the bucket wheel machine last time, after bucket wheel machine reaches predetermined position,
Bucket wheel machine will continue to carry out feeding left-hand rotation operation, when revolution reaches history windrow edge extent, while the analog quantity of weighing belt
When stream amount is close to 0, assert that bucket wheel machine gets dump edge, while the cart of bucket wheel machine advances a distance (forward travel distance
It is preset in PLC), after advance, reversed turning is done in revolution, when opposing angular reaches windrow range, while the mould of weighing belt
When analog quantity stream amount is close to 0, assert that bucket wheel machine gets another side edge of dump, thus perseveration realizes that automatic material taking is made
Industry.
Do storage and operation to feeding by the data to weighing belt, to bucket wheel machine heap, take the data of workload
It is stored and is calculated, the calculating of coal amount is accumulated by weighing belt, when windrow does add operation, and feeding does subtraction, can be with
The coal amount for calculating coal yard region I is different from laser scanning volume multiplied by the rough algorithm of density.
Stream constant system, in conjunction with revolution frequency conversion speed analog signals, is led to by acquiring weighing belt instantaneous flow rate signal
The PID control for programming and realizing to bucket wheel machine feeding is crossed, has achieved the effect that steadily to take coal.
After bucket wheel machine navigates to operation point of penetration, we carry out heap/material extracting operation to bucket wheel machine by remote console
The selection of mode, bucket wheel machine carry out automatic heap material extracting operation in coal yard region I.When bucket wheel machine enters under automatic job state
PLC will no longer be read out coal yard data, but as the triggering item for updating coal yard data according to the operating status of bucket wheel machine
Part until operation terminates or realizes the completion order to unattended operation by setting workload, or is encountering
Special circumstances carry out manual intervention operation by remote console, since the storage of data is triggered according to coal yard region,
So do not influenced by mode of operation, realize that manually and automatically without intervention operation, after automatic job, bucket wheel machine is automatically returned to
Origin.
Live industrial personal computer is additionally provided with handle station simultaneously, special circumstances be manually operated it is spare and to bucket wheel machine it is automatic
The manual intervention fine adjustment function of operation, handle station is by the long-range slave station of PLC and bucket wheel machine PLC master station in the form of fieldbus
Communication.
The unattended control system of bucket wheel machine based on plc data bedding storage breaches traditional mould of sensor positioning
Formula realizes positioning of the bucket wheel machine to coal yard setting with a kind of data sectional formula storage, it is automatically fixed to not only reduce bucket wheel machine
The cost of position system, and be also greatly reduced because of sensor measurement and complicated calculations bring error, it is controlled in conjunction with PLC
The technologies such as system, video monitoring, detecting element and host computer realize bucket wheel machine " start & shutdown through one key ", intelligence mixes coal blending and unmanned value
The function of keeping, the probability of happening for having saved human resources, having improved production efficiency, reducing live personal injury, and also it is this
Mode based on plc data storage and depth algorithm can not only be applied to the automatic positioning of bucket wheel machine, multiple for large scale equipment
The automatic positioning of general labourer's condition also plays enlightening effect.
Claims (1)
1. a kind of control method that the bucket wheel machine based on the storage of plc data subregion is unattended, which is characterized in that specifically include
Following steps:
Step S1: artificial division coal yard region is carried out to coal yard, and by each coal yard zone boundary data after division according to coal
Field areas quantity subregion is stored into PLC, and the condition of bucket wheel machine storage data in each coal yard region is stored as subregion；
Step S2: by the coal yard regions store divided in step S1 into industrial personal computer configuration software, and coal yard regional choice is set
Button, while bucket wheel machine carries out the operation of coal yard regional choice, PLC reads the data boundary in the region, with bucket wheel machine position
Data compare, and bucket wheel machine carries out walking motion if bucket wheel machine is not currently in the region；
Step S3: when bucket wheel machine first enters the region, bucket wheel machine is established in the primary data in the region and is stored to PLC
In, wherein if coal yard is empty coal yard, the primary data of bucket wheel machine is set as a certain fixed position of coal yard and starts operation；Such as
There is material in fruit coal yard region, bucket wheel machine need to be reached to the position for needing operation manually by remote console, then according to reality
Situation selects operation mode；
Step S4: will generate the historical data in the region after bucket wheel machine operation, PLC can according to the operation mode of bucket wheel machine,
Position data at the end of position data and feeding at the end of bucket wheel machine windrow is stored respectively, when bucket wheel machine is connected to work again
Industry is injunctive, the bucket wheel machine historical position data in the region in PLC memory is triggered, according to current job command and operation area
Call the historical data of the region bucket wheel machine windrow or feeding in domain；
Step S5: the historical data of the region bucket wheel machine is compared with current bucket wheel machine position data, is ensuring bucket wheel machine
Under the premise of running track safety, the operating point that bucket wheel machine can be automatically positioned the last time, which is realized, positions coal yard region,
Automatic heap, which is carried out, after bucket wheel machine reaches predetermined position takes coal operation；
Step S6: bucket wheel machine is in automatic stockpiling operation, using the level-sensing device of bucket wheel chain-drive section, when windrow reaches setting height
When bucket wheel machine carry out next windrow movement, to realize bucket wheel machine automatic stockpiling, in conjunction on bucket wheel machine protection limit and
High-definition video monitoring system ensures that bucket wheel machine safety and steady is run;
Step S7: bucket wheel machine is turned round in automatic material taking operation using weighing belt or laser stream sensor cooperation bucket wheel machine
Angle, after bucket wheel machine revolution reaches historical point view and when the stream value of weighing belt or laser stream sensor is less than certain value,
Determining bucket wheel machine, feeding is to dump edge, and then bucket wheel machine carries out forward motion, and bucket wheel machine opposite direction returns after advance
Turn, similarly automatic material taking is realized in reciprocating action.
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| CN201810652433.3A CN109132592B (en) | 2018-06-22 | 2018-06-22 | Bucket wheel machine unattended operation control method based on PLC data partition storage |
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| CN109132592B CN109132592B (en) | 2020-05-08 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109740944A (en) * | 2019-01-07 | 2019-05-10 | 阜阳华润电力有限公司 | Data managing method and data administrator |
| CN111302084A (en) * | 2020-03-11 | 2020-06-19 | 华能国际电力股份有限公司大连电厂 | Constant-flow material taking control system and method for bucket wheel type material taking machine |
| CN111591778A (en) * | 2020-06-02 | 2020-08-28 | 中国电建集团长春发电设备有限公司 | Remote monitoring management system and method for stacker-reclaimer based on Internet technology |
| CN111650900A (en) * | 2020-05-14 | 2020-09-11 | 中国电建集团长春发电设备有限公司 | Intelligent management and control system for bulk material logistics |
| CN112110220A (en) * | 2020-10-13 | 2020-12-22 | 中国大唐集团科技工程有限公司 | Unmanned operation system for material stacking and taking of bucket wheel machine |
| CN113284114A (en) * | 2021-05-28 | 2021-08-20 | 华能聊城热电有限公司 | Bucket wheel machine rotation angle measurement and coal flow equalization method based on image processing |
| CN113320995A (en) * | 2021-05-25 | 2021-08-31 | 中冶南方工程技术有限公司 | Unmanned control system for stockyard stacker-reclaimer |
| CN113885422A (en) * | 2021-08-23 | 2022-01-04 | 河北邯峰发电有限责任公司 | Unmanned intelligent system of bucket wheel machine |
| CN114803391A (en) * | 2022-05-12 | 2022-07-29 | 北京华能新锐控制技术有限公司 | Unattended automatic material taking method for bucket wheel machine of intelligent fuel system |
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| CN109740944A (en) * | 2019-01-07 | 2019-05-10 | 阜阳华润电力有限公司 | Data managing method and data administrator |
| CN111302084A (en) * | 2020-03-11 | 2020-06-19 | 华能国际电力股份有限公司大连电厂 | Constant-flow material taking control system and method for bucket wheel type material taking machine |
| CN111302084B (en) * | 2020-03-11 | 2021-08-03 | 华能国际电力股份有限公司大连电厂 | Constant-flow material taking control system and method for bucket wheel type material taking machine |
| CN111650900A (en) * | 2020-05-14 | 2020-09-11 | 中国电建集团长春发电设备有限公司 | Intelligent management and control system for bulk material logistics |
| CN111591778A (en) * | 2020-06-02 | 2020-08-28 | 中国电建集团长春发电设备有限公司 | Remote monitoring management system and method for stacker-reclaimer based on Internet technology |
| CN112110220A (en) * | 2020-10-13 | 2020-12-22 | 中国大唐集团科技工程有限公司 | Unmanned operation system for material stacking and taking of bucket wheel machine |
| CN113320995A (en) * | 2021-05-25 | 2021-08-31 | 中冶南方工程技术有限公司 | Unmanned control system for stockyard stacker-reclaimer |
| CN113284114A (en) * | 2021-05-28 | 2021-08-20 | 华能聊城热电有限公司 | Bucket wheel machine rotation angle measurement and coal flow equalization method based on image processing |
| CN113284114B (en) * | 2021-05-28 | 2022-12-16 | 华能聊城热电有限公司 | A method for bucket wheel machine rotation angle measurement and coal flow equalization based on image processing |
| CN113885422A (en) * | 2021-08-23 | 2022-01-04 | 河北邯峰发电有限责任公司 | Unmanned intelligent system of bucket wheel machine |
| CN114803391A (en) * | 2022-05-12 | 2022-07-29 | 北京华能新锐控制技术有限公司 | Unattended automatic material taking method for bucket wheel machine of intelligent fuel system |
| CN114803391B (en) * | 2022-05-12 | 2023-11-03 | 北京华能新锐控制技术有限公司 | Unmanned automatic material taking method for bucket wheel machine of intelligent fuel system |
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