Anti-collision control method for a cantilever stacker-reclaimer

Abstract

The invention discloses an anti-collision control method of a cantilever material piling and taking machine. The method comprises the following steps: acquiring, by PLCs (Programmable Logic Controllers) on a first cantilever material piling and taking machine and a second cantilever material piling and taking machine on adjacent tracks, rotation angles theta 1 and theta 2 of the two cantilever material piling and taking machines through a rotation angle encoder; acquiring a coordinate position (x1, y1) of the rotation center of the PLC of the first cantilever material piling and taking machine projected on the horizontal plane by the PLC of the first cantilever material piling and taking machine through a GPS (Global Positioning System) positioning device; acquiring a coordinate position (x2, y2) of the rotation center of the PLC of the second cantilever material piling and taking machine projected on the horizontal plane by the PLC of the second cantilever material piling and taking machine through the GPS positioning device; performing information exchange by a central control PLC with the two adjacent cantilever material piling and taking machines through an industrial network to acquire position information and rotation angle information of projections of the rotation centers of the two cantilever material piling and taking machines on the horizontal plane; performing anti-collision control calculation by the central control PLC and transmitting control information to the two cantilever material piling and taking machines on the adjacent tracks according to the calculation result; controlling the corresponding cantilever material piling and taking machines to avoid collision according to the received control information by the PLCs of the two cantilever material piling and taking machines respectively.

Description

technical field [0001] The invention relates to the technical field of operation control of bulk material stacking and reclaiming operation equipment, in particular to an anti-collision control method for a cantilever stacker and reclaimer. Background technique [0002] Cantilever stacker and reclaimer is a large-scale efficient bulk material stacker and reclaimer operation equipment, widely used in bulk material storage sites in ports, docks, mines, metallurgy, cement, power generation and other fields. In the giant stockyards that exist in large iron and steel enterprises and large ore terminals, multiple devices are required to carry out stacking and reclaiming operations at the same time. There is a great risk of collision if two pieces of equipment are operating at the same time. Once a collision occurs, it will cause economic losses and casualties, so it is of great significance to study the anti-collision control method of the cantilever stacker-reclaimer. [0003] ...

AI Technical Summary

Problems solved by technology

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

[0009] For the collision avoidance of cantilever 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. Practical application It is very difficult; some simply ask for the distance between the bucket wheels at the front ends of the booms of the two stacker-reclaimers to be greater than the safety distance to ensure that the stacker-reclaimers do not collide. In fact, the distance between the two stacker-reclaimers The shortest distance is not necessarily the distance between the two bucket wheels. This method cannot effectively alarm or stop, and often results in collisions between the two stackers and reclaimers.

Images