CN112938517A - Bucket wheel machine unattended control system and method based on UWB positioning technology - Google Patents
Bucket wheel machine unattended control system and method based on UWB positioning technology Download PDFInfo
- Publication number
- CN112938517A CN112938517A CN202110423396.0A CN202110423396A CN112938517A CN 112938517 A CN112938517 A CN 112938517A CN 202110423396 A CN202110423396 A CN 202110423396A CN 112938517 A CN112938517 A CN 112938517A
- Authority
- CN
- China
- Prior art keywords
- bucket wheel
- wheel machine
- dimensional
- uwb wireless
- stock ground
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000005516 engineering process Methods 0.000 title abstract description 20
- 239000000463 material Substances 0.000 claims abstract description 53
- 239000013077 target material Substances 0.000 claims description 35
- 238000013507 mapping Methods 0.000 claims description 13
- 238000004088 simulation Methods 0.000 claims description 13
- 238000004364 calculation method Methods 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 8
- 239000003245 coal Substances 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 4
- 239000004744 fabric Substances 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 101100190617 Arabidopsis thaliana PLC2 gene Proteins 0.000 description 2
- 101100408456 Arabidopsis thaliana PLC8 gene Proteins 0.000 description 2
- 101100464304 Caenorhabditis elegans plk-3 gene Proteins 0.000 description 2
- 101100093534 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) RPS1B gene Proteins 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- 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
- B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
- B65G65/16—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with rotary pick-up conveyors
- B65G65/20—Paddle wheels
-
- 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
- B65G65/005—Control arrangements
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Operation Control Of Excavators (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a bucket wheel machine unattended control system and method based on a UWB positioning technology, which comprises the following steps: the system comprises m UWB wireless positioning base stations arranged on the top of a stock yard shed, a UWB wireless positioning mobile terminal arranged at the head of a bucket wheel machine, a three-dimensional laser scanner arranged right above the center of the stock yard, a stock yard three-dimensional server, an upper computer control server and a bucket wheel machine PLC; the space data of the bucket wheel body is obtained through the UWB positioning technology, the material pile boundary data is obtained through the three-dimensional laser scanning technology, and the bucket wheel machine PLC enables the bucket wheel machine to automatically position the material pile by comparing the space data of the bucket wheel body with the material pile boundary data, so that the automatic material piling and taking operation is realized. The system and the method provided by the invention avoid errors caused by calculating the spatial position data of the bucket wheel through the rotation angle, the amplitude height and the cantilever length, thereby improving the control precision of the unmanned control system of the bucket wheel machine.
Description
Technical Field
The invention relates to the field of cantilever bucket-wheel stacker-reclaimers for stacking or extracting and removing solid particle bulk materials, in particular to an unmanned on-duty control system and method for a bucket-wheel machine based on UWB positioning technology.
Background
The traditional control mode of cantilever type bucket-wheel stacker reclaimer at present divide into: local manual control, remote manual control and remote automatic control.
The on-site manual control means that an operator carries out on-site operation on a single device in a cab of the bucket wheel machine, the complex interlocking requirement of a system cannot be realized, and the bucket wheel machine operates independently. The working personnel in the coal conveying system main control room do not know the working condition of the field equipment and the operation parameters of the equipment, and the alarm signal and related data of the equipment do not exist in the control room.
The remote manual control means that an operator directly controls the bucket wheel in a centralized control room to carry out material stacking and taking operation, and data such as the running state, the position posture and the like of the bucket wheel machine are monitored through an upper computer. However, the distribution condition of the material piles in the stock ground can not be mastered by an operator, and the bucket wheel machine is controlled by the operator through the upper computer, so that the visual field is limited and the operation is inconvenient.
The remote automatic control is to scan the stock ground through laser scanning, collect stock ground data, send the boundary data of the stock pile to the bucket wheel machine PLC, and the bucket wheel machine automatically positions the stock pile through a self-positioning system and automatically operates. The existing remote automatic control system has high requirements on the positioning precision of the bucket wheel machine, the position data of the laser scanner needs to be accurate, and the attitude data of the bucket wheel machine needs to be accurate. The traditional positioning mode of the bucket wheel machine adopts that the walking distance, the gyration angle and the variable amplitude angle of the bucket wheel machine are positioned through an encoder, the stock ground data collected by the laser scanner are space coordinates (X, Y and Z), and the system needs to respectively convert the space coordinates (X, Y and Z) into the walking distance, the gyration angle and the variable amplitude angle of the bucket wheel machine. As the cantilever length of the bucket wheel machine is usually between 30 meters and 50 meters, the error of data in the conversion process is extremely large, and the automatic control precision of the bucket wheel machine is difficult to achieve the unattended control precision.
From the above, it can be seen that how to improve the control accuracy of the unmanned control system of the bucket wheel machine is a problem to be solved at present.
Disclosure of Invention
The invention aims to provide an unmanned control system and method of a bucket wheel machine based on a UWB positioning technology, and aims to solve the problem that the existing bucket wheel machine remote automatic control technology is low in control precision.
In order to solve the above technical problem, the present invention provides an unattended operation control system for a bucket wheel machine based on UWB positioning technology, comprising: the system comprises m (m is more than or equal to 3 UWB wireless positioning base stations, a UWB wireless positioning mobile terminal, a three-dimensional laser scanner, a stock yard three-dimensional server, an upper computer control server and a bucket wheel machine PLC, wherein the UWB wireless positioning mobile terminal is arranged at the head of a bucket wheel machine, the three-dimensional laser scanner is arranged right above the center of the stock yard and is used for scanning the stock piles in different areas of the stock yard during stock piling to obtain data information of the stock piles, the data information comprises space coordinates of boundary points of the stock piles, the stock yard three-dimensional server is used for establishing a stock yard database and storing the data information of the stock piles, the upper computer control server is used for carrying out three-dimensional modeling on the stock yard by using a three-dimensional simulation system according to surveying and mapping data of the stock yard, establishing a stock yard coordinate system and obtaining the space coordinates of the UWB wireless positioning base stations and the three-dimensional laser scanner in the stock yard coordinate system, and when an instruction for automatically taking materials from a target stock pile is received, obtaining the distance d between m UWB wireless positioning base stations and UWB wireless positioning mobile terminalsi(i 1, 2.. said., m) according to the distance diAnd the placeDetermining the current three-dimensional coordinates of the UWB wireless positioning mobile terminal according to the spatial coordinates of the m UWB wireless positioning base stations; calling the space coordinates of the target stockpile preselected boundary points from the stock ground three-dimensional server, and sending the space coordinates of the preselected boundary points and the current three-dimensional coordinates of the UWB wireless fixed displacement terminal to the bucket wheel machine PLC; and the bucket wheel machine PLC is used for controlling the bucket wheel machine to execute the material taking operation of the target material pile according to the space coordinate of the preselected boundary point and the current three-dimensional coordinate of the UWB wireless positioning mobile terminal.
Preferably, the three-dimensional laser scanner includes:
the scanning module is used for scanning the target material pile to obtain data information of the target material pile;
the calculation module is used for determining a horizontal plane included angle and a vertical plane included angle between the three-dimensional laser scanner and a current boundary point when any boundary point of the target material pile is scanned, measuring a distance between the three-dimensional laser scanner and the current boundary point, and determining a space coordinate of the current boundary point according to the horizontal plane included angle, the vertical plane included angle, the distance between the three-dimensional laser scanner and the current boundary point and a space coordinate of the three-dimensional laser scanner in the stock yard coordinate system;
and the transmission module is used for transmitting the data information of the target material pile and the space coordinates of each boundary point to the stock ground three-dimensional server.
Preferably, the calculation module is specifically configured to:
when a boundary point P of the target material pile is scanned, determining a horizontal plane included angle alpha and a vertical plane included angle theta between the three-dimensional laser scanner and the current boundary point, and measuring the distance S between the three-dimensional laser scanner and the boundary point P;
according to
Determining the spatial coordinates (X) of the boundary points Pp,Yp,Zp)；
Wherein (X)q,Yq,Zq) And the space coordinates of the three-dimensional laser scanner in the stock ground coordinate system are obtained.
Preferably, the upper computer control server is specifically configured to:
when receiving an instruction of automatically taking materials from a target material pile, respectively obtaining the distances d between a first UWB wireless positioning base station, a second UWB wireless positioning base station, a third UWB wireless positioning base station and a UWB wireless positioning mobile terminal1,d2,d3；
According to
Determining current three-dimensional coordinates (X) of said UWB wireless location mobile terminal0,Y0,Z0)；
Wherein (X)1,Y1,Zi) (X) spatial coordinates of a base station for said first UWB wireless location2,Y2,Z2) (X) locating spatial coordinates of a base station for said second UWB radio3,Y3,Z3) And locating the spatial coordinates of the base station for said third UWB radio.
Preferably, the bucket wheel machine PLC is specifically configured to:
comparing the spatial coordinates (X) of the boundary points Pp，Yp，Zp) With the current three-dimensional coordinates (X) of the UWB wireless location mobile terminal0，Y0，Z0) Lifting the bucket wheel machine to Z0＝ZpTurning said bucket wheel machine to Y0＝YpControlling the bucket wheel machine to run and run X0＝XpTo achieve positioning of the bucket wheel machine on the target material pile;
and controlling the bucket wheel machine to carry out the material taking operation of the target material pile according to the data information of the target material pile.
Preferably, the method further comprises the following steps: and the three-dimensional laser coal inventory system is used for surveying and mapping the stock ground and sending the surveying and mapping data of the stock ground to the upper computer control server.
Preferably, the method further comprises the following steps: stock ground radio station and centralized control room radio station.
Preferably, the method comprises the following steps: the stock ground switch, wherein, m UWB wireless location basic stations, UWB wireless location mobile terminal, three-dimensional laser scanner, stock ground radio station all with the stock ground switch is connected.
Preferably, the method comprises the following steps: the method comprises the following steps: and the upper computer control server, the stock ground three-dimensional server and the centralized control room wireless communication radio station are all connected with the centralized control room switch.
The invention also provides an unattended operation control method of the bucket wheel machine based on the UWB positioning technology, which is applied to an upper computer control server and comprises the following steps:
according to the mapping data of the stock ground, a three-dimensional simulation system is utilized to carry out three-dimensional modeling on the stock ground, and a stock ground coordinate system is established;
acquiring space coordinates of m (m is more than or equal to 3) UWB wireless positioning base stations installed on the roof of the stock yard and a three-dimensional laser scanner installed right above the center of the stock yard in a stock yard coordinate system;
when an instruction for automatically taking materials from a target material pile is received, the distance d between the m UWB wireless positioning base stations and a UWB wireless positioning mobile terminal installed at the head of the bucket wheel machine is obtainedi(i＝1，2，...，m)；
According to the distance diDetermining the current three-dimensional coordinates of the UWB wireless positioning mobile terminal according to the spatial coordinates of the m UWB wireless positioning base stations;
calling the spatial coordinates of the target stockpile preselected boundary points from a stock ground three-dimensional server, and sending the spatial coordinates of the preselected boundary points and the current three-dimensional coordinates of the UWB wireless positioning mobile terminal to a bucket wheel machine PLC (programmable logic controller), so that the bucket wheel machine PLC controls a bucket wheel machine to execute the material taking operation of the target stockpile according to the spatial coordinates of the preselected boundary points and the current three-dimensional coordinates of the UWB wireless positioning mobile terminal;
and the space coordinates of the target material pile preselected boundary points are acquired when the three-dimensional laser scanner scans the material piles in different areas of the stock yard.
The invention provides an unattended bucket wheel machine control system based on a UWB positioning technology, which comprises a stock ground three-dimensional server and an upper computer control server which are positioned in a centralized control room, a plurality of UWB wireless positioning base stations installed on the roof of a stock ground, a UWB wireless positioning mobile terminal installed at the head of a bucket wheel machine, a three-dimensional laser scanner and a bucket wheel machine PLC which are installed right above the center of the stock ground. During stockpiling, the three-dimensional laser scanner scans a stockpile, acquires data information of the stockpile, and stores the data information of the stockpile into a stockyard database in the stockyard three-dimensional server. The data information of the stockpile comprises the space coordinates of the stockpile boundary points. According to the mapping data of the stock ground, a three-dimensional simulation system in the upper computer control server is utilized to carry out three-dimensional modeling on the stock ground, a stock ground coordinate system is established, and the space coordinates of the UWB wireless positioning base station and the three-dimensional laser scanner in the stock ground coordinate system are obtained. When a target material pile to be operated is selected in the three-dimensional simulation system, the upper computer control server reads the space coordinates of the preselected boundary points of the target material pile; and determining the current space coordinates of the UWB wireless positioning mobile terminal according to the space coordinates of the UWB wireless positioning base stations and the distance between the UWB wireless positioning mobile terminal and the UWB wireless positioning mobile terminal, namely accurately positioning the current position of the head of the bucket wheel machine. And the upper computer control server sends the space coordinates of the preselected boundary points and the current space coordinates of the UWB wireless positioning mobile terminal to the bucket wheel machine PLC. And the bucket wheel machine PLC controls the bucket wheel machine to walk, rotate and pitch by comparing the space coordinate of the preselected boundary point with the current three-dimensional coordinate of the UWB wireless positioning mobile terminal, automatically positions the material pile and performs automatic material piling and taking operation.
The system provided by the invention accurately positions the mobile terminal arranged at the head of the bucket wheel machine through at least three wireless positioning base stations arranged on the shed roof by a UWB wireless positioning technology so as to obtain the real-time position coordinates of the bucket wheel machine in the space, and can realize the real-time and accurate space positioning of the bucket wheel machine on the material pile by comparing the space coordinates of the boundary point of the material pile sent by the three-dimensional laser scanner with the real-time position coordinates of the UWB positioning of the bucket wheel machine; the bucket wheel machine has the advantages that the walking distance, the rotation angle and the amplitude variation angle of the bucket wheel machine are avoided, errors caused by a material location are located in a conversion mode, and meanwhile, the bucket wheel machine location error caused by mechanical installation of an encoder is also solved, so that the bucket wheel machine stockyard location is more convenient and accurate, and an unattended algorithm of the bucket wheel machine is more optimized.
Drawings
In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
Fig. 1 is a network topology diagram of an unmanned bucket wheel machine control system based on UWB positioning technology according to an embodiment of the present invention;
FIG. 2 is a diagram of an installation location of a UWB wireless location mobile terminal;
FIG. 3 is a schematic diagram of three-dimensional laser scanner installation and ranging;
FIG. 4 is a schematic illustration of a wheel body positioning principle of the bucket wheel machine;
fig. 5 is a flowchart of an embodiment of a method for an unattended control system of a bucket wheel machine based on UWB positioning technology.
Detailed Description
The core of the invention is to provide the bucket wheel machine unattended control system and method based on the UWB positioning technology, and the control precision of the bucket wheel machine unattended control system is improved.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a network topology diagram of an unattended control system of a bucket wheel machine based on UWB positioning technology according to an embodiment of the present invention; the specific system may include: m (m is more than or equal to 3 UWB wireless positioning base stations 7, 9 and 10 arranged on the roof of the stock ground, a UWB wireless positioning mobile terminal 8 arranged on the head of the bucket wheel machine, a three-dimensional laser scanner 11 arranged right above the center of the stock ground, a stock ground three-dimensional server 4, an upper computer control server 3 and a bucket wheel machine PLC, wherein the installation position of the UWB wireless positioning mobile terminal 8 is shown in figure 2.
The three-dimensional laser scanner 11 is used for scanning stockpiles in different areas of the stock yard during stockpiling to acquire data information of each stockpile; the data information comprises data such as a material pile number, a material pile type, density, height, a boundary, a volume, weight, a stacking position and space coordinates of material pile boundary points.
And the stock ground three-dimensional server 4 is used for establishing a stock ground database and storing the data information of each stock pile.
The upper computer control server 3 is used for performing three-dimensional modeling on the stock ground by using a three-dimensional simulation system according to the mapping data of the stock ground, establishing a stock ground coordinate system, and acquiring the spatial coordinates of the UWB wireless positioning base stations 7, 9 and 10 and the three-dimensional laser scanner 11 in the stock ground coordinate system; when receiving an instruction of automatically fetching materials from a target material pile, obtaining the distances d between m UWB wireless positioning base stations 7, 9 and 10 and a UWB wireless positioning mobile terminal 8i(i 1, 2.. said., m) according to the distance diDetermining the current three-dimensional coordinates of the UWB wireless positioning mobile terminal 8 according to the space coordinates of the m UWB wireless positioning base stations 7, 9 and 10; and (3) calling the space coordinates of the target stockpile preselected boundary points from the stock ground three-dimensional server 4, and sending the space coordinates of the preselected boundary points and the current three-dimensional coordinates of the UWB wireless fixed displacement terminal 8 to the bucket wheel machine PLC.
And the bucket wheel machine PLC is used for controlling the bucket wheel machine to execute the material taking operation of the target material pile according to the space coordinate of the preselected boundary point and the current three-dimensional coordinate of the UWB wireless positioning mobile terminal 8.
The system provided by the embodiment of the invention also comprises a centralized control room wireless communication radio station 1, a centralized control room PLC2, a centralized control room switch 5, a stock ground wireless communication radio station 6 and a stock ground switch 12; the centralized control room wireless communication radio station 1, the centralized control room PLC2, the upper computer control server 3 and the stock ground three-dimensional server 4 are uniformly connected with the centralized control room switch 5; the stock yard wireless communication radio station 6, the m UWB wireless positioning base stations 7, 9 and 10, the UWB wireless positioning mobile terminal 8 and the three-dimensional laser scanner 11 are all connected with the stock yard exchanger 12.
In this embodiment, a three-dimensional laser coal inventory system is adopted to survey and draw the stock ground, and the survey and drawing data of the stock ground are sent to the upper computer control server 3. And carrying out data communication on the three-dimensional laser coal inventory system, the PLC and the three-dimensional simulation system, ensuring that the three-dimensional laser scanner 11 can transmit the scanned stock ground data to corresponding storage addresses of the PLC according to different instructions, and simultaneously presenting the stock ground data in the simulation system in a three-dimensional modeling mode.
The system provided by the embodiment establishes the stock ground coordinate system by mapping and three-dimensional modeling the stock ground. Installing at least 3 UWB wireless positioning base stations at different positions of the stockyard shed roof, and measuring the space coordinates of the UWB wireless positioning base stations in the stockyard coordinate system. The UWB wireless positioning mobile terminal is installed at the head of the bucket wheel machine, and the space coordinates of the UWB wireless positioning mobile terminal in the stock yard coordinate system, namely the coordinates of the bucket wheel body in the stock yard, can be measured by the UWB wireless positioning mobile terminal relative to the distance of the UWB wireless positioning base station and the space coordinates of the UWB wireless positioning base station, so that the UWB wireless positioning mobile terminal data is in data communication with the PLC. And mounting the three-dimensional laser scanner at a fixed position on a shed roof, and measuring the space coordinate of the three-dimensional laser scanner in the stock yard coordinate system. Establishing a stock ground database in the stock ground three-dimensional server, and establishing a standard database according to the stock pile, wherein the database comprises: the data information of the material pile such as the serial number of the material pile, the type of the material pile, the density, the height, the boundary, the volume, the weight, the stacking position, the space coordinates of the boundary point and the like can be read through the selection of the three-dimensional simulation system on different material piles. Selecting a material pile to be operated in the three-dimensional simulation system, wherein the upper computer control server reads the space coordinates of the boundary points of the material pile in the stock yard database data and sends the space coordinates of the boundary points to the bucket wheel machine PLC; and after receiving the space coordinates of the boundary points, the bucket wheel machine PLC controls the bucket wheel machine to travel, rotate and pitch by comparing the space coordinates of the current position of the bucket wheel machine wheel body, automatically positions the material pile and performs automatic material piling and taking operation.
In the embodiment, the three-dimensional laser scanner, the bucket wheel machine, the UWB wireless positioning base station and the mobile terminal are established in a unified stock yard coordinate system through surveying and mapping of the stock yard, a complete stock yard database is established, and information such as distribution condition and residual total amount of stockpiles in the stock yard can be timely and accurately acquired and calculated; meanwhile, the space coordinate of the wheel body of the bucket wheel machine is positioned by the UWB wireless positioning technology, so that the corresponding material pile can be automatically positioned timely, accurately and conveniently; closed-loop control is formed by improving an automatic operation program of the bucket wheel machine PLC and adding stock ground position data comparison and UWB positioning data, so that unmanned and intelligent control of the bucket wheel machine stock ground is realized.
The system that this embodiment provided, through UWB wireless location technique and laser scanning technique, make bucket wheel machine location no longer adopt the encoder to add the mechanical type location cart walking distance of connecting the external member, gyration angle and the location mode of the height of becoming width of cloth, so both solved because mechanical connection, the measuring error that the gear interlock brought, also avoided through gyration angle, become width of cloth height and cantilever length calculation bucket wheel spatial position data loaded down with trivial details calculation process, greatly reduced this kind because of the error that whole macrostructure calculation brought. In this embodiment, the three-dimensional laser scanner only needs to simply plan the measurement result of the stock ground and the operation process of the bucket wheel machine and provide the boundary data of the stock pile, so that the calculation amount and the calculation error of the system are greatly reduced; the unattended operation control logic of the bucket wheel machine is simpler and more convenient, the precision is higher, and the response time is shorter.
In other embodiments provided by the present invention, a UWB wireless positioning mobile terminal may be further added to a person or other equipment in the stock yard, so as to realize real-time positioning of the equipment or the person added with the UWB wireless positioning mobile terminal in the stock yard, and avoid a function of mistakenly colliding the equipment or the person with the equipment in an unattended state.
Based on the above embodiment, in this embodiment, the stock ground is accurately mapped, the stock ground is three-dimensionally modeled on the upper computer control server, a stock ground coordinate system is established, and the first UWB wireless positioning base station P is used1A second UWB wireless positioning base station P2A third UWB wireless positioning base station P3Respectively arranged at different positions of the roof of the stock ground to obtain P1、P2、P3Spatial coordinates (X) under the stock ground coordinate system1，Y1，Z1)、(X2，Y2，Z2)、(X3，Y3，Z3). Positioning UWB wireless mobile terminal P0The positioning device is arranged at the head of the bucket wheel machine and used for positioning the spatial position of the bucket wheel body in a stock yard. Installing a three-dimensional laser scanner Q right above the center of a stock ground, and acquiring a space coordinate (X) of the three-dimensional laser scanner Q in a stock ground coordinate systemq，Yq，Zq)。
And establishing a stock yard database, storing the stock pile data of different stock yard storage areas according to the division of the stock yard areas, and displaying the stock pile data in a centralized control room in a three-dimensional simulation mode. The three-dimensional laser scanner Q collects the stock ground data to the stock ground three-dimensional server, and the stock ground three-dimensional server corresponds to corresponding storage areas and stores different stock pile data respectively.
As shown in fig. 3, after the three-dimensional laser scanner scans the material pile, the three-dimensional laser scanner may obtain a space coordinate of a boundary point of the material pile, such as a space coordinate of a boundary P point, in addition to the volume of the material pile. When the three-dimensional laser scanner Q scans a boundary point P of the target material pile, determining a horizontal plane included angle alpha and a vertical plane included angle theta between the three-dimensional laser scanner and the current boundary point, measuring a distance S between the three-dimensional laser scanner and the boundary point P, and according to the following steps:
determining the spatial coordinates (X) of the boundary points Pp，Yp，Zp)。
The principle of bucket wheel body positioning is shown in FIG. 4, three UWB wireless positioning base stations P1、P2、P3Measuring said UWB wireless location mobile terminal P0Are respectively d1、d2、d3According to the following:
determining current three-dimensional coordinates (X) of said UWB wireless location mobile terminal0，Y0，Z0)。
When the upper computer control server selects to automatically take the material of the target material pile, the upper computer control server reads the space coordinate (X) of the boundary point P of the target material pilep，Yp，Zp) And combining the spatial coordinates (X)p，Yp，Zp) And sending the data to a bucket wheel machine PLC. The bucket wheel machine PLC compares the space coordinate (X) of the boundary point Pp，Yp，Zp) With the current three-dimensional coordinates (X) of the UWB wireless location mobile terminal0，Y0，Z0) Firstly, the bucket wheel machine is lifted to Z0＝ZpThen turn the rotation to, finally, move the X0＝XpTherefore, the automatic positioning of the bucket wheel machine on the target material pile is realized.
By the mode, the materials in each area in the stock ground are fed in the stock ground three-dimensional serverThe field boundary data are stored according to the stockpile numbers, when the upper computer control server selects to automatically take materials from different stockpiles, the PLC of the bucket wheel machine only needs to compare the position of the wheel body of the bucket wheel machine with the UWB wireless positioning mobile terminal P0And comparing the boundary data with the boundary data of each stockpile, and directly positioning the stock ground by pitching up and down, rotating left and right, and advancing and retreating the cart, and performing accurate operation according to the boundary profile of the stockpile.
In the embodiment, the wheel body P of the bucket wheel machine is positioned by the UWB wireless positioning technology0Accurately positioning, and measuring to obtain the current three-dimensional coordinate (X) of the wheel body0，Y0，Z0) And then accurately measuring the space coordinates (X) of the volume and boundary points of each material pile in the stock ground by using a three-dimensional laser scannerp，Yp，Zp) Then bucket wheel machine PLC carries out contrastive analysis through directly to above-mentioned space coordinate data, and automatic control bucket wheel machine adjusts the gesture in real time and gets the material operation, has not only realized the long-range unmanned on duty operation of bucket wheel machine, and it is too big to have also avoided simultaneously because traditional encoder fixes a position the mechanical connection error that brings to bucket wheel machine walking distance, gyration angle, change width of cloth height, and the automatic positioning algorithm is too complicated, and walking, gyration, change width of cloth benchmark are difficult to unify a series of error problems.
Referring to fig. 5, fig. 5 is a flowchart illustrating an embodiment of an unattended bucket wheel control method based on UWB positioning technology according to the present invention. The method is applied to the upper computer control server, and comprises the following specific operation steps:
step S501: according to the mapping data of the stock ground, a three-dimensional simulation system is utilized to carry out three-dimensional modeling on the stock ground, and a stock ground coordinate system is established;
step S502: acquiring space coordinates of m (m is more than or equal to 3) UWB wireless positioning base stations installed on the roof of the stock yard and a three-dimensional laser scanner installed right above the center of the stock yard in a stock yard coordinate system;
step S503: when receiving an instruction of automatically taking materials from a target material pile, acquiring the m UWB wireless positioning base stations and the UWB wireless positioning installed at the head of the bucket-wheel machineDistance d between mobile terminalsi(i＝1，2，...，m)；
Step S504: according to the distance diDetermining the current three-dimensional coordinates of the UWB wireless positioning mobile terminal according to the spatial coordinates of the m UWB wireless positioning base stations;
step S505: calling the spatial coordinates of the target stockpile preselected boundary points from a stock ground three-dimensional server, and sending the spatial coordinates of the preselected boundary points and the current three-dimensional coordinates of the UWB wireless positioning mobile terminal to a bucket wheel machine PLC (programmable logic controller), so that the bucket wheel machine PLC controls a bucket wheel machine to execute the material taking operation of the target stockpile according to the spatial coordinates of the preselected boundary points and the current three-dimensional coordinates of the UWB wireless positioning mobile terminal; and the space coordinates of the target material pile preselected boundary points are acquired when the three-dimensional laser scanner scans the material piles in different areas of the stock yard.
According to the unattended control method of the bucket wheel machine, stockyard positioning and bucket wheel machine positioning are unified under the same coordinate system, accurate positioning is carried out through spatial position coordinates, three positioning postures of a walking mechanism, a slewing mechanism and a pitching mechanism of the bucket wheel machine are unified, and two positioning variables (distance and angle) are unified under the condition that a single UWB wireless positioning mobile terminal carries out spatial positioning on a bucket wheel machine body, so that the calculation amount of the bucket wheel machine for positioning a material pile is greatly reduced. Besides, other personnel or equipment in the material factory can be tracked and positioned by additionally arranging the UWB mobile terminal on the personnel or the equipment.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The present invention provides a system and a method for controlling an unmanned bucket wheel machine based on UWB positioning technology. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. An unmanned on duty control system of bucket wheel machine based on UWB location technique, its characterized in that includes:
the system comprises m (m is more than or equal to 3) UWB wireless positioning base stations arranged on the roof of a stock ground, a UWB wireless positioning mobile terminal arranged at the head of a bucket wheel machine, a three-dimensional laser scanner arranged right above the center of the stock ground, a stock ground three-dimensional server, an upper computer control server and a bucket wheel machine PLC;
the three-dimensional laser scanner is used for scanning stockpiles in different areas of a stockyard during stockpiling to obtain data information of each stockpile, wherein the data information comprises space coordinates of stockpile boundary points;
the stock ground three-dimensional server is used for establishing a stock ground database and storing data information of each stock pile;
the upper computer control server is used for carrying out three-dimensional modeling on the stock ground by using a three-dimensional simulation system according to the mapping data of the stock ground, establishing a stock ground coordinate system and acquiring the space coordinates of the UWB wireless positioning base station and the three-dimensional laser scanner in the stock ground coordinate system; when receiving an instruction of automatically taking materials from a target material pile, acquiring distances d between m UWB wireless positioning base stations and UWB wireless positioning mobile terminalsi(i 1, 2.. said., m) according to the distance diDetermining the current three-dimensional coordinates of the UWB wireless positioning mobile terminal according to the spatial coordinates of the m UWB wireless positioning base stations; calling the space coordinates of the target stockpile preselected boundary points from the stock ground three-dimensional server, and sending the space coordinates of the preselected boundary points and the current three-dimensional coordinates of the UWB wireless fixed displacement terminal to the bucket wheel machine PLC;
and the bucket wheel machine PLC is used for controlling the bucket wheel machine to execute the material taking operation of the target material pile according to the space coordinate of the preselected boundary point and the current three-dimensional coordinate of the UWB wireless positioning mobile terminal.
2. The system of claim 1, wherein the three-dimensional laser scanner comprises:
the scanning module is used for scanning the target material pile to obtain data information of the target material pile;
the calculation module is used for determining a horizontal plane included angle and a vertical plane included angle between the three-dimensional laser scanner and a current boundary point when any boundary point of the target material pile is scanned, measuring a distance between the three-dimensional laser scanner and the current boundary point, and determining a space coordinate of the current boundary point according to the horizontal plane included angle, the vertical plane included angle, the distance between the three-dimensional laser scanner and the current boundary point and a space coordinate of the three-dimensional laser scanner in the stock yard coordinate system;
and the transmission module is used for transmitting the data information of the target material pile and the space coordinates of each boundary point to the stock ground three-dimensional server.
3. The system of claim 2, wherein the computing module is specifically configured to:
when a boundary point P of the target material pile is scanned, determining a horizontal plane included angle alpha and a vertical plane included angle theta between the three-dimensional laser scanner and the current boundary point, and measuring the distance S between the three-dimensional laser scanner and the boundary point P;
according to
Determining the spatial coordinates (X) of the boundary points Pp，Yp，Zp)；
Wherein (X)q，Yq，Zq) And the space coordinates of the three-dimensional laser scanner in the stock ground coordinate system are obtained.
4. The system of claim 3, wherein the upper computer control server is specifically configured to:
when receiving an instruction of automatically taking materials from a target material pile, respectively obtaining the distances d between a first UWB wireless positioning base station, a second UWB wireless positioning base station, a third UWB wireless positioning base station and a UWB wireless positioning mobile terminali，d2，d3；
According to
Determining the UWB
Is free of
Current three-dimensional coordinate (X) of line positioning mobile terminal0，Y0，Z0)；
Wherein (X)1，Y1，Z1) (X) spatial coordinates of a base station for said first UWB wireless location2，T2，Z2) (X) locating spatial coordinates of a base station for said second UWB radio3，Y3，Z3) And locating the spatial coordinates of the base station for said third UWB radio.
5. The system of claim 4, wherein the bucket wheel machine PLC is specifically configured to:
comparing the spatial coordinates (X) of the boundary points Pp，Yp，Zp) With the current three-dimensional coordinates (X) of the UWB wireless location mobile terminal0，Y0，Z0) Lifting the bucket wheel machine to Z0＝ZpTurning said bucket wheel machine to Y0＝YpControlling the bucket wheel machine to run and run X0＝XpTo achieve positioning of the bucket wheel machine on the target material pile;
and controlling the bucket wheel machine to carry out the material taking operation of the target material pile according to the data information of the target material pile.
6. The system of claim 1, further comprising: and the three-dimensional laser coal inventory system is used for surveying and mapping the stock ground and sending the surveying and mapping data of the stock ground to the upper computer control server.
7. The system of claim 6, further comprising: stock ground radio station and centralized control room radio station.
8. The system of claim 7, comprising: the stock ground switch, wherein, m UWB wireless location basic stations, UWB wireless location mobile terminal, three-dimensional laser scanner, stock ground radio station all with the stock ground switch is connected.
9. The system of claim 8, comprising: and the upper computer control server, the stock ground three-dimensional server and the centralized control room wireless communication radio station are all connected with the centralized control room switch.
10. The utility model provides a bucket wheel machine unmanned on duty control method based on UWB location technique which characterized in that is applied to upper computer control server, includes:
according to the mapping data of the stock ground, a three-dimensional simulation system is utilized to carry out three-dimensional modeling on the stock ground, and a stock ground coordinate system is established;
acquiring space coordinates of m (m is more than or equal to 3) UWB wireless positioning base stations installed on the roof of the stock yard and a three-dimensional laser scanner installed right above the center of the stock yard in a stock yard coordinate system;
when an instruction for automatically taking materials from a target material pile is received, the distance d between the m UWB wireless positioning base stations and a UWB wireless positioning mobile terminal installed at the head of the bucket wheel machine is obtainedi(i＝1，2，...，m)；
According to the distance diDetermining the current three-dimensional coordinates of the UWB wireless positioning mobile terminal according to the spatial coordinates of the m UWB wireless positioning base stations;
calling the spatial coordinates of the target stockpile preselected boundary points from a stock ground three-dimensional server, and sending the spatial coordinates of the preselected boundary points and the current three-dimensional coordinates of the UWB wireless positioning mobile terminal to a bucket wheel machine PLC (programmable logic controller), so that the bucket wheel machine PLC controls a bucket wheel machine to execute the material taking operation of the target stockpile according to the spatial coordinates of the preselected boundary points and the current three-dimensional coordinates of the UWB wireless positioning mobile terminal;
and the space coordinates of the target material pile preselected boundary points are acquired when the three-dimensional laser scanner scans the material piles in different areas of the stock yard.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110423396.0A CN112938517A (en) | 2021-04-20 | 2021-04-20 | Bucket wheel machine unattended control system and method based on UWB positioning technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110423396.0A CN112938517A (en) | 2021-04-20 | 2021-04-20 | Bucket wheel machine unattended control system and method based on UWB positioning technology |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112938517A true CN112938517A (en) | 2021-06-11 |
Family
ID=76233026
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110423396.0A Pending CN112938517A (en) | 2021-04-20 | 2021-04-20 | Bucket wheel machine unattended control system and method based on UWB positioning technology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112938517A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113445567A (en) * | 2021-06-30 | 2021-09-28 | 广西柳工机械股份有限公司 | Autonomous operation loader traveling speed control system and control method |
| CN113463720A (en) * | 2021-06-30 | 2021-10-01 | 广西柳工机械股份有限公司 | System and method for identifying contact material of loader bucket |
| 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 |
| CN113928868A (en) * | 2021-11-03 | 2022-01-14 | 邯郸钢铁集团有限责任公司 | Automatic control system of scraper reclaimer |
| CN114279355A (en) * | 2021-11-18 | 2022-04-05 | 北京华能新锐控制技术有限公司 | Coal inventory system and method for closed coal yard |
| CN115328134A (en) * | 2022-08-16 | 2022-11-11 | 中煤科工智能储装技术有限公司 | Cooperative operation positioning system and method for bulk material storage yard material taking carrier |
| CN115367496A (en) * | 2022-08-12 | 2022-11-22 | 中冶南方工程技术有限公司 | Multi-bucket turbine intelligent scheduling control method and system |
| CN116281239A (en) * | 2023-03-03 | 2023-06-23 | 国能长源汉川发电有限公司 | Unmanned system and method for bucket wheel machine |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104724506A (en) * | 2015-04-14 | 2015-06-24 | 上海东源计算机自动化工程有限公司 | Automatic stacking/reclaiming system for bulk cargo storage yard |
| CN206511670U (en) * | 2017-02-09 | 2017-09-22 | 中科航宇(北京)自动化工程技术有限公司 | A kind of automated job control system of bucket-wheel stacker reclaimer |
| CN109242226A (en) * | 2017-05-11 | 2019-01-18 | 湖南三德科技股份有限公司 | A kind of intelligence coal yard monitoring method and monitoring system |
| CN110182620A (en) * | 2019-05-10 | 2019-08-30 | 大连华锐重工集团股份有限公司 | A kind of the scanning recognition system and working method of unmanned bucket continuous ship unloader |
| US20200248434A1 (en) * | 2018-02-28 | 2020-08-06 | Komatsu Ltd. | Loading machine control device and control method |
| CN111634636A (en) * | 2020-05-19 | 2020-09-08 | 大连华锐重工集团股份有限公司 | Full-automatic material taking control system of bucket wheel machine |
| US20210032834A1 (en) * | 2018-02-23 | 2021-02-04 | Liebherr-Components Biberach Gmbh | Bucket wheel excavator and method of controlling a bucket wheel excavator |
-
2021
- 2021-04-20 CN CN202110423396.0A patent/CN112938517A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104724506A (en) * | 2015-04-14 | 2015-06-24 | 上海东源计算机自动化工程有限公司 | Automatic stacking/reclaiming system for bulk cargo storage yard |
| CN206511670U (en) * | 2017-02-09 | 2017-09-22 | 中科航宇(北京)自动化工程技术有限公司 | A kind of automated job control system of bucket-wheel stacker reclaimer |
| CN109242226A (en) * | 2017-05-11 | 2019-01-18 | 湖南三德科技股份有限公司 | A kind of intelligence coal yard monitoring method and monitoring system |
| US20210032834A1 (en) * | 2018-02-23 | 2021-02-04 | Liebherr-Components Biberach Gmbh | Bucket wheel excavator and method of controlling a bucket wheel excavator |
| US20200248434A1 (en) * | 2018-02-28 | 2020-08-06 | Komatsu Ltd. | Loading machine control device and control method |
| CN110182620A (en) * | 2019-05-10 | 2019-08-30 | 大连华锐重工集团股份有限公司 | A kind of the scanning recognition system and working method of unmanned bucket continuous ship unloader |
| CN111634636A (en) * | 2020-05-19 | 2020-09-08 | 大连华锐重工集团股份有限公司 | Full-automatic material taking control system of bucket wheel machine |
Non-Patent Citations (1)
| Title |
|---|
| 周银祥: "《嵌入式系统原理与实践——基于Cortex-M3（STM32） 下》", 31 July 2020, 华中科技大学出版社 * |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113445567A (en) * | 2021-06-30 | 2021-09-28 | 广西柳工机械股份有限公司 | Autonomous operation loader traveling speed control system and control method |
| CN113463720A (en) * | 2021-06-30 | 2021-10-01 | 广西柳工机械股份有限公司 | System and method for identifying contact material of loader bucket |
| CN113463720B (en) * | 2021-06-30 | 2023-02-17 | 广西柳工机械股份有限公司 | System and method for identifying contact material of loader bucket |
| CN113445567B (en) * | 2021-06-30 | 2023-03-24 | 广西柳工机械股份有限公司 | Autonomous operation loader traveling speed control system and control method |
| 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 |
| CN113928868A (en) * | 2021-11-03 | 2022-01-14 | 邯郸钢铁集团有限责任公司 | Automatic control system of scraper reclaimer |
| CN114279355A (en) * | 2021-11-18 | 2022-04-05 | 北京华能新锐控制技术有限公司 | Coal inventory system and method for closed coal yard |
| CN115367496A (en) * | 2022-08-12 | 2022-11-22 | 中冶南方工程技术有限公司 | Multi-bucket turbine intelligent scheduling control method and system |
| CN115328134A (en) * | 2022-08-16 | 2022-11-11 | 中煤科工智能储装技术有限公司 | Cooperative operation positioning system and method for bulk material storage yard material taking carrier |
| CN116281239A (en) * | 2023-03-03 | 2023-06-23 | 国能长源汉川发电有限公司 | Unmanned system and method for bucket wheel machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112938517A (en) | Bucket wheel machine unattended control system and method based on UWB positioning technology | |
| CN109650089B (en) | Anti-collision method for material piling and taking machine and material pile of storage yard | |
| CN102878928B (en) | Storage yard real-time dynamic three dimensional measurement and control system | |
| CN110194375B (en) | Automatic stacking, taking and stacking method and system for material yard | |
| CN103090791B (en) | Measuring system, method and device for bulk materials and material piling and taking control system | |
| CN111634636B (en) | Full-automatic material taking control system of bucket wheel machine | |
| CN104724506B (en) | A kind of automatic material stacking and fetching system for bulk storage yard | |
| CN107090823B (en) | The dynamic compaction system of automation | |
| CN112110220A (en) | Unmanned operation system for material stacking and taking of bucket wheel machine | |
| CN113320995A (en) | Unmanned control system for stockyard stacker-reclaimer | |
| CN112537661B (en) | Anti-collision control method and system for stacker-reclaimer | |
| CN103913116A (en) | Large-scale piled material volume two-side parallel measuring device and method | |
| CN104154861A (en) | Circling measurement device and method for volume of large stacked material | |
| CN110615362B (en) | Intelligent control system and method for tower crane | |
| CN112141734B (en) | Material taking control system and material taking method for scraper reclaimer | |
| CN108147147A (en) | A kind of material stacking and fetching system of automatic intelligent | |
| CN107522114A (en) | Automate front handling mobile crane | |
| CN108182715A (en) | A kind of material stacking and fetching system with statistics rickyard material information | |
| CN112487567A (en) | Intelligent monitoring system and method for bucket-wheel stacker reclaimer | |
| CN213059279U (en) | Coal coiling device at tail end of large arm of bucket wheel machine | |
| CN201425503Y (en) | Miscellaneous material pile measuring system | |
| CN117071912A (en) | Automatic hoisting and positioning method and system for prefabricated components of prefabricated buildings | |
| CN114384873A (en) | Intelligent cooperative control system and control method for material transportation of high-molecular extrusion production line | |
| CN115367496B (en) | A multi-bucket turbine intelligent dispatching control method and system | |
| CN108045973A (en) | A kind of automatic stockpiling method of windrow system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210611 |
|
| RJ01 | Rejection of invention patent application after publication |