Bulk material unmanned loading control method, system and device based on multi-line laser radar

A technology of multi-line laser and control method, which is applied in the direction of control/regulation system, flow control of electric device, controller with specific characteristics, etc. Loading, increasing labor costs and other issues, to achieve the effect of reducing loading costs, avoiding spillage, and improving loading efficiency

Active Publication Date: 2020-08-04
TIANDI SCI & TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The technical problem to be solved by the present invention is: in order to solve the problem that the manual loading method in the prior art increases the labor cost and cannot effectively ensure the stability of the loading quality, reciprocating loading or unbalanced loading often occurs, which makes the loading The problem of inefficiency

Method used

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  • Bulk material unmanned loading control method, system and device based on multi-line laser radar
  • Bulk material unmanned loading control method, system and device based on multi-line laser radar
  • Bulk material unmanned loading control method, system and device based on multi-line laser radar

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0046] This embodiment provides a bulk material unmanned loading control method based on multi-line laser radar, such as figure 1 shown, including:

[0047] S1: Obtain the 3D point cloud data of the carriage collected by the multi-line laser radar in real time, establish the 3D data model of the carriage, and calculate the real-time position coordinates of the carriage;

[0048] S2: After detecting that the compartment enters the set position of the bulk material yard, it is judged that a vehicle enters, and vehicle identification is started;

[0049] S3: Calculate the length, width and height of the compartment according to the real-time three-dimensional point cloud data of the compartment, and set the target material accumulation height of the compartment to be loaded according to the weight of the material to be loaded;

[0050] S4: When it is judged that the compartment moves to the loading position, and it is detected that the compartment does not deviate from the drivi...

Embodiment 2

[0086] This embodiment provides a bulk material unmanned loading control system based on multi-line laser radar, including:

[0087] The 3D modeling module is used to obtain the 3D point cloud data of the car collected by the multi-line laser radar in real time, and establish the 3D data model of the car;

[0088] The identification and judgment module is used to calculate the real-time position coordinates of the carriage. When it is detected that the carriage enters the set position of the bulk material yard, it is judged that there is a vehicle entering, and the vehicle identification is started;

[0089] The parameter setting module is used to calculate the length, width and height of the carriage according to the real-time three-dimensional point cloud data of the carriage, and set the target material accumulation height of the carriage to be loaded according to the weight of the material to be loaded;

[0090] The loading start module is used to start the unmanned unifor...

Embodiment 3

[0104] This embodiment provides a bulk material unmanned loading control device based on multi-line laser radar, such as image 3 As shown, comprising: multi-line laser radar, background server and PLC controller, described background server is arranged with point cloud database;

[0105] The multi-line laser radar is installed at a set height on the side of the carriage, and is used to collect the three-dimensional point cloud data of the carriage in real time, and store it in the point cloud database of the background server;

[0106] The background server is used to realize the control method described in claim 1;

[0107] The PLC controller communicates with the background server to obtain the three-dimensional data information of the compartment analyzed by the background server, and adopts PID control to adjust the material flow in the mobile loading operation.

[0108] The multi-line laser radar adopts the 360-degree circular scanning method of multiple laser beams to ...

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Abstract

The invention relates to a bulk material unmanned loading control method, system and device based on a multi-line laser radar. The method comprises the steps: collecting three-dimensional point clouddata of a carriage through the multi-line laser radar; recognizing the size of the carriage, a real-time movement position of the carriage and a real-time movement speed; dynamically adjusting a loading process; and achieving unmanned automatic loading control. Different control parameters can be adopted for loading according to different carriage types, a technical bottleneck of loading intelligence is broken through, loading cost is reduced, and loading efficiency is improved. Problems that in the prior art, due to a fact that a manual loading mode is adopted, labor cost is increased, loading quality stability cannot be effectively guaranteed, conditions such as reciprocating loading or loading unbalance loading and the like often occur, and the loading efficiency is not high are solved.

Description

technical field [0001] The present application belongs to the technical field of unmanned loading, and in particular relates to a control method, system and device for unmanned loading of bulk materials based on multi-line laser radar. Background technique [0002] At present, most of the material loading systems in my country have a low degree of automation, and the loading process relies on manual control, including manual rough estimation of the position and moving speed of the compartment, manual visual inspection of the level of the compartment, and manual adjustment of the feeding amount at any time. However, the size and standard load of various receiving compartments are not fixed and uniform, and the inertia of the compartments changes greatly after receiving materials, resulting in poor handling of the vehicle, which makes the loading cloth effect not good, and the loading process is overly dependent on loading staff work experience. [0003] The manual loading me...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/05G05B11/42G05D7/06G01D21/02B65G67/04
CPCB65G67/04G01D21/02G05B11/42G05B19/05G05D7/0605
Inventor 孙祖明刘竞雄刘辉栗伟李建华武徽崔义森孙丁丁孙国顺王朝郝健男牛艳闫艳
Owner TIANDI SCI & TECH CO LTD
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