Anti-collision control method of bucket-wheel stacker-reclaimers

Abstract

An anti-collision control method of bucket-wheel stacker-reclaimers comprises the following steps that the respective coordinate position states of the two bucket-wheel stacker-reclaimers are obtained through a positioning system; the revolving angle states of the two bucket-wheel stacker-reclaimers are obtained through a revolving angle encoder; the respective coordinate position state data information and revolving angle state data information of the two bucket-wheel stacker-reclaimers are transmitted to a central control unit PLC; the central control unit PLC calculates the shortest distance of the two bucket-wheel stacker-reclaimers on a horizontal plane projection according to the data information, and compares the worked out shortest distance with a set value; a control instruction on the bucket-wheel stacker-reclaimers is sent to PLCs of the two bucket-wheel stacker-reclaimers through an industrial network according to the comparison result; and the PLCs of the two bucket-wheel stacker-reclaimers determine whether to carry out an alarming operation or stopping operation according to the received control instruction.

Description

technical field [0001] The invention relates to the technical field of bucket wheel stackers and reclaimers, in particular to an anti-collision control method between multiple bucket wheel stackers and reclaimers. Background technique [0002] Bucket wheel stacker and reclaimer is a continuous and efficient bulk material loading, unloading and conveying machinery. It is widely used in raw material storage and transportation fields such as ports, power plants, steel mills, and mines. It can realize coal, ore, chemical raw materials and other bulk materials. Continuous operations of stacking, transfer, loading and unloading. [0003] At present, bucket wheel stackers and reclaimers are mainly used in large bulk material yards for stacking and reclaiming operations. In the giant stockyards that exist in large iron and steel enterprises and large ore terminals, multiple equipments are required to carry out the stacking and reclaiming operations at the same time. During the stac...

AI Technical Summary

Problems solved by technology

[0008] The anti-collision control of manual or semi-automatically controlled stockyard stacker-reclaimer depends on the experience and judgment ability of the operator, and the operator's vision has a great influence on anti-collision; The emotions, state and even weather conditions of the operator may cause misoperation, resulting in a collision accident between two stackers and reclaimers in the stockyard;

[0009] For the two stackers and reclaimers on the same track, the laser anti-collision instrument is used. This method has high requirements for the installation of the sensor (the laser emitting end and the receiving end are on the same horizontal line), and the dust in the stockyard is easy to cover the sensor. The violent vibration of the feeder may easily cause problems in the sending and receiving signals of the sensor, resulting in collisions

[0010] For the collision avoidance of stackers and reclaimers on two adjacent tracks, some existing methods are to establish a three-dimensional mathematical model for analysis. This method requires partial derivatives and multivariate equations. The algorithm is complex and the amount of calculation is large. It is very difficult; some simply ask for the distance between the bucket wheels at the front ends of the booms of the two stackers and reclaimers to be greater than the safety distance to ensure that the stackers and reclaimers do not collide. In fact, the shortest distance between the two stackers and reclaimers is The distance is not necessarily the distance between the two bucket wheels. This method cannot effectively alarm or stop, and often results in a collision between the two stackers and reclaimers.

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