A multi-mode working method of intelligent grab

Abstract

The present invention relates to the field of particle material processing, and in particular to a multi-mode working method of an intelligent grab, comprising the following steps: S1, establishing a coordinate system, setting a grab boundary and a stacking boundary, wherein the grab boundary is a stacking area of ​​a stacking bin, and the stacking boundary is a stacking area of ​​a discharge bin; S2, acquiring a stacking bin image: obtaining grid graphic data of a stack in the stacking bin by scanning with an imaging device, and recording coordinates of each grid point; extracting the position coordinates of a vertex D of the stack and the coordinates of several peak points Fi of the stack according to the grid data; S3, stack stratification: stratifying from bottom to top in the depth direction of the stacking bin, wherein the bottom layer is a stacking layer, the middle layer is an energy-saving cleaning layer, and the top layer is a high-speed cleaning layer; S4, mode selection: selecting an operation mode according to an instruction from a control center, and the operation modes include: a shutdown mode, an energy-saving mode, and a high-speed mode; S5, calculating a path: calculating a path according to a mode; S6, controlling the grab to move, grab, and release materials according to the calculation result.

Description

Technical Field

[0001] The invention relates to the field of granular material processing, and in particular to a multi-mode working method of an intelligent grab bucket. Background Art

[0002] With the rapid development of the economy, a large amount of garbage, scrap steel, nuclear waste, biomass and other bulk particles need to be treated harmlessly or reused. During the treatment process, they need to be loaded and unloaded into the processing equipment by grab cranes. At present, the traditional loading and unloading process mode is generally adopted, that is, the mode of manual direct observation of materials and manual control of grab cranes. However, the traditional loading and unloading mode has low work efficiency, high labor intensity of manual operation, and long-term work is prone to safety accidents. In order to change the traditional loading and unloading process mode, improve the degree of intelligence, loading and unloading efficiency and safety reliability, and reduce the labor intensity of workers, many research institutions and manufacturers at home and abroad are paying more and more attention to the research and development of intelligent grab cranes. Summary of the invention

[0003] The purpose of the present invention is to solve the problems in the background technology and provide a multi-mode working method of an intelligent grab.

[0004] The above technical objectives of the present invention are achieved through the following technical solutions:

[0005] A multi-mode working method of an intelligent grab, the intelligent grab comprises a large vehicle for controlling the horizontal movement of the grab, a small vehicle for controlling the longitudinal movement of the grab, a crane for controlling the lifting of the grab, and an imaging device for imaging a pile of materials, wherein the large vehicle has a power of P1 and a speed of V1; the small vehicle has a power of P2 and a speed of V2; the intelligent grab obtains image data of a pile bin and a discharge bin in real time through the imaging device, and moves according to the moving path given by the control center, and the specific steps include:

[0006] S1. Establish a coordinate system and set a grabbing boundary and a stacking boundary. The grabbing boundary is the stacking area of ​​the stacking bin, and the stacking boundary is the stacking area of ​​the unloading bin;

[0007] S2. Obtaining a stockpile bin image: Obtain grid graphic data of the stockpile in the stockpile bin by scanning with an imaging device, and record the coordinates (x, y, z) of each grid point, where x is the horizontal axis distance, y is the vertical axis distance, and z is the height data; extract the position coordinates (xd, yd, zd) of the stockpile vertex D according to the grid data, where zd is the height data of the stockpile vertex; select the coordinates (xfi, yfi, zfi) of several stockpile peak points Fi according to the grid data and the vertex height, where 0.9*zd≤zfi≤zd, and i is a natural number;

[0008] S3. Material pile stratification: stratify from bottom to top in the depth direction of the material pile bin, the bottom layer is the material pile layer, the middle layer is the energy-saving cleaning layer, and the top layer is the high-speed cleaning layer;

[0009] S4, mode selection: select the operation mode according to the command of the control center, the operation modes include: shutdown mode, energy-saving mode and high-speed mode;

[0010] S5, calculating the path: according to the mode selected in step S4, using different algorithms to calculate the path;

[0011] S6. After the path calculation is completed, the grab bucket is controlled to move and grab and release the material according to the calculation results.

[0012] Preferably, when in shutdown mode, the cart, trolley and crane are not working, and the imaging device scans and refreshes the image of the stockpile bin at a set interval; when in energy-saving mode and high-speed mode, the cart, trolley and crane move along the calculated path under the control of the control center, and the imaging device scans and refreshes the image of the stockpile bin after each grabbing operation, and the imaging device scans and refreshes the image of the unloading bin after each stacking operation.

[0013] As a preferred method, the path calculation method of the energy-saving mode is:

[0014] Step 1, determine the stacking point: according to the size of the hopper and the size of the unloading bin, preset the coordinates of several stacking points (Xt1, Yt1, Zt1) ~ (Xtn, Ytn, Ztn) and sort them, and determine the coordinates of the current stacking point as (Xtj, Ytj, Ztj), j (1≤j≤n) is the current stacking number;

[0015] Step 2, grab point selection: select from the pile vertex D and the pile peak point Fi, calculate the energy consumption: Wd=│xd-Xtj│×P1 / V1+│yd-Ytj│×P2 / V2, WFi=│xfi-Xtj│×P1 / V1+│yfi-Ytj│×P2 / V2, compare Wd with all WFi, and select the coordinates of the pile vertex D or the pile peak point Fi with the minimum value as the grab point;

[0016] Step 3, generate a motion path: The motion path is the moving trajectory from the grabbing point in step 2 to the stacking point in step 1.

[0017] Preferably, the path calculation method in the high-speed mode is:

[0018] Step 1, determine the stacking point: according to the size of the hopper and the size of the unloading bin, preset the coordinates of several stacking points (Xt1, Yt1, Zt1) ~ (Xtn, Ytn, Ztn) and sort them, and determine the coordinates of the current stacking point as (Xtj, Ytj, Ztj), j (1≤j≤n) is the current stacking number;

[0019] Step 2, grab point selection: select from the pile vertex D and the pile peak point Fi, calculate the time: Td = │xd-Xtj│ / V1+│yd-Ytj│ / V2, TFi = │xfi-Xtj│ / V1+│yfi-Ytj│ / V2, compare Td with all TFi, and select the coordinates of the pile vertex D or the pile peak point Fi with the minimum value as the grab point;

[0020] Step 3, generate a motion path: The motion path is the moving trajectory from the grabbing point in step 2 to the stacking point in step 1.

[0021] Since the height difference between the top and the peak of the pile is within 10%, and the position of each stacking point is the same, the speed and power consumption of the longitudinal crane can be ignored in the calculation, thereby reducing the computing load of the control center and improving work efficiency.

[0022] Preferably, in step S4, the mode selection includes automatic selection and manual selection; wherein the automatic selection logic is: when the zd height is less than the stockpile layer height, the shutdown mode is selected; when the zd height is within the energy-saving cleaning layer height range, the energy-saving mode is selected; when the zd height is within the high-speed cleaning layer height range, the high-speed mode is selected.

[0023] Preferably, the stacking layer height is H / 5, the energy-saving cleaning layer height is 7H / 15, the high-speed cleaning layer height is H / 3, and H is the maximum stacking height of the stacking bin.

[0024] In summary, the multi-mode working method of an intelligent grab described in the present invention obtains an operating route that conforms to the current mode by measuring different vertices and peak points of the material pile in different working modes in different ways, thereby realizing the function of intelligently switching modes according to the usage scenario. DETAILED DESCRIPTION

[0025] The following specific embodiments are merely explanations of the present invention and are not limitations of the present invention. After reading this specification, those skilled in the art may make modifications to the embodiments without any creative contribution as needed. However, such modifications are protected by the patent law as long as they are within the scope of the claims of the present invention.

[0026] The present invention is described in detail below in conjunction with embodiments. Embodiment 1:

[0027] A multi-mode working method of an intelligent grab, the intelligent grab comprises a large vehicle for controlling the horizontal movement of the grab, a small vehicle for controlling the longitudinal movement of the grab, a crane for controlling the lifting of the grab, and an imaging device for imaging a pile of materials, wherein the large vehicle has a power of P1 and a speed of V1; the small vehicle has a power of P2 and a speed of V2; the intelligent grab obtains image data of a pile bin and a discharge bin in real time through the imaging device, and moves according to the moving path given by the control center, and the specific steps include:

[0028] S1. Establish a coordinate system and set a grabbing boundary and a stacking boundary. The grabbing boundary is the stacking area of ​​the stacking bin, and the stacking boundary is the stacking area of ​​the unloading bin;

[0029] S2. Obtaining a stockpile bin image: Obtain grid graphic data of the stockpile in the stockpile bin by scanning with an imaging device, and record coordinates (x, y, z) for each grid point, where x is the horizontal axis distance, y is the vertical axis distance, and z is the height data; extract the position coordinates (xd, yd, zd) of the stockpile vertex D based on the grid data, where zd is the height data of the stockpile vertex; select coordinates (xfi, yfi, zfi) of several stockpile peak points Fi based on the grid data and the vertex height, where 0.9*zd≤zfi≤zd, and i is a natural number.

[0030] S3. Material pile stratification: stratification is carried out from bottom to top in the depth direction of the material pile bin. The bottom layer is the material pile layer, the middle layer is the energy-saving cleaning layer, and the top layer is the high-speed cleaning layer. The height of the material pile layer is H / 5, the height of the energy-saving cleaning layer is 7H / 15, and the high-speed cleaning layer is H / 3. H is the maximum material pile height of the material pile bin.

[0031] S4, mode selection: select the operation mode according to the command of the control center, the operation modes include: stop mode, energy-saving mode and high-speed mode. Mode selection includes automatic selection and manual selection; the automatic selection logic is: when the height is less than the height of the stacking layer, select the stop mode; when the height is within the energy-saving cleaning layer height range, select the energy-saving mode; when the height is within the high-speed cleaning layer height range, select the high-speed mode.

[0032] In the stop mode, the trolley, car and crane are not working, and the imaging device scans and refreshes the image of the stacking bin at a set interval. In the energy-saving mode and high-speed mode, the trolley, car and crane move along the calculated path under the control of the control center, and the imaging device scans and refreshes the image of the stacking bin after each grabbing operation, and scans and refreshes the image of the unloading bin after each stacking operation.

[0033] S5, calculating the path: according to the mode selected in step S4, using different algorithms to calculate the path;

[0034] The path calculation method of the energy-saving mode is as follows: Step 1, determine the stacking point: according to the size of the hopper and the size of the unloading bin, preset the coordinates of several stacking points (Xt1, Yt1, Zt1) ~ (Xtn, Ytn, Ztn) and sort them, determine the coordinates of the first stacking point as (Xtj, Ytj, Ztj), j (1≤j≤n) is the current stacking number; Step 2, grab point selection: select from the vertex D of the pile and the peak point Fi of the pile, calculate the energy consumption: W d=│xd-Xtj│×P1 / V1+│yd-Ytj│×P2 / V2, WFi=│xfi-Xtj│×P1 / V1+│yfi-Ytj│×P2 / V2, compare Wd with all WFi, and select the coordinates of the minimum pile vertex D or the pile peak point Fi as the grabbing point; Step 3, generate the motion path: the motion path is the moving trajectory from the grabbing point in the above step 2 to the stacking point in step 1.

[0035] The path calculation method for high-speed mode is as follows: Step 1, determine the stacking point: according to the size of the hopper and the size of the unloading bin, preset the coordinates of several stacking points (Xt1, Yt1, Zt1) ~ (Xtn, Ytn, Ztn) and sort them, determine the coordinates of the first stacking point as (Xtj, Ytj, Ztj), j (1≤j≤n) is the number of current stacking; Step 2, grab point selection: select from the material pile vertex D and the material pile peak point Fi, calculate the time: Td=│xd-Xtj│ / V1+│yd-Ytj│ / V2, TFi=│xfi-Xtj│ / V1+│yfi-Ytj│ / V2, compare Td with the size of all TFi, select the coordinates of the material pile vertex D or the material pile peak point Fi with the minimum value as the grab point; Step 3, generate the motion path: the motion path is the moving trajectory from the grab point in the above step 2 to the stacking point in step 1.

[0036] S6. After the path calculation is completed, the grab bucket is controlled to move and grab and release the material according to the calculation results.

Claims

1. A multi-mode working method of an intelligent grab bucket, characterized in that: The intelligent grab includes a large vehicle for controlling the horizontal movement of the grab, a small vehicle for controlling the longitudinal movement of the grab, a crane for controlling the lifting of the grab, and an imaging device for imaging the pile, wherein the large vehicle has a power of P1 and a speed of V1; the small vehicle has a power of P2 and a speed of V2; the intelligent grab obtains image data of the pile bin and the unloading bin in real time through the imaging device, and moves according to the moving path given by the control center, and the specific steps include: S1. Establish a coordinate system and set a grabbing boundary and a stacking boundary. The grabbing boundary is the stacking area of ​​the stacking bin, and the stacking boundary is the stacking area of ​​the unloading bin; S2. Obtaining a stockpile bin image: Obtain grid graphic data of the stockpile in the stockpile bin by scanning with an imaging device, and record the coordinates (x, y, z) of each grid point, where x is the horizontal axis distance, y is the vertical axis distance, and z is the height data; extract the position coordinates (xd, yd, zd) of the stockpile vertex D according to the grid data, where zd is the height data of the stockpile vertex; select the coordinates (xfi, yfi, zfi) of several stockpile peak points Fi according to the grid data and the vertex height, where 0.9*zd≤zfi≤zd, and i is a natural number; S3. Material pile stratification: stratify from bottom to top in the depth direction of the material pile bin, the bottom layer is the material pile layer, the middle layer is the energy-saving cleaning layer, and the top layer is the high-speed cleaning layer; S4, mode selection: select the operation mode according to the command of the control center, the operation modes include: shutdown mode, energy-saving mode and high-speed mode; S5, calculating the path: according to the mode selected in step S4, using different algorithms to calculate the path; The path calculation method of the energy-saving mode is: Step 1, determine the stacking point: according to the size of the hopper and the size of the unloading bin, preset the coordinates of several stacking points (Xt1, Yt1, Zt1) ~ (Xtn, Ytn, Ztn) and sort them, and determine the coordinates of the current stacking point as (Xtj, Ytj, Ztj), where 1≤j≤n, j is the current stacking number; Step 2, grab point selection: select from the pile vertex D and the pile peak point Fi, calculate the energy consumption: Wd=│xd-Xtj│×P1 / V1+│yd-Ytj│×P2 / V2, WFi=│xfi-Xtj│×P1 / V1+│yfi-Ytj│×P2 / V2, compare Wd with all WFi, and select the coordinates of the pile vertex D or the pile peak point Fi with the minimum value as the grab point; Step 3, generate a motion path: the motion path is the moving trajectory from the grabbing point in step 2 to the stacking point in step 1; The path calculation method of the high-speed mode is: Step 1, determine the stacking point: according to the size of the hopper and the size of the unloading bin, preset the coordinates of several stacking points (Xt1, Yt1, Zt1) ~ (Xtn, Ytn, Ztn) and sort them, and determine the coordinates of the current stacking point as (Xtj, Ytj, Ztj), where 1≤j≤n, j is the current stacking number; Step 2, grab point selection: select from the pile vertex D and the pile peak point Fi, calculate the time: Td = │xd-Xtj│ / V1+│yd-Ytj│ / V2, TFi = │xfi-Xtj│ / V1+│yfi-Ytj│ / V2, compare Td with all TFi, and select the coordinates of the pile vertex D or the pile peak point Fi with the minimum value as the grab point; Step 3, generate a motion path: the motion path is the moving trajectory from the grabbing point in step 2 to the stacking point in step 1; S6. After the path calculation is completed, the grab bucket is controlled to move and grab and release the material according to the calculation results.

2. The multi-mode working method of the intelligent grab bucket according to claim 1, characterized in that: When in shutdown mode, the trolley, car and crane are not working, and the imaging device scans and refreshes the image of the stockpile bin at a set interval; when in energy-saving mode and high-speed mode, the trolley, car and crane move along the calculated path under the control of the control center, and the imaging device scans and refreshes the image of the stockpile bin after each grabbing operation, and the imaging device scans and refreshes the image of the unloading bin after each stacking operation.

3. The multi-mode working method of the intelligent grab bucket according to claim 1, characterized in that: In step S4, the mode selection includes automatic selection and manual selection; the automatic selection logic is: when the zd height is less than the stockpile layer height, select the shutdown mode; when the zd height is in the energy-saving cleaning layer height range, select the energy-saving mode; when the zd height is in the high-speed cleaning layer height range, select the high-speed mode.

4. The multi-mode working method of the intelligent grab bucket according to claim 3 is characterized in that: The height of the stacking layer is H / 5, the height of the energy-saving cleaning layer is 7H / 15, and the height of the high-speed cleaning layer is H / 3, where H is the maximum stacking height of the stacking bin.