Anti-collision method of storage yard stacker-reclaimer and material pile

Abstract

The invention discloses an anti-collision method of a storage yard stacker-reclaimer and a material pile, and belongs to an unmanned automatic control system of a stacker-reclaimer. According to the method, a 3D scanner is used for scanning the material pile, three-dimensional point cloud data of the material pile are obtained, and then coordinate transformation is carried out, a three-dimensionalmodel of the material pile in the storage yard coordinate system is built, and the self-action of a large machine is carried out by utilizing the three-dimensional model of the storage yard to be operated. In the automatic operation process, a three-dimensional model of the adjacent material pile of the operating storage yard is obtained, and a three-dimensional attitude and a dynamic three-dimensional model of the single-machine space of the storage yard are calculated in real time. At a certain walking position and a pitching angle, through the rotating and pitching angle of a large machinearm frame, the distance between the material pile point cloud data and the large machine arm frame is calculated by means of the anti-collision detecting method, the maximum rotation angle of the large machine arm frame is found, the risk of collision between the material pile and the large machine is effectively avoided, and the automatic material taking is safer and more efficient.

Description

technical field [0001] The invention belongs to an unmanned automatic control system of a stacker-reclaimer and relates to an anti-collision method between a stacker-reclaimer and a material pile in a stockyard. Background technique [0002] The stacker reclaimer is an important tool and equipment for transporting coal and ore in ports, mines, power plants and other enterprises. With the continuous improvement of unmanned automatic stacking and reclaiming control technology, enterprises pay more and more attention to the safety of automatic operation equipment in unmanned storage yards, among which collisions between stackers and reclaimers and material piles occur from time to time, causing huge damage Economic losses. In order to solve this technical problem, various bulk cargo ports use various methods for anti-collision detection, such as the rope-drawn detection method (when in contact with the material pile, the pull rope pulls the collision switch, outputs an alarm, ...

AI Technical Summary

Problems solved by technology

Since most of the above detection methods are passive detection, affected by the installation location, installation accuracy and on-site environment, or the equipment cost is high (the radar needs to be arranged at multiple points), and there are still detection blind spots, there is a risk of collision, and the later maintenance is more difficult After the equipment is damaged, the cost of repairing and replacing the equipment is relatively high

With the development of port stacker-reclaimer automation technology, the key to realizing the automatic control of stacker-reclaimer is to obtain the 3D model of the material pile. Currently, the 3D model of the material pile is only used for the automatic control of the current operation Between the reclaimer and its adjacent material pile, it has not yet been used in the active detection and avoidance of three-dimensional features

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