Method and device for preventing tipping of a grab bucket of a slag pool

Abstract

The application discloses a method and device for preventing a grab bucket of a slag flushing pool from toppling, and the method comprises the following steps: performing laser scanning on the slag flushing pool, and calculating three-dimensional coordinate data of a material surface of the slag flushing pool; determining point cloud data of the slag flushing pool according to the three-dimensional coordinate data; determining a slag grabbing range according to the point cloud data of the slag flushing pool; simulating and calculating the coordinates of the landing points of both sides of the grab bucket on the slag pile when the grab bucket is lowered in the slag grabbing range according to the point cloud data of the slag flushing pool; and when the included angle between the connecting line of the coordinates of the landing points and the horizontal line is less than a preset value, issuing a notification information that the grab bucket operating in the slag grabbing range has no toppling risk and that the slag grabbing operation can be performed in the slag grabbing range. The application is used to accurately calculate a reasonable slag grabbing position, reduce the toppling risk of the grab bucket, improve the slag grabbing efficiency of the grab bucket of the slag flushing pool, reduce the energy consumption of the grab bucket of the slag flushing pool, reduce the equipment loss of the grab bucket of the slag flushing pool, and improve the safe operation coefficient of the grab bucket of the slag flushing pool.

Description

Technical Field

[0001] The present invention relates to the field of detection technology, in particular to a method and a device for preventing a grab bucket of a slag flushing pool from tipping over. Background Art

[0002] This section is intended to provide a background or context to the embodiments of the invention that are recited in the claims. No statement herein is admitted to be prior art by virtue of its inclusion in this section.

[0003] The slag flushing pool is a bucket-shaped concrete structure with a larger top and smaller bottom, used to collect blast furnace slag. In the metallurgical industry, blast furnace smelting produces a large amount of slag. After being granulated by high-speed water quenching, the slag enters the slag flushing pool. When a large amount of slag settles at the bottom of the pool, it can easily lead to poor water permeability, affecting the operation of related pumps and even disrupting normal blast furnace production. At the same time, the slag after water quenching is a high-quality cement raw material. Therefore, in actual production, the slag needs to be continuously removed from the slag flushing pool. The overhead crane is one of the most important slag removal equipment.

[0004] Traditional overhead crane systems mainly use manned overhead cranes. When the blast furnace slags out too quickly, some molten iron enters the slag flushing pool and meets water. The molten iron and high-temperature slag are extremely hot, decomposing the water into hydrogen and oxygen. If the hydrogen and oxygen mix and encounter a suitable environment, they are very likely to explode, posing a threat to the life safety of the overhead crane operator. In addition, manual operation often leads to poor visibility and work fatigue, resulting in a high equipment failure rate. At the same time, water vapor contains sulfides, which are very harmful to the human body, making the recruitment of skilled overhead crane operators increasingly difficult.

[0005] As a result, more and more slag flushing pool overhead crane systems are being upgraded to unmanned overhead crane systems. Because the slag flushing pool's slag grabbing position is not fixed and the material surface is complex, more advanced unmanned overhead crane systems require a slag flushing pool surface detection system to monitor the distribution of slag, allowing them to operate in areas with high slag concentrations.

[0006] Currently, unmanned overhead crane systems typically rely on material surface detection systems and use the highest point method to determine the grab position during normal slag grabbing. However, existing material surface detection systems only calculate overall characteristics, which can cause the grab bucket to tip over with certain material types. This can prevent the grab bucket from fully grabbing, affecting work efficiency and increasing energy consumption. In severe cases, it can even cause the grab bucket's wire rope to derail, increasing equipment wear and tear and increasing safety hazards. Summary of the Invention

[0007] The embodiment of the present invention provides a method for preventing a grab bucket from tipping over in a slag flushing pool, which is used to accurately calculate a reasonable grabbing position, reduce the risk of grab bucket tipping, improve the grabbing efficiency of the grab bucket in the slag flushing pool, reduce the energy consumption of the grab bucket in the slag flushing pool, reduce the loss of the grab bucket equipment in the slag flushing pool, and improve the safe operation coefficient of the grab bucket equipment in the slag flushing pool. The method includes:

[0008] Perform laser scanning on the slag flushing pool and calculate the three-dimensional coordinate data of the slag flushing pool material surface;

[0009] Determining slag flushing pool point cloud data according to the three-dimensional coordinate data;

[0010] Determine the slag grabbing range based on the slag flushing pool point cloud data; the slag grabbing range is used to describe the range covered by the vertical projection points on both sides of the grab on the material surface when the grab is suspended horizontally and the center of the grab is vertically aligned with the highest point of the slag material surface;

[0011] Within the slag grabbing range, based on the point cloud data of the slag flushing pool, the coordinates of the landing points of both sides of the grab bucket on the slag pile when the grab bucket is lowered are simulated and calculated;

[0012] When the angle between the line connecting the coordinates of the landing point and the horizontal line is less than a preset value, a notification message is issued indicating that there is no risk of the grab bucket tipping over within the slag grabbing range and that slag grabbing operations can be performed within the slag grabbing range.

[0013] The embodiment of the present invention further provides a device for preventing the grab bucket from tipping over in a slag flushing pool, which is used to accurately calculate the reasonable grabbing position, reduce the risk of the grab bucket tipping, improve the grabbing efficiency of the slag flushing pool grab bucket, reduce the energy consumption of the slag flushing pool grab bucket, reduce the loss of the slag flushing pool grab bucket equipment, and improve the safe operation coefficient of the slag flushing pool grab bucket equipment. The device includes:

[0014] Laser scanning module, used to perform laser scanning on the slag flushing pool and calculate the three-dimensional coordinate data of the slag flushing pool material surface;

[0015] A slag flushing pool point cloud data determination module, used to determine the slag flushing pool point cloud data according to the three-dimensional coordinate data;

[0016] A slag grabbing range determination module is used to determine the slag grabbing range based on the slag flushing pool point cloud data; the slag grabbing range is used to describe the range covered by the vertical projection points on both sides of the grab on the material surface after the grab is suspended horizontally and the center of the grab is vertically aligned with the highest point of the slag material surface;

[0017] A landing point coordinate simulation calculation module is used to simulate and calculate the coordinates of the landing points of both sides of the grab bucket on the slag pile when the grab bucket is lowered within the slag grab range based on the point cloud data of the slag flushing pool;

[0018] The notification module is used to issue a notification message when the angle between the line connecting the coordinates of the landing point and the horizontal line is less than a preset value, indicating that there is no risk of the grab bucket tipping over within the slag grabbing range and that slag grabbing operations can be carried out within the slag grabbing range.

[0019] An embodiment of the present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method for preventing the grab bucket of a slag flushing pool from tipping over is implemented.

[0020] An embodiment of the present invention further provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the method for preventing the grab bucket of a slag flushing pool from tipping over is implemented.

[0021] An embodiment of the present invention further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the method for preventing the grab bucket of a slag flushing pool from tipping over is implemented.

[0022] In an embodiment of the present invention, a laser scan is performed on the slag flushing pool to calculate the three-dimensional coordinate data of the slag flushing pool material surface; the slag flushing pool point cloud data is determined based on the three-dimensional coordinate data; the slag grabbing range is determined based on the slag flushing pool point cloud data; the slag grabbing range is used to describe the range covered by the vertical projection points of the grab on both sides of the grab on the material surface after the grab is horizontally suspended and the center of the grab vertically corresponds to the highest point of the slag material surface; within the slag grabbing range, the coordinates of the landing points of the grab on both sides of the grab on the slag pile when the grab is lowered are simulated and calculated based on the slag flushing pool point cloud data; when the angle between the line connecting the coordinates of the landing points and the horizontal line is less than a preset value, a notification message is issued that there is no risk of tipping over of the grab operating within the slag grabbing range and that slag grabbing operations can be performed within the slag grabbing range, which is different from the prior art in that the grab material surface detection system only Compared with the technical solution of calculating the overall characteristics of the slag pile, the laser scanning of the slag material surface in the slag flushing pool is performed to determine the point cloud data of the slag flushing pool, determine the slag grabbing range, and calculate the coordinates of the landing point. Only when the angle between the line connecting the coordinates of the landing point and the horizontal line is less than a preset value, it is determined that the slag grabbing operation can be carried out. The quantitative calculation of whether the grab bucket operating within the slag grabbing range has the risk of tipping over is realized, and the accurate calculation of the reasonable slag grabbing position is realized, which can further make the overhead crane slag grabbing working mode more reasonable, reduce the risk of grab bucket tipping over, and solve the problem that the grab bucket is prone to tipping over because the material surface detection system only calculates the overall characteristics under the existing technology, thereby improving the slag grabbing efficiency of the slag flushing pool grab bucket, reducing the energy consumption of the slag flushing pool grab bucket, reducing the loss of the slag flushing pool grab bucket equipment, and improving the safe operation coefficient of the slag flushing pool grab bucket equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0024] Figure 1 A schematic diagram of slag grabbing using the highest point method under a prior art in an embodiment of the present invention;

[0025] Figure 2 A schematic diagram of a grab bucket in the prior art tipping over in an embodiment of the present invention;

[0026] Figure 3 This is a specific example diagram of a device for preventing a grab bucket from tipping over in a slag flushing pool according to an embodiment of the present invention;

[0027] Figure 4 This is a specific example diagram of a device for preventing a grab bucket from tipping over in a slag flushing pool according to an embodiment of the present invention;

[0028] Figure 5 This is a specific example diagram of a device for preventing a grab bucket from tipping over in a slag flushing pool according to an embodiment of the present invention;

[0029] Figure 6 This is an installation diagram of a device for preventing a grab bucket from tipping over in a slag flushing pool according to an embodiment of the present invention;

[0030] Figure 7 This is an example diagram of the working process of a device for preventing a grab bucket from tipping over in a slag flushing pool according to an embodiment of the present invention;

[0031] Figure 8 This is a specific example diagram of a device for preventing a grab bucket from tipping over in a slag flushing pool according to an embodiment of the present invention;

[0032] Figure 9 This is a specific example diagram of a device for preventing a grab bucket from tipping over in a slag flushing pool according to an embodiment of the present invention;

[0033] Figure 10 Schematic diagram of a computer device for preventing a grab bucket from tipping over in a slag flushing pool according to an embodiment of the present invention;

[0034] Figure 11 This is a specific example diagram of a device for preventing a grab bucket from tipping over in a slag flushing pool according to an embodiment of the present invention;

[0035] Figure 12 This is a specific example diagram of a device for preventing a grab bucket from tipping over in a slag flushing pool according to an embodiment of the present invention;

[0036] Figure 13 Schematic diagram of a flow chart of a method for preventing a grab bucket from tipping over in a slag flushing pool according to an embodiment of the present invention;

[0037] Figure 14 This is a structural example diagram of a device for preventing a grab bucket from tipping over in a slag flushing pool according to an embodiment of the present invention. DETAILED DESCRIPTION

[0038] To make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the embodiments of the present invention are further described in detail below with reference to the accompanying drawings. Here, the exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0039] The term "and / or" herein simply describes an association relationship, indicating that three relationships can exist. For example, A and / or B can represent the existence of A alone, the simultaneous existence of A and B, and the existence of B alone. In addition, the term "at least one" herein refers to any combination of at least two of any one or more of a plurality of items. For example, "at least one of A, B, and C" can represent any one or more elements selected from the set consisting of A, B, and C.

[0040] In the description of this specification, the terms "include", "including", "have", "contain", etc. are all open terms, which mean including but not limited to. The descriptions with reference to the terms "one embodiment", "a specific embodiment", "some embodiments", "for example", etc. mean that the specific features, structures or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. The order of steps involved in each embodiment is used to schematically illustrate the implementation of the present application, and the order of steps therein is not limited and can be appropriately adjusted as needed.

[0041] The acquisition, storage, use, and processing of data in this application's technical solution comply with relevant national laws and regulations.

[0042] The embodiments of the present invention involve the following terms, which are explained as follows:

[0043] Point cloud: A data set of point surfaces on an object obtained by a measuring instrument is called a point cloud.

[0044] TOF: A method that continuously sends light pulses to a target, receives the light pulses returned from the object, and measures the flight (round-trip) time of the light pulses to obtain the distance to the target.

[0045] The slag flushing pool is a bucket-shaped concrete structure with a larger top and smaller bottom, used to collect blast furnace slag. In the metallurgical industry, blast furnace smelting produces a large amount of slag. After being granulated by high-speed water quenching, the slag enters the slag flushing pool. When a large amount of slag settles at the bottom of the pool, it can easily lead to poor water permeability, affecting the operation of related pumps and even disrupting normal blast furnace production. At the same time, the slag after water quenching is a high-quality cement raw material. Therefore, in actual production, the slag needs to be continuously removed from the slag flushing pool. The overhead crane is one of the most important slag removal equipment.

[0046] Traditional overhead crane systems mainly use manned overhead cranes. When the blast furnace slags out too quickly, some molten iron enters the slag flushing pool and meets water. The molten iron and high-temperature slag are extremely hot, decomposing the water into hydrogen and oxygen. If the hydrogen and oxygen mix and encounter a suitable environment, they are very likely to explode, posing a threat to the life safety of the overhead crane operator. In addition, manual operation often leads to poor visibility and work fatigue, resulting in a high equipment failure rate. At the same time, water vapor contains sulfides, which are very harmful to the human body, making the recruitment of skilled overhead crane operators increasingly difficult.

[0047] As a result, more and more slag flushing pool overhead crane systems are being upgraded to unmanned overhead crane systems. Because the slag flushing pool's slag grabbing position is not fixed and the material surface is complex, more advanced unmanned overhead crane systems require a slag flushing pool surface detection system to monitor the distribution of slag, allowing them to operate in areas with high slag concentrations.

[0048] The inventors discovered that currently, unmanned overhead crane systems typically utilize a material surface detection system and a highest point method to determine the grab position during normal slag grabbing. However, existing material surface detection systems only calculate overall characteristics, which can cause the grab bucket to tip over with certain material types. This can prevent the grab bucket from fully grabbing, affecting work efficiency and increasing energy consumption. In severe cases, it can even cause the grab bucket's wire rope to become unstuck, increasing equipment wear and tear and raising safety risks.

[0049] The following is a detailed description of the existing unmanned overhead crane system that uses the material surface detection system and the highest point method to determine the slag grabbing position:

[0050] When the unmanned overhead crane system receives a work instruction, the highest point method will first conduct an overall inspection of the slag pool surface, obtain three-dimensional information of the slag pile surface, calculate the coordinates of the highest point of the slag pile, and then move the center of the grab bucket to the position above the highest point of the slag pile. The grab bucket will be opened to the maximum state to grab the slag, and finally remove the slag to the outside of the slag pool. If it is necessary to continue working, the overall inspection of the slag pool surface will be carried out again, and the above operations will be repeated until the stop work instruction is received. Schematic diagram of slag grabbing using the highest point method, as shown in the figure below. Figure 1 shown.

[0051] The following is a detailed description of the problems existing in the existing unmanned overhead crane system that uses a material surface detection system and the highest point method to determine the slag grabbing position:

[0052] Most slag grabs are shell-shaped grabs, which are composed of two bucket-shaped jaws that can be opened and closed. The highest point method does not perform feature detection on the local data around the highest point when calculating the slag grab position. When the slag around the highest point meets certain conditions, it is very easy to cause the grab to fall in the direction where the grab can be opened and closed, such as Figure 2 shown.

[0053] When the grab bucket tips over, it cannot fully grasp the slag, and the work that could have been completed in one time needs to be completed multiple times, which reduces work efficiency and increases energy consumption. When the tipping is serious, it may cause the grab bucket wire rope to fall out of the groove, increase the degree of equipment loss and increase safety hazards.

[0054] In order to solve the above problems, the embodiment of the present invention provides a method for preventing the grab bucket from tipping over in a slag flushing pool, which is used to accurately calculate the reasonable grabbing position, reduce the risk of grab bucket tipping, improve the grabbing efficiency of the slag flushing pool grab bucket, reduce the energy consumption of the slag flushing pool grab bucket, reduce the loss of the slag flushing pool grab bucket equipment, and improve the safe operation coefficient of the slag flushing pool grab bucket equipment. Figure 13 , the method may include:

[0055] Step 1301: performing laser scanning on the slag flushing pool to calculate the three-dimensional coordinate data of the slag flushing pool material surface;

[0056] Step 1302: Determine the slag flushing pool point cloud data based on the above three-dimensional coordinate data;

[0057] Step 1303: Determine the slag grabbing range based on the slag flushing pool point cloud data. The slag grabbing range is used to describe the range covered by the vertical projection points on both sides of the grab on the material surface when the grab is suspended horizontally and the center of the grab is vertically aligned with the highest point of the slag material surface.

[0058] Step 1304: Within the slag grabbing range, based on the slag flushing pool point cloud data, simulate and calculate the coordinates of the landing points of both sides of the grab bucket on the slag pile when the grab bucket is lowered;

[0059] Step 1305: When the angle between the line connecting the coordinates of the above-mentioned landing point and the horizontal line is less than a preset value, a notification message is issued indicating that there is no risk of the grab bucket tipping over within the above-mentioned slag grabbing range and that slag grabbing operations can be performed within the slag grabbing range.

[0060] In an embodiment of the present invention, a laser scan is performed on the slag flushing pool to calculate the three-dimensional coordinate data of the slag flushing pool material surface; the slag flushing pool point cloud data is determined based on the above three-dimensional coordinate data; the slag grabbing range is determined based on the above slag flushing pool point cloud data; the above slag grabbing range is used to describe the range covered by the vertical projection points of the grab on both sides of the grab on the material surface after the grab is horizontally suspended and the center of the grab vertically corresponds to the highest point of the slag material surface; within the above slag grabbing range, the coordinates of the landing points of the grab on both sides of the grab on the slag pile when the grab is lowered are simulated and calculated based on the above slag flushing pool point cloud data; when the angle between the line connecting the coordinates of the above landing points and the horizontal line is less than a preset value, a notification message is issued that there is no risk of tipping over of the grab operating within the above slag grabbing range and that slag grabbing operations can be performed within the slag grabbing range, which is different from the prior art in that the grab material surface detection system only Compared with the technical solution of calculating the overall characteristics of the slag pile, the laser scanning of the slag material surface in the slag flushing pool is performed to determine the point cloud data of the slag flushing pool, determine the slag grabbing range, and calculate the coordinates of the landing point. Only when the angle between the line connecting the coordinates of the above landing points and the horizontal line is less than the preset value, it is determined that the slag grabbing operation can be carried out. The quantitative calculation of whether the grab bucket operating within the slag grabbing range has the risk of tipping over is realized, and the accurate calculation of the reasonable slag grabbing position is realized, which can further make the overhead crane slag grabbing working mode more reasonable, reduce the risk of grab bucket tipping over, and solve the problem that the grab bucket is prone to tipping over because the material surface detection system only calculates the overall characteristics under the existing technology, thereby improving the slag grabbing efficiency of the slag flushing pool grab bucket, reducing the energy consumption of the slag flushing pool grab bucket, reducing the loss of the slag flushing pool grab bucket equipment, and improving the safe operation coefficient of the slag flushing pool grab bucket equipment.

[0061] During specific implementation, the slag flushing pool is firstly laser scanned to calculate the three-dimensional coordinate data of the slag flushing pool material surface.

[0062] In one embodiment, scanning the slag flushing pool and calculating the three-dimensional coordinate data of the slag flushing pool material surface includes:

[0063] Based on the TOF principle, the slag flushing pool is scanned to obtain the three-dimensional polar coordinate data of the slag material surface in the slag flushing pool;

[0064] The three-dimensional polar coordinate data are subjected to coordinate transformation processing to obtain the three-dimensional coordinate data of the slag flushing pool material surface in the world coordinate system.

[0065] In one embodiment, the slag pool can be scanned to obtain point cloud data of the slag surface; three-dimensional data can be obtained by combining a laser radar with a turntable.

[0066] When working, the laser radar can continuously obtain two-dimensional data of the scanned section. It is fixed on the shaft connection of the turntable. The controller controls the rotation of the turntable. The laser radar moves with the turntable and obtains data of objects within the scanning range at all times, thereby realizing the acquisition of three-dimensional data of the slag material surface.

[0067] LiDAR can obtain polar coordinate data of the measured object based on the TOF principle, and then convert the polar coordinate data into the world coordinate system according to the following formula:

[0068] x=dsinα

[0069] y=cosαcosβ

[0070] z=cosαsinβ

[0071] Where x is the x-direction value in the world coordinate system; y is the y-direction value in the world coordinate system; z is the z-direction value in the world coordinate system; d is the distance value measured by the lidar according to the TOF method; α is the angle between the single-pulse laser and the plane formed by the lidar vertical ground scanning; β is the angle between the projection of the plane formed by the single-pulse laser onto the lidar vertical ground scanning and the horizontal plane.

[0072] In the above embodiment, various parameters of the turntable and lidar can be set during use to control 3D data density, scanning range, and scanning time. The scanned data can be stored in the data acquisition device. When another device requests access, the currently stored data can be sent via the communication device and the register cleared.

[0073] During specific implementation, after laser scanning is performed on the slag flushing pool and the three-dimensional coordinate data of the material surface of the slag flushing pool is calculated, the point cloud data of the slag flushing pool is determined based on the above three-dimensional coordinate data.

[0074] In one embodiment, determining the slag flushing pool point cloud data based on the above three-dimensional coordinate data includes:

[0075] The three-dimensional coordinate data are subjected to point cloud data formatting, point cloud data calibration, point cloud data cutting and point cloud data filtering to obtain the slag flushing pool point cloud data.

[0076] In one embodiment, the collected three-dimensional data may be subjected to point cloud data formatting, point cloud data calibration, point cloud data cutting, and point cloud data filtering.

[0077] First, when formatting point cloud data, the data processing module that performs point cloud data formatting can send a scanning data request to obtain the above-mentioned three-dimensional data, and then generate a standard point cloud data message header based on the three-dimensional data information, and then add the scanning information according to the scanning order to form a complete point cloud data, thereby completing the point cloud formatting of the data.

[0078] Secondly, when calibrating point cloud data, you can first select the feature point of the slag pool and detect its coordinates, then move the grab to the feature point to read the overhead crane coordinates, and finally achieve data calibration by performing translation and rotation transformations on the point cloud data to make it coincide with the overhead crane coordinates.

[0079] Third, point cloud data cutting is to select a reasonable data range based on the characteristics of the slag flushing pool and the operating range of the overhead crane system, and remove invalid data to optimize the display and improve the calculation speed.

[0080] Fourth, point cloud data filtering uses data statistical algorithms to remove discrete points. First, the average and standard deviation of the distances between all points in the specified neighborhood of any point are calculated, and the standard deviation multiple is set as the threshold. If the point distance is greater than the set threshold, it is a discrete point. The discrete points are deleted to achieve filtering to reduce noise interference.

[0081] During specific implementation, after determining the point cloud data of the slag flushing pool based on the above-mentioned three-dimensional coordinate data, the slag grabbing range is determined based on the above-mentioned point cloud data of the slag flushing pool; the above-mentioned slag grabbing range is used to describe the range covered by the vertical projection points on both sides of the grab on the material surface after the grab is hung horizontally and the center of the grab vertically corresponds to the highest point of the slag material surface.

[0082] In one embodiment, determining the slag grabbing range based on the above-mentioned slag flushing pool point cloud data includes:

[0083] According to the above-mentioned slag flushing pool point cloud data, the extreme point coordinates of the point cloud data are determined;

[0084] The slag grabbing range is determined based on the extreme point coordinates of the above point cloud data, the edge position information of the slag flushing pool, and the size of the grab when it is fully opened.

[0085] In one embodiment, based on the above-mentioned slag flushing pool point cloud data, calculating the extreme point coordinates of the point cloud data includes:

[0086] According to the above-mentioned point cloud data of the slag flushing pool, a rectangular coordinate system is established with the bottom boundary of one side of the slag flushing pool as the origin;

[0087] In the above rectangular coordinate system, determine the coordinates of the vertical projection point of the grab center on the slag material surface, the coordinates of the highest point of the slag material surface, and the coordinates of the vertical points on both sides of the corresponding material surface after the grab is opened.

[0088] In the above embodiment, laser scanning is performed on the slag material surface of the slag pool, the material surface is modeled using a three-dimensional object recognition algorithm, the highest point of the slag pile is identified, and the characteristics of the highest point and the surrounding slag pile are extracted to calculate a reasonable slag grabbing position, making the overhead crane slag grabbing working mode more reasonable, thereby improving efficiency, reducing energy consumption, reducing equipment loss and improving the equipment safety operation factor.

[0089] In specific implementation, after determining the slag grabbing range based on the above-mentioned slag flushing pool point cloud data, within the above-mentioned slag grabbing range, the coordinates of the landing points on both sides of the grab bucket on the slag pile when the grab bucket is lowered are simulated and calculated based on the above-mentioned slag flushing pool point cloud data.

[0090] In one embodiment, within the slag grabbing range, based on the point cloud data of the slag flushing pool, the coordinates of the landing points of both sides of the grab bucket on the slag pile when the grab bucket is lowered are simulated and calculated, including:

[0091] Using a three-dimensional object recognition algorithm, the slag surface is modeled and the curve function of the slag surface is obtained;

[0092] Within the above-mentioned slag grabbing range, combined with the coordinates of the vertical projection point of the grab bucket center on the slag material surface and the opening width of the grab bucket, the coordinates of the first landing point and the second landing point on both sides of the grab bucket on the slag pile when the grab bucket is lowered are simulated and calculated according to the curve function of the slag material surface; the above-mentioned first landing point is used to describe the position point where the grab bucket first contacts the slag pile during the simulated lowering process of the grab bucket; the above-mentioned second landing point is used to describe the position point where the grab bucket contacts the slag pile on the other side of the grab bucket corresponding to the first landing point.

[0093] In one embodiment, the coordinates of the first landing points of the grab bucket on both sides of the slag pile when the grab bucket is lowered are simulated and calculated according to the following formula:

[0094]

[0095] Y left =f(X left )

[0096] Among them, (X left , Y left ) is the coordinate of the first landing point; Y=f(X) is the curve function of the material surface; L crab is the maximum value of the grab bucket opening width; X crab P is the vertical projection point of the grab center on the material surface crab (X crab , Y crab )’s horizontal axis.

[0097] In one embodiment, the coordinates of the second landing points of the grab bucket on both sides of the slag pile when the grab bucket is lowered are simulated and calculated according to the following formula:

[0098]

[0099] Y right =f(X right )

[0100] Among them, (X right , Y right ) is the coordinate of the second landing point; (X left , Y left ) is the coordinate of the first landing point; Y=f(X) is the curve function of the material surface; L crab It is the maximum value of the grab bucket's opening width.

[0101] During specific implementation, within the above-mentioned slag grabbing range, based on the above-mentioned slag flushing pool point cloud data, after simulating and calculating the coordinates of the landing points on both sides of the grab bucket on the slag pile when the grab bucket is lowered, when the angle between the line connecting the coordinates of the above-mentioned landing points and the horizontal line is less than a preset value, a notification message is issued that there is no risk of tipping over of the grab bucket operating within the above-mentioned slag grabbing range and that slag grabbing operations can be carried out within the slag grabbing range.

[0102] In one embodiment, it further includes:

[0103] When the following formula holds true, the angle between the line connecting the coordinates of the above-mentioned landing point and the horizontal line is determined to be less than a preset value:

[0104]

[0105] Among them, Y right The second landing point (X right , Y right )’s horizontal coordinate; X crab P is the vertical projection point of the grab center on the material surface crab (X crab , Y crab )’s horizontal axis; L crab H is the maximum value of the grab bucket’s opening width; crab is the maximum value of the grab height of the grab bucket; Y=f(X) is the curve function of the material surface.

[0106] In one embodiment, it further includes:

[0107] When the angle between the line connecting the coordinates of the above-mentioned landing point and the horizontal line is greater than or equal to a preset value, an alarm message is issued to move the center position of the grab bucket in the direction of grab opening and the direction that reduces the above-mentioned angle until the above-mentioned angle is less than the preset value.

[0108] In the above embodiment, by sending a notification message that there is no risk of tipping over of the grab bucket when operating within the above-mentioned slag grabbing range and that slag grabbing operations can be performed within the slag grabbing range when the angle between the line connecting the coordinates of the above-mentioned landing point and the horizontal line is less than a preset value, the overall feature detection and local feature detection of the slag pile can be realized; wherein, the overall feature detection is used to calculate the highest point of the slag pile after pretreatment, and the local feature detection is used to determine whether operations at the highest point of the slag pile will cause the grab bucket to tilt.

[0109] The overall feature detection first calculates the extreme points of the preprocessed point cloud data, and then determines the reasonable point slag grabbing range based on the extreme point information, the edge position information of the slag flushing pool, and the size of the grab when it is fully opened.

[0110] The local feature detection can determine the angle between the line formed by the contact position between the grab bucket and the slag pile when the grab bucket is fully opened and the horizontal direction within the slag grabbing range, such as Figure 4As shown in a. When the angle is less than the set value, it is considered that there is no risk of the grab bucket tipping over, and slag grabbing operations can be carried out. When the angle is greater than the set value, it is considered that there is a risk of the grab bucket tipping over, and slag grabbing operations cannot be carried out at this position.

[0111] In an embodiment of the present invention, a laser scan is performed on the slag flushing pool to calculate the three-dimensional coordinate data of the slag flushing pool material surface; the slag flushing pool point cloud data is determined based on the above three-dimensional coordinate data; the slag grabbing range is determined based on the above slag flushing pool point cloud data; the above slag grabbing range is used to describe the range covered by the vertical projection points of the grab on both sides of the grab on the material surface after the grab is horizontally suspended and the center of the grab vertically corresponds to the highest point of the slag material surface; within the above slag grabbing range, the coordinates of the landing points of the grab on both sides of the grab on the slag pile when the grab is lowered are simulated and calculated based on the above slag flushing pool point cloud data; when the angle between the line connecting the coordinates of the above landing points and the horizontal line is less than a preset value, a notification message is issued that there is no risk of tipping over of the grab operating within the above slag grabbing range and that slag grabbing operations can be performed within the slag grabbing range, which is different from the prior art in that the grab material surface detection system only Compared with the technical solution of calculating the overall characteristics of the slag pile, the laser scanning of the slag material surface in the slag flushing pool is performed to determine the point cloud data of the slag flushing pool, determine the slag grabbing range, and calculate the coordinates of the landing point. Only when the angle between the line connecting the coordinates of the above landing points and the horizontal line is less than the preset value, it is determined that the slag grabbing operation can be carried out. The quantitative calculation of whether the grab bucket operating within the slag grabbing range has the risk of tipping over is realized, and the accurate calculation of the reasonable slag grabbing position is realized, which can further make the overhead crane slag grabbing working mode more reasonable, reduce the risk of grab bucket tipping over, and solve the problem that the grab bucket is prone to tipping over because the material surface detection system only calculates the overall characteristics under the existing technology, thereby improving the slag grabbing efficiency of the slag flushing pool grab bucket, reducing the energy consumption of the slag flushing pool grab bucket, reducing the loss of the slag flushing pool grab bucket equipment, and improving the safe operation coefficient of the slag flushing pool grab bucket equipment.

[0112] As mentioned above, the embodiments of the present invention can overcome the defects of the prior art and provide a method for preventing the grab bucket of a slag flushing pool from tipping over, so as to solve the problems of low work efficiency, high energy consumption, large equipment loss and safety hazards in the prior art. In response to the defects of the prior art, the present invention performs laser scanning on the slag material surface of the slag flushing pool, models the material surface using a three-dimensional object recognition algorithm, identifies the position of the highest point of the slag pile, extracts the characteristics of the highest point and the surrounding slag pile, calculates a reasonable slag grabbing position, and makes the overhead crane slag grabbing work mode more reasonable, thereby improving efficiency, reducing energy consumption, reducing equipment loss and improving the equipment safety operation factor.

[0113] The present invention also provides a device for preventing the grab bucket of a slag flushing pool from tipping over, as described in the following embodiment. Since the principle of the device for solving the problem is similar to the method for preventing the grab bucket of a slag flushing pool from tipping over, the implementation of the device can refer to the implementation of the method for preventing the grab bucket of a slag flushing pool from tipping over, and the repeated parts will not be repeated.

[0114] The embodiment of the present invention also provides a device for preventing the grab bucket from tipping over in a slag flushing pool, which is used to accurately calculate the reasonable grabbing position, reduce the risk of grab bucket tipping, improve the grabbing efficiency of the slag flushing pool grab bucket, reduce the energy consumption of the slag flushing pool grab bucket, reduce the loss of the slag flushing pool grab bucket equipment, and improve the safe operation coefficient of the slag flushing pool grab bucket equipment. Figure 14 As shown, the device includes:

[0115] The laser scanning module 1401 is used to perform laser scanning on the slag flushing pool and calculate the three-dimensional coordinate data of the slag flushing pool material surface;

[0116] The slag flushing pool point cloud data determination module 1402 is used to determine the slag flushing pool point cloud data based on the above three-dimensional coordinate data;

[0117] The slag grabbing range determination module 1403 is used to determine the slag grabbing range based on the slag flushing pool point cloud data. The slag grabbing range is used to describe the range covered by the vertical projection points of the grab on both sides of the grab on the material surface when the grab is suspended horizontally and the center of the grab is vertically aligned with the highest point of the slag material surface.

[0118] The landing point coordinate simulation calculation module 1404 is used to simulate and calculate the coordinates of the landing points of both sides of the grab bucket on the slag pile when the grab bucket is lowered within the above-mentioned slag grabbing range based on the above-mentioned slag flushing pool point cloud data;

[0119] Notification module 1405 is used to issue a notification message when the angle between the line connecting the coordinates of the above-mentioned landing point and the horizontal line is less than a preset value, indicating that there is no risk of the grab bucket tipping over within the above-mentioned slag grabbing range and that slag grabbing operations can be performed within the slag grabbing range.

[0120] In one embodiment, the laser scanning module is specifically configured to:

[0121] Based on the TOF principle, the slag flushing pool is scanned to obtain the three-dimensional polar coordinate data of the slag material surface in the slag flushing pool;

[0122] The three-dimensional polar coordinate data are subjected to coordinate transformation processing to obtain the three-dimensional coordinate data of the slag flushing pool material surface in the world coordinate system.

[0123] In one embodiment, the slag flushing pool point cloud data determination module is specifically used to:

[0124] The three-dimensional coordinate data are subjected to point cloud data formatting, point cloud data calibration, point cloud data cutting and point cloud data filtering to obtain the slag flushing pool point cloud data.

[0125] In one embodiment, the slag grabbing range determination module is specifically configured to:

[0126] According to the above-mentioned slag flushing pool point cloud data, the extreme point coordinates of the point cloud data are determined;

[0127] The slag grabbing range is determined based on the extreme point coordinates of the above point cloud data, the edge position information of the slag flushing pool, and the size of the grab when it is fully opened.

[0128] In one embodiment, the slag grabbing range determination module is specifically configured to:

[0129] According to the above-mentioned point cloud data of the slag flushing pool, a rectangular coordinate system is established with the bottom boundary of one side of the slag flushing pool as the origin;

[0130] In the above rectangular coordinate system, determine the coordinates of the vertical projection point of the grab center on the slag material surface, the coordinates of the highest point of the slag material surface, and the coordinates of the vertical points on both sides of the corresponding material surface after the grab is opened.

[0131] In one embodiment, the landing point coordinate simulation calculation module is specifically used to:

[0132] Using a three-dimensional object recognition algorithm, the slag surface is modeled and the curve function of the slag surface is obtained;

[0133] Within the above-mentioned slag grabbing range, combined with the coordinates of the vertical projection point of the grab bucket center on the slag material surface and the opening width of the grab bucket, the coordinates of the first landing point and the second landing point on both sides of the grab bucket on the slag pile when the grab bucket is lowered are simulated and calculated according to the curve function of the slag material surface; the above-mentioned first landing point is used to describe the position point where the grab bucket first contacts the slag pile during the simulated lowering process of the grab bucket; the above-mentioned second landing point is used to describe the position point where the grab bucket contacts the slag pile on the other side of the grab bucket corresponding to the first landing point.

[0134] In one embodiment, the landing point coordinate simulation calculation module is specifically used to:

[0135] The coordinates of the first landing points of both sides of the grab bucket on the slag heap when the grab bucket is lowered are simulated and calculated using the following formula:

[0136]

[0137] Y left =f(X left )

[0138] Among them, (X left , Y left ) is the coordinate of the first landing point; Y=f(X) is the curve function of the material surface; L crab is the maximum value of the grab bucket opening width; X crab P is the vertical projection point of the grab center on the material surface crab (X crab , Y crab )’s horizontal axis.

[0139] In one embodiment, the landing point coordinate simulation calculation module is specifically used to:

[0140] The coordinates of the second landing points on both sides of the grab on the slag heap when the grab is lowered are simulated and calculated using the following formula:

[0141]

[0142] Y right =f(X right )

[0143] Among them, (X right , Y right ) is the coordinate of the second landing point; (X left , Y left ) is the coordinate of the first landing point; Y=f(X) is the curve function of the material surface; L crab It is the maximum value of the grab bucket's opening width.

[0144] In one embodiment, it further includes:

[0145] Angle judgment module, used for:

[0146] When the following formula holds true, the angle between the line connecting the coordinates of the above-mentioned landing point and the horizontal line is determined to be less than a preset value:

[0147]

[0148] Among them, Y right The second landing point (X right , Y right )’s horizontal coordinate; X crab P is the vertical projection point of the grab center on the material surface crab (X crab , Y vrab )’s horizontal axis; L crab H is the maximum value of the grab bucket’s opening width; crab is the maximum value of the grab height of the grab bucket; Y=f(X) is the curve function of the material surface.

[0149] In one embodiment, it further includes:

[0150] Alarm module, used for:

[0151] When the angle between the line connecting the coordinates of the above-mentioned landing point and the horizontal line is greater than or equal to a preset value, an alarm message is issued to move the center position of the grab bucket in the direction of grab opening and the direction that reduces the above-mentioned angle until the above-mentioned angle is less than the preset value.

[0152] A specific embodiment is given below to illustrate the specific application of the device of the present invention. In this embodiment, the following modules may be included:

[0153] Data acquisition module, communication module, data processing module, visualization module, wherein the data processing module includes data preprocessing module and algorithm module. The overall structure diagram of this example is as follows Figure 3 shown.

[0154] The following is a detailed description of each module in the example:

[0155] 1. Data acquisition module

[0156] The data acquisition module scans the slag pool to acquire point cloud data of the slag surface. Three-dimensional data is acquired through the combined operation of a LiDAR (Lidar) and a turntable. The LiDAR continuously acquires two-dimensional data of the scanned section. The LiDAR is fixed to the turntable's shaft connector. A controller controls the turntable's rotation, and the LiDAR moves with the turntable, continuously acquiring data on objects within the scanning range, thereby acquiring three-dimensional data of the slag surface. The LiDAR uses the Time of Flight (TOF) principle to obtain polar coordinate data for the measured object and then converts this polar coordinate data into a world coordinate system using the following formula.

[0157] During use, the parameters of the turntable and laser radar can be set to achieve control of 3D data density, scanning range, and scanning time. The scanned data is stored in the data acquisition module. When other modules request to use it, the currently saved data is sent through the communication module and the register is cleared.

[0158] 2. Communication module

[0159] The communication module is used for communication between the data processing module and the data acquisition module, and between the data processing module and the unmanned overhead crane system. The data processing module sends scanning commands to trigger the data acquisition module and reads data commands to obtain the 3D data in the data acquisition module. The data processing module then sends the calculated slag grabbing position to the unmanned overhead crane system.

[0160] 3. Data processing module, including data preprocessing module and algorithm module.

[0161] 3.1. Data preprocessing module, used to perform point cloud data formatting, point cloud data calibration, point cloud data cutting, and point cloud data filtering on the collected 3D data.

[0162] When formatting point cloud data, the data processing module sends a scan data request, obtaining three-dimensional data from the data acquisition module. A standard point cloud data header is generated based on the three-dimensional data information, and the scan information is then added according to the scanning order to form the complete point cloud data, completing the point cloud formatting. Point cloud data calibration first selects a characteristic point in the slag flushing pool and detects its coordinates. The grab is then moved to the characteristic point to read the overhead crane coordinates. Finally, data calibration is achieved by transforming the point cloud data by translation and rotation to align it with the overhead crane coordinates. Point cloud data cutting selects a reasonable data range based on the characteristics of the slag flushing pool and the operating range of the overhead crane system, removing invalid data to optimize display and increase calculation speed. Point cloud data filtering utilizes a statistical algorithm to remove discrete points. First, the mean and standard deviation of the distances between all points within a specified neighborhood of any point are calculated. A threshold is set as a multiple of the standard deviation. Points with a distance greater than the set threshold are considered discrete points, and filtering is performed by removing these discrete points to reduce noise interference.

[0163] The following describes the inventor's reasoning behind the judgment condition that, when the angle between the line connecting the coordinates of the landing point and the horizontal line is less than a preset value, a notification message is issued indicating that there is no risk of the grab bucket tipping over within the slag grabbing range and that slag grabbing operations can be performed within the slag grabbing range:

[0164] like Figure 8 As shown, the maximum opening width of the grab is Lcrab, and the maximum height that the grab can grab is Hcrab, forming an equivalent rectangle. The theoretical maximum tilt angle of the grab itself is In actual work, it cannot be greater than 10% of the angle, that is,

[0165] A rectangular coordinate system is established with the lower left corner of the slag flushing pool as the origin. The vertical projection of the grab center on the material surface is Pcrab, with coordinates (Xcrab, Ycrab); the highest point of the slag surface is Ptop, with corresponding coordinates (Xtop, Ytop). Based on the data from the point cloud scan, a curve function Y = f(X) can be established for the material surface.

[0166] When the grab grabs the highest point of the material surface, the center of the grab and the highest point of the slag material surface are on the same vertical plane. After the grab is opened, the vertical point on the left side corresponding to the material surface is Pleft, with coordinates (Xleft, Yleft); the vertical point on the right side corresponding to the material surface is Pright, with coordinates (Xright, Yright). In this example, the left side material surface is higher than the right side material surface, but it is not limited to this case. Relevant technicians can convert it by themselves. For details, please refer to Figure 9 .

[0167] like Figure 9As shown, based on the coordinates of the three points Pleft, Pright, and Ptop and the grab width Lcrab and height Hcrab, the following relationship can be obtained:

[0168] Lcrab=Xleft–Xright

[0169] Calculate the maximum thickness of the three points Pleft, Pright, and Ptop on the material surface, that is, the maximum absolute value of Ytop-Yleft and Ytop-Yright, recorded as Yh.

[0170] When the grab bucket depth Hcrab is greater than Yh, it means that the grab bucket can accommodate the maximum thickness of the grab material and can complete the grabbing work.

[0171] like Figure 11 As shown in the figure, since the points Pleft and Pright are no longer on the same horizontal plane, when the grab moves downward to contact the material surface, the left side of the grab first contacts the point Pleft on the material surface. At this time, the grab is still in a balanced state and does not tilt left or right.

[0172] like Figure 11 As shown in the figure, the left side of the grab is in contact with the material surface and is in a balanced state. When the grab continues to descend, the left side of the grab receives the support force from the material surface, while the right side is in a suspended state, and the grab begins to tilt. Since the maximum width of the grab is a certain Lcrab, after the tilt occurs, the straight-line distance between the Pleft point and the Pright point is:

[0173]

[0174] And the straight line distance is greater than Lcrab, so the final contact point between the grab and the material surface is no longer Pright. Until the right side of the grab contacts the material surface Pright2, the coordinates are (Xright2, Yright2), as shown Figure 12 As shown:

[0175] At this time, the calculation formula of the grab bucket's inclination angle α is:

[0176]

[0177] When the tilt angle α is less than the maximum allowable tilt angle α′ msx When the tilt angle α is greater than the maximum allowable tilt angle α′, the grab can grab the slag material at this position; when the tilt angle α is greater than the maximum allowable tilt angle α′ msx When the grab bucket is in the position of Pleft, the grab bucket cannot grab the slag material at this position. It is necessary to move the grab bucket to the point with a higher Y coordinate among the two points Pleft and Pright, so as to reduce the actual working inclination angle.

[0178] When the grab bucket depth Hcrab is less than Yh, it means that the grab bucket can accommodate the maximum thickness of the grab material, and the grab bucket will definitely tilt. Grabbing must be prohibited and the grab bucket must be moved to another position for work.

[0179] In this example, the specific calculation process of simulating the coordinates of the landing points on both sides of the grab bucket on the slag pile when the grab bucket is lowered and determining whether the angle between the line connecting the coordinates of the landing points and the horizontal line is less than a preset value is as follows:

[0180] It is known that the vertical projection point of the grab center on the material surface is Pcrab, and the coordinates are (X crab , Y crab ), the curve function of the material surface is Y = f(X), the maximum opening width of the grab is Lcrab, and the maximum allowable inclination angle α′ max .

[0181] Coordinates of the landing point on the left side of the grab;

[0182]

[0183] Y left =f(X left )

[0184] According to the material surface function Y=f(X) and the maximum width of the grab bucket Lcrab, the coordinate equation of the landing point on the right side of the grab bucket is established:

[0185]

[0186] Y right =f(X right )

[0187] The coordinates of the right landing point of the grab can be obtained: (X right , Y right )

[0188] Since the tilt angle range is 0 to 90°, if the actual tilt angle α act Less than the maximum allowable tilt angle α′ max , then sin(α act ) is less than sin(α′ max ), and sin 2 (α act ) is less than sin 2 (α′ max ).

[0189]

[0190] According to the requirement of the maximum allowable tilt angle, the following inequality is established:

[0191]

[0192]

[0193]

[0194]

[0195] Y right <Y left -cos(α′ max )L crab

[0196] Get the final judgment:

[0197]

[0198] Because α max Less than 10°, but The above formula can be simplified as:

[0199]

[0200] 3.2. Algorithm module, mainly including overall feature detection and local feature detection. Overall feature detection is used to calculate the highest point of the slag pile after pretreatment, and local feature detection is used to determine whether the operation at the highest point of the slag pile will cause the grab bucket to tilt. Overall feature detection first calculates the extreme points of the preprocessed point cloud data, and then determines the reasonable point slag grab range based on the extreme point information, the edge position information of the slag flushing pool and the size of the grab bucket when it is fully opened. Local feature detection determines the angle formed by the connecting line formed by the contact position of the grab bucket with the slag pile when it is fully opened and the horizontal direction within the slag grab range, such as Figure 4 As shown in a. When the angle is less than the set value, it is considered that there is no risk of the grab bucket tipping over, and slag grabbing operations can be carried out. When the angle is greater than the set value, it is considered that there is a risk of the grab bucket tipping over, and slag grabbing operations cannot be carried out at this position.

[0201] If a dumping risk is detected, the size of the grabbing range remains unchanged, and the center of the grab is moved in the direction of grab opening and the direction of decreasing the angle. When the angle is less than the set value, the grabbing position is determined. Figure 5 shown.

[0202] 4. Visualization module

[0203] The visualization module is used to display a three-dimensional view of the slag pile and key information. The 3D view is updated after each scan, giving workers a more intuitive understanding of the slag pile's condition. The display of key system information facilitates monitoring of system operating status and facilitates timely diagnosis of any problems.

[0204] The following combination Figure 6 The specific implementation methods of the present invention are further described as follows:

[0205] like Figure 6 As shown, the data acquisition module must be installed above the slag flushing pool, and its scanning range must completely cover the pool. The data processing module, communication module, and visualization module are installed in an industrial computer, located in an appropriate area where the slag flushing pool can be observed. When the data acquisition module receives a work instruction, it uses a lidar and turntable to obtain three-dimensional information about objects within its scanning range. The communication module then transmits this data to the data processing module, which determines the appropriate slag grabbing position through overall and local feature detection. The results are then transmitted to the overhead crane system and displayed simultaneously.

[0206] The following combination Figure 7 The workflow of the above-mentioned three-dimensional laser scanning automatic detection system is introduced in detail.

[0207] 1. Initialize system parameters, which only needs to be executed when using it for the first time.

[0208] 2. Wait for the overhead crane system to send a work instruction signal.

[0209] 3. The communication module receives the work instruction signal and triggers the data acquisition module to scan the slag pile.

[0210] 4. After the data acquisition module completes the scanning, it sends the data to the data processing module.

[0211] 5. The data processing module pre-processes the point cloud data.

[0212] 6. The algorithm module determines the extreme points of the slag pile and the slag grabbing range.

[0213] 7. Analyze whether there is a risk of bucket tipping when grabbing slag within this range.

[0214] 8. If there is no risk of bucket tipping at the grabbing position, the grabbing position will be sent to the overhead crane system. If there is a risk of bucket tipping at the grabbing position, the grabbing range will be moved until a reasonable grabbing position is found and then the grabbing position will be sent to the overhead crane system.

[0215] 9. Visualize the 3D data of the slag flushing pool and display key information and parameters.

[0216] In summary, this example calculates the reasonable slag grabbing position through three-dimensional detection of the slag pile, and estimates the contact position between the grab and the slag pile according to the size of the grab when it is opened within the operating range. It judges whether there is a tipping risk based on the angle between the connecting line between the estimated contact positions and the horizontal. If there is no tipping risk of the grab, the operation is carried out within this range. If there is a tipping risk of the grab, the operation needs to be adjusted along the direction of the grab opening until the risk is eliminated before the operation is carried out. This can reduce the risk of the grab tipping, make the overhead crane working mode more reasonable, improve its working efficiency, reduce energy consumption, reduce equipment loss and improve the equipment safety operation factor.

[0217] Of course, it is understandable that the above detailed modules may have other variations, and all relevant variations should fall within the scope of protection of the present invention.

[0218] An embodiment of the present invention provides an embodiment of a computer device for implementing all or part of the content of the above-mentioned method for preventing the grab bucket of a slag flushing pool from tipping over. The above-mentioned computer device specifically includes the following content:

[0219] A processor, a memory, a communication interface, and a bus; wherein the processor, memory, and communication interface communicate with each other via the bus; the communication interface is used to transmit information between related devices; the computer device may be a desktop computer, a tablet computer, a mobile terminal, etc., but the present embodiment is not limited thereto. In the present embodiment, the computer device may be implemented with reference to the embodiment of the method for preventing the grab bucket of a slag flushing pool from tipping over and the embodiment of the device for preventing the grab bucket of a slag flushing pool from tipping over, the contents of which are incorporated herein, and any repetitions will not be repeated.

[0220] Figure 10 1 is a schematic block diagram of the system structure of the computer device 1000 according to an embodiment of the present application. Figure 10 As shown, the computer device 1000 may include a central processor 1001 and a memory 1002; the memory 1002 is coupled to the central processor 1001. Figure 10 is exemplary; other types of structures may also be used to supplement or replace this structure to implement telecommunication functions or other functions.

[0221] In one embodiment, the anti-dumping function of the grab bucket of the slag flushing pool can be integrated into the central processing unit 1001. The central processing unit 1001 can be configured to perform the following control:

[0222] Perform laser scanning on the slag flushing pool and calculate the three-dimensional coordinate data of the slag flushing pool material surface;

[0223] According to the above three-dimensional coordinate data, the point cloud data of the slag flushing pool is determined;

[0224] Determine the slag grabbing range based on the above-mentioned slag flushing pool point cloud data. The above-mentioned slag grabbing range is used to describe the range covered by the vertical projection points of the grab on both sides of the material surface when the grab is suspended horizontally and the center of the grab is vertically aligned with the highest point of the slag material surface.

[0225] Within the above-mentioned slag grabbing range, based on the above-mentioned slag flushing pool point cloud data, simulate and calculate the coordinates of the landing points of both sides of the grab bucket on the slag pile when the grab bucket is lowered;

[0226] When the angle between the line connecting the coordinates of the above-mentioned landing points and the horizontal line is less than a preset value, a notification message is issued indicating that there is no risk of the grab bucket tipping over within the above-mentioned slag grabbing range and that slag grabbing operations can be carried out within the slag grabbing range.

[0227] In another embodiment, the device for preventing the grab bucket of the slag flushing pool from tipping over can be configured separately from the central processor 1001. For example, the device for preventing the grab bucket of the slag flushing pool from tipping over can be configured as a chip connected to the central processor 1001, and the function of preventing the grab bucket of the slag flushing pool from tipping over can be realized through the control of the central processor.

[0228] like Figure 10 As shown, the computer device 1000 may further include: a communication module 1003, an input unit 1004, an audio processor 1005, a display 1006, and a power supply 1007. It is worth noting that the computer device 1000 does not necessarily have to include Figure 10 In addition, the computer device 1000 may also include all components shown in Figure 10 For components not shown, reference may be made to the prior art.

[0229] like Figure 10 As shown, the central processing unit 1001 is sometimes also referred to as a controller or an operation control unit, and may include a microprocessor or other processor device and / or logic device. The central processing unit 1001 receives inputs and controls the operations of various components of the computer device 1000 .

[0230] Memory 1002 can be, for example, one or more of a cache, flash memory, hard drive, removable media, volatile memory, non-volatile memory, or other suitable devices. It can store the aforementioned failure-related information and a program that executes the relevant information. The CPU 1001 can execute the program stored in memory 1002 to implement information storage or processing.

[0231] Input unit 1004 provides input to CPU 1001. Input unit 1004 may be, for example, a keypad or touch input device. Power supply 1007 is used to provide power to computer device 1000. Display 1006 is used to display objects such as images and text. This display may be, for example, an LCD display, but is not limited thereto.

[0232] The memory 1002 may be a solid-state memory, such as a read-only memory (ROM), random access memory (RAM), or SIM card. Alternatively, it may be a memory that retains information even when power is off, can be selectively erased, and is provided with more data. Examples of such memory are sometimes referred to as EPROMs. The memory 1002 may also be some other type of device. The memory 1002 includes a buffer memory 1021 (sometimes referred to as a buffer). The memory 1002 may include an application / function storage unit 1022 for storing application programs and function programs or processes used by the central processing unit 1001 to execute the operations of the computer device 1000.

[0233] The memory 1002 may also include a data storage unit 1023 for storing data, such as contacts, digital data, pictures, sounds, and / or any other data used by the computer device. The driver storage unit 1024 of the memory 1002 may include various driver programs for the computer device for communication functions and / or for executing other functions of the computer device (such as messaging applications, address book applications, etc.).

[0234] The communication module 1003 is a transmitter / receiver 1003 that sends and receives signals via the antenna 1008. The communication module (transmitter / receiver) 1003 is coupled to the central processor 1001 to provide input signals and receive output signals, which may be the same as the case of a conventional mobile communication terminal.

[0235] Based on different communication technologies, multiple communication modules 1003 can be provided in the same computer device, such as a cellular network module, a Bluetooth module, and / or a wireless local area network module. The communication module (transmitter / receiver) 1003 is also coupled to a speaker 1009 and a microphone 1010 via an audio processor 1005 to provide audio output via the speaker 1009 and receive audio input from the microphone 1010, thereby implementing common telecommunication functions. The audio processor 1005 may include any suitable buffer, decoder, amplifier, etc. Furthermore, the audio processor 1005 is coupled to the central processing unit 1001, enabling local recording via the microphone 1010 and playback of stored audio via the speaker 1009.

[0236] An embodiment of the present invention further provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the method for preventing the grab bucket of a slag flushing pool from tipping over is implemented.

[0237] An embodiment of the present invention further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the method for preventing the grab bucket of a slag flushing pool from tipping over is implemented.

[0238] In an embodiment of the present invention, a laser scan is performed on the slag flushing pool to calculate the three-dimensional coordinate data of the slag flushing pool material surface; the slag flushing pool point cloud data is determined based on the three-dimensional coordinate data; the slag grabbing range is determined based on the slag flushing pool point cloud data; the slag grabbing range is used to describe the range covered by the vertical projection points of the grab on both sides of the grab on the material surface after the grab is horizontally suspended and the center of the grab vertically corresponds to the highest point of the slag material surface; within the slag grabbing range, the coordinates of the landing points of the grab on both sides of the grab on the slag pile when the grab is lowered are simulated and calculated based on the slag flushing pool point cloud data; when the angle between the line connecting the coordinates of the landing points and the horizontal line is less than a preset value, a notification message is issued that there is no risk of tipping over of the grab operating within the slag grabbing range and that slag grabbing operations can be performed within the slag grabbing range, which is different from the prior art in that the grab material surface detection system only Compared with the technical solution of calculating the overall characteristics of the slag pile, the laser scanning of the slag material surface in the slag flushing pool is performed to determine the point cloud data of the slag flushing pool, determine the slag grabbing range, and calculate the coordinates of the landing point. Only when the angle between the line connecting the coordinates of the landing point and the horizontal line is less than a preset value, it is determined that the slag grabbing operation can be carried out. The quantitative calculation of whether the grab bucket operating within the slag grabbing range has the risk of tipping over is realized, and the accurate calculation of the reasonable slag grabbing position is realized, which can further make the overhead crane slag grabbing working mode more reasonable, reduce the risk of grab bucket tipping over, and solve the problem that the grab bucket is prone to tipping over because the material surface detection system only calculates the overall characteristics under the existing technology, thereby improving the slag grabbing efficiency of the slag flushing pool grab bucket, reducing the energy consumption of the slag flushing pool grab bucket, reducing the loss of the slag flushing pool grab bucket equipment, and improving the safe operation coefficient of the slag flushing pool grab bucket equipment.

[0239] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0240] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0241] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0242] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0243] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for preventing a grab bucket from tipping over in a slag flushing pool, characterized in that: include: Perform laser scanning on the slag flushing pool and calculate the three-dimensional coordinate data of the slag flushing pool material surface; Determining slag flushing pool point cloud data according to the three-dimensional coordinate data; Determine the slag grabbing range based on the slag flushing pool point cloud data; the slag grabbing range is used to describe the range covered by the vertical projection points on both sides of the grab on the material surface when the grab is suspended horizontally and the center of the grab is vertically aligned with the highest point of the slag material surface; Within the slag grabbing range, based on the point cloud data of the slag flushing pool, the coordinates of the landing points of both sides of the grab bucket on the slag pile when the grab bucket is lowered are simulated and calculated; When the angle between the line connecting the coordinates of the landing point and the horizontal line is less than a preset value, a notification message is issued indicating that there is no risk of the grab bucket tipping over within the slag grabbing range and that slag grabbing operations can be performed within the slag grabbing range; Based on the point cloud data of the slag flushing pool, the coordinates of the landing points of both sides of the grab bucket on the slag pile when the grab bucket is lowered are simulated and calculated, including: Using a three-dimensional object recognition algorithm, the slag surface is modeled and the curve function of the slag surface is obtained; Within the slag grabbing range, the coordinates of the first and second landing points of the grab on the slag pile on both sides of the grab when the grab is lowered are simulated and calculated based on the curve function of the slag surface, in combination with the coordinates of the vertical projection point of the grab center on the slag material surface and the opening width of the grab. The first landing point is used to describe the position at which the grab first contacts the slag pile during the simulated lowering of the grab; the second landing point is used to describe the position at which the grab contacts the slag pile on the other side of the grab corresponding to the first landing point. The method further includes: determining that an angle between a line connecting the coordinates of the landing point and a horizontal line is less than a preset value when the following formula is true: Among them, Y right The second landing point (X right , Y right )’s horizontal coordinate; X crab P is the vertical projection point of the grab center on the material surface crab (X crab , Y crab )’s horizontal axis; L crab H is the maximum value of the grab bucket’s opening width; crab is the maximum value of the grab height of the grab bucket; Y=f(X) is the curve function of the material surface.

2. The method according to claim 1, wherein Scan the slag flushing pool and calculate the three-dimensional coordinate data of the slag flushing pool material surface, including: Based on the TOF principle, the slag flushing pool is scanned to obtain the three-dimensional polar coordinate data of the slag material surface in the slag flushing pool; The three-dimensional polar coordinate data is subjected to coordinate transformation processing to obtain three-dimensional coordinate data of the slag flushing pool material surface in a world coordinate system.

3. The method according to claim 1, wherein Determine the slag flushing pool point cloud data according to the three-dimensional coordinate data, including: The three-dimensional coordinate data is subjected to point cloud data formatting processing, point cloud data calibration processing, point cloud data cutting processing and point cloud data filtering processing to obtain slag flushing pool point cloud data.

4. The method according to claim 1, wherein Determine the slag grabbing range based on the point cloud data of the slag flushing pool, including: Determining the extreme point coordinates of the point cloud data according to the point cloud data of the slag flushing pool; The slag grabbing range is determined according to the extreme point coordinates of the point cloud data, the edge position information of the slag flushing pool and the size of the grab bucket when it is fully opened.

5. The method according to claim 4, wherein Calculating the extreme point coordinates of the point cloud data according to the slag flushing pool point cloud data includes: According to the point cloud data of the slag flushing pool, a rectangular coordinate system is established with the bottom boundary of one side of the slag flushing pool as the origin; In the rectangular coordinate system, the coordinates of the vertical projection point of the grab bucket center on the slag material surface, the coordinates of the highest point of the slag material surface, and the coordinates of the vertical points on both sides of the corresponding material surface after the grab bucket is opened are determined.

6. The method according to claim 1, wherein The coordinates of the first landing points of both sides of the grab bucket on the slag heap when the grab bucket is lowered are simulated and calculated using the following formula: Y left =f(X left ) Among them, (X left , Y left ) is the coordinate of the first landing point; Y=f(X) is the curve function of the material surface; L crab is the maximum value of the grab bucket opening width; X crab P is the vertical projection point of the grab center on the material surface crab (X crab , Y crab )’s horizontal axis.

7. The method according to claim 1, wherein The coordinates of the second landing points on both sides of the grab on the slag heap when the grab is lowered are simulated and calculated using the following formula: Y right =f(X right ) Among them, (X right , Y right ) is the coordinate of the second landing point; (X left , Y left ) is the coordinate of the first landing point; Y=f(X) is the curve function of the material surface; L crab It is the maximum value of the grab bucket's opening width.

8. The method according to claim 1, wherein Also includes: When the angle between the line connecting the coordinates of the landing point and the horizontal line is greater than or equal to a preset value, an alarm message is issued to move the center position of the grab bucket in the direction of grab bucket opening and in a direction that reduces the angle until the angle is less than the preset value.

9. A device for preventing the grab bucket from tipping over in a slag flushing pool, characterized in that: include: Laser scanning module, used to perform laser scanning on the slag flushing pool and calculate the three-dimensional coordinate data of the slag flushing pool material surface; A slag flushing pool point cloud data determination module, used to determine the slag flushing pool point cloud data according to the three-dimensional coordinate data; A slag grabbing range determination module is used to determine the slag grabbing range based on the slag flushing pool point cloud data; the slag grabbing range is used to describe the range covered by the vertical projection points on both sides of the grab on the material surface when the grab is suspended horizontally and the center of the grab is vertically aligned with the highest point of the slag material surface; A landing point coordinate simulation calculation module is used to simulate and calculate the coordinates of the landing points of both sides of the grab bucket on the slag pile when the grab bucket is lowered within the slag grab range based on the point cloud data of the slag flushing pool; A notification module, configured to issue a notification message indicating that there is no risk of the grab bucket tipping over and that slag grabbing operations can be performed within the slag grabbing range when the angle between the line connecting the coordinates of the landing point and the horizontal line is less than a preset value; The landing point coordinate simulation calculation module is specifically used for: Using a three-dimensional object recognition algorithm, the slag surface is modeled and the curve function of the slag surface is obtained; Within the slag grabbing range, the coordinates of the first and second landing points of the grab on both sides of the slag pile when the grab is lowered are simulated and calculated based on the curve function of the slag surface, in combination with the coordinates of the vertical projection point of the grab center on the slag material surface and the opening width of the grab. The first landing point is used to describe the position where the grab first contacts the slag pile during the simulated lowering process of the grab; The second landing point is used to describe the position where the grab bucket contacts the slag pile on the other side of the grab bucket corresponding to the first landing point; The invention also includes an angle determination module, which is used to determine whether the angle between the line connecting the coordinates of the landing point and the horizontal line is less than a preset value when the following formula is established: Among them, Y right The second landing point (X right , Y right )’s horizontal coordinate; X crab P is the vertical projection point of the grab center on the material surface crab (X crab , Y crab )’s horizontal axis; L crab H is the maximum value of the grab bucket’s opening width; crab is the maximum value of the grab height of the grab bucket; Y=f(X) is the curve function of the material surface.

10. The device according to claim 9, wherein Laser scanning module, specifically used for: Based on the TOF principle, the slag flushing pool is scanned to obtain the three-dimensional polar coordinate data of the slag material surface in the slag flushing pool; The three-dimensional polar coordinate data is subjected to coordinate transformation processing to obtain three-dimensional coordinate data of the slag flushing pool material surface in a world coordinate system.

11. The device according to claim 9, wherein The slag flushing pool point cloud data determination module is specifically used for: The three-dimensional coordinate data is subjected to point cloud data formatting processing, point cloud data calibration processing, point cloud data cutting processing and point cloud data filtering processing to obtain slag flushing pool point cloud data.

12. The device according to claim 9, wherein The slag grab range determination module is specifically used for: Determining the extreme point coordinates of the point cloud data according to the point cloud data of the slag flushing pool; The slag grabbing range is determined according to the extreme point coordinates of the point cloud data, the edge position information of the slag flushing pool and the size of the grab bucket when it is fully opened.

13. The device according to claim 12, wherein The slag grab range determination module is specifically used for: According to the point cloud data of the slag flushing pool, a rectangular coordinate system is established with the bottom boundary of one side of the slag flushing pool as the origin; In the rectangular coordinate system, the coordinates of the vertical projection point of the grab bucket center on the slag material surface, the coordinates of the highest point of the slag material surface, and the coordinates of the vertical points on both sides of the corresponding material surface after the grab bucket is opened are determined.

14. The device according to claim 9, wherein The landing point coordinate simulation calculation module is specifically used for: The coordinates of the first landing points of both sides of the grab bucket on the slag heap when the grab bucket is lowered are simulated and calculated using the following formula: Y left =f(X left ) Among them, (X left , Y left ) is the coordinate of the first landing point; Y=f(X) is the curve function of the material surface; L crab is the maximum value of the grab bucket opening width; X crab P is the vertical projection point of the grab center on the material surface crab (X crab , Y crab )’s horizontal axis.

15. The device according to claim 9, wherein The landing point coordinate simulation calculation module is specifically used for: The coordinates of the second landing points on both sides of the grab on the slag heap when the grab is lowered are simulated and calculated using the following formula: Y right =f(X right ) Among them, (X right , Y right ) is the coordinate of the second landing point; (X left , Y left ) is the coordinate of the first landing point; Y=f(X) is the curve function of the material surface; L crab It is the maximum value of the grab bucket's opening width.

16. The device according to claim 9, wherein Also includes: Alarm module, used for: When the angle between the line connecting the coordinates of the landing point and the horizontal line is greater than or equal to a preset value, an alarm message is issued to move the center position of the grab bucket in the direction of grab bucket opening and in a direction that reduces the angle until the angle is less than the preset value.

17. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 8 is implemented.

18. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

19. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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