Bucket wheel machine state monitoring control method and system

Abstract

The present invention provides a method and system for monitoring and controlling the state of a bucket wheel machine, which belongs to the field of monitoring technology for bucket wheel machines. The method includes: obtaining the stockpiling information of target incoming materials; determining the standard boom pitch angle, standard unloading rotation angle and standard operating parameters of the bucket wheel machine arm based on the stockpiling information of the target incoming materials, and generating a standard state quantity; detecting the actual boom pitch angle, actual unloading rotation angle and actual operating parameters of the bucket wheel machine during operation, and generating an actual state quantity; comparing the standard state quantity with the actual state quantity; determining the state quantity deviation of each indicator item according to the comparison result, and if there is a corresponding indicator item deviation outside the preset range, issuing an early warning to remind the staff to adjust the state quantity. The problem that the working efficiency of loading and unloading coal is reduced will be solved because the parameters are all preset, and whether the actual working result of the bucket wheel machine arm is consistent with the preset parameters in the actual working process is unknown, which will cause the working efficiency of loading and unloading coal to be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of bucket wheel machine monitoring, and in particular to a bucket wheel machine state monitoring control method and system. Background Art

[0002] At present, bucket wheel excavator is a very important part of the fuel coal transportation system, and is responsible for loading and unloading coal. In the process of unloading and loading coal through the bucket wheel excavator arm, since the parameters are pre-set, however, in the actual working process, it is unknown whether the actual working results of the bucket wheel excavator arm are consistent with the preset parameters, which will lead to a decrease in the working efficiency of loading and unloading coal. Therefore, it is particularly important to monitor the angle of the bucket wheel excavator arm.

[0003] Therefore, the present invention proposes a bucket wheel excavator state monitoring control method and system. Summary of the invention

[0004] The present invention provides a bucket wheel machine state monitoring and control method and system, which determines the standard boom pitch angle, standard unloading rotation angle and standard operating parameters of the bucket wheel machine arm according to the target incoming material, generates a standard state quantity and the actual boom pitch angle, actual unloading rotation angle and actual operating parameters of the bucket wheel machine during operation, generates an actual state quantity, compares three index items in the standard state quantity and the actual state quantity in turn, determines whether the deviation is outside the preset range, and issues an early warning, thereby solving the problem in the background technology that since the parameters are all preset, it is unknown whether the actual working result of the bucket wheel machine arm is consistent with the preset parameters during the actual working process, thereby resulting in reduced working efficiency of coal loading and unloading.

[0005] The present invention provides a bucket wheel machine state monitoring control method and system, comprising:

[0006] Step 1: Obtain the stockpiling information of the target incoming material;

[0007] Step 2: Based on the stockpiling information of the target incoming material, the standard boom pitch angle, standard unloading rotation angle and standard operating parameters of the bucket wheel crane boom are determined to generate a standard state quantity;

[0008] Step 3: Detect the actual boom pitch angle, actual unloading rotation angle and actual operating parameters of the bucket wheel machine during operation to generate actual state quantities;

[0009] Step 4: Compare the three index items in the standard state quantity and the actual state quantity in turn;

[0010] Step 5: Determine the state quantity deviation of each indicator item based on the comparison results. If the deviation of the corresponding indicator item is outside the preset range, issue an early warning and remind the staff to adjust the state quantity.

[0011] Preferably, obtaining the stockpile information of the target incoming material includes:

[0012] Collecting image information of target incoming materials, and analyzing the image information to obtain material information and scale information of the target incoming materials;

[0013] Determine the size of the ground that allows the target incoming materials to be placed, and determine the optimal feeding height of the target incoming materials based on the size information;

[0014] Screening out density information of target incoming materials from a material-density database based on the material information;

[0015] The material information, scale information, optimal feeding height and density information of the target incoming material are confirmed as the stockpiling information.

[0016] Preferably, determining the standard boom pitch angle and standard unloading rotation angle of the bucket wheel machine boom based on the stockpile information of the target incoming material includes:

[0017] Determine the height to be adjusted of the boom at the material reclaiming end based on the optimal feeding height;

[0018] Based on the height to be adjusted of the boom at the material taking end, determining the angle between the boom at the material taking end and the bucket arm;

[0019] Determine the friction between the reclaiming belt on the reclaiming end arm and the incoming material unloaded by the bucket wheel;

[0020] Based on the angle and the friction force, the conveying speed of the unloaded incoming material on the big arm of the material taking end is determined;

[0021] Determine the position and height information of the unloading area corresponding to the bucket wheel machine after taking the material;

[0022] Based on the position information and height information of the unloading area, determine the unloading height and left and right swing amplitude of the unloading end boom;

[0023] Determine a first standard pitch angle of the arm at the unloading end according to the unloading height of the arm at the unloading end, and determine a second standard pitch angle of the arm at the retrieving end according to the retrieving height of the arm at the retrieving end;

[0024] The standard unloading rotation angle is determined according to the left and right swing amplitude of the big arm at the unloading end.

[0025] Preferably, the standard operating parameters of the bucket wheel machine boom are determined based on the stockpile information of the target incoming material, including:

[0026] Calculate the material transportation time based on the target incoming material stockpiling information and the standard material transportation efficiency information of the bucket wheel excavator boom;

[0027] Based on the transmission speed of the target incoming material on the bucket wheel machine arm and the number of bucket wheels, the rotation speed of the bucket wheel is determined;

[0028] Acquire initial control parameters of a bucket wheel machine arm and a bucket wheel, acquire an initial transmission speed of the bucket wheel machine arm and an initial rotation speed of the bucket wheel according to the initial control parameters, adjust the initial control parameters according to a first proportional relationship between the target rotation angular velocity and the initial rotation speed and a second proportional relationship between the optimal transmission speed and the initial transmission speed, and acquire target control parameters;

[0029] The start and end time points of the target control parameters are determined according to the material transportation time, and the start and end time points are associated with the target control parameters to generate standard operating parameters of the bucket wheel excavator boom.

[0030] Preferably, the standard state quantity is generated according to the standard boom pitch angle, the standard unloading rotation angle and the standard operating parameters, including:

[0031] Obtain the quantitative parameters of the suspension state of the bucket wheel crane boom according to the standard boom pitch angle;

[0032] Obtain the quantitative parameters of the loading state of the bucket wheel excavator boom according to the standard bucket wheel rotation angle;

[0033] Obtain the quantitative parameters of the bucket wheel crane boom's operating status based on standard operating parameters;

[0034] The suspension state quantified parameters, the feeding state quantified parameters and the operation state quantified parameters of the bucket wheel machine boom are integrated to generate a standard state quantity.

[0035] Preferably, the three index items in the standard state quantity and the actual state quantity are compared in sequence, including:

[0036] Dividing the state index items in the standard state quantity and the actual state quantity respectively;

[0037] The index values ​​of the same state index items of the two in the division results are obtained and divided into a first index value and a second index value, and the first index value and the second index value are compared.

[0038] Preferably, the state quantity deviation of each indicator item is determined according to the comparison result. If the deviation of the corresponding indicator item is outside the preset range, an early warning is issued to remind the staff to adjust the state quantity, including:

[0039] Determine a deviation value of each state indicator item according to the comparison result and determine a deviation direction of the deviation value based on a preset deviation threshold value set for the corresponding state indicator item;

[0040] Calculate the ratio of the deviation value of each state indicator item to the first indicator value of the state indicator item to obtain the state quantity deviation degree;

[0041] Combine the state quantity deviation of each state indicator item with the corresponding deviation direction to generate the state quantity direction deviation degree of the state indicator item;

[0042] Determine whether the state quantity direction deviation of each state indicator item is outside the preset range. If so, issue an early warning and remind the staff to adjust the state quantity.

[0043] Preferably, before generating the actual state quantity according to the actual cantilever pitch angle, the actual slewing angle and the actual operation parameter, the method further includes:

[0044] The kinematic model of the bucket wheel machine is obtained, and a virtual transmission test scene of the bucket wheel machine for the target incoming material is constructed according to the scale information and material information of the target incoming material;

[0045] generating initial stockpiling information according to the scale information of the target incoming material, and running the kinematic model of the bucket wheel machine in the virtual conveying test scene based on the initial stockpiling information;

[0046] Detect the virtual action area of ​​the coal pile of the bucket wheel at the end of the boom at the bucket wheel machine reclaiming end during the virtual test;

[0047] Compare the virtual action area of ​​the coal pile with the standard action area of ​​the coal pile of the bucket wheel on the end of the boom at the reclaiming end of the bucket wheel machine to determine the reclaiming blind area and the regional structure of the reclaiming blind area;

[0048] Based on the regional structure of the material-taking blind area, the area to be detected corresponding to the actual coal pile in the real scene is locked, and ultrasonic waves are emitted to each area point of the area to be detected to obtain the acting medium of each area point;

[0049] According to the working medium of each area point, determine the type of medium existing in the area to be detected and the number of medium points corresponding to each medium type;

[0050] When the medium type is only related to stockpiling, it is determined that the initial stockpiling information is feasible;

[0051] When the medium type is related to the stockpile and also to the bucket wheel, judging whether the initial stockpile information is feasible according to the comparison between the medium quantity point corresponding to the bucket wheel medium type and the total medium quantity point;

[0052] When the comparison result is greater than a preset threshold, it is determined that the initial stockpile information is not feasible, and the position of the initial stockpile corresponding to the initial stockpile information is adjusted to obtain a target stockpile;

[0053] Otherwise, it is determined that the initial stockpiling information is feasible.

[0054] A state monitoring and control system for a bucket wheel machine, comprising:

[0055] Acquisition module: obtains the stockpiling information of target incoming materials;

[0056] The first generation module: determines the standard boom pitch angle, standard unloading rotation angle and standard operating parameters of the bucket wheel crane boom based on the stockpiling information of the target incoming material, and generates a standard state quantity;

[0057] The second generation module: detects the actual boom pitch angle, actual unloading rotation angle and actual operation parameters of the bucket wheel machine during operation, and generates the actual state quantity;

[0058] Comparison module: compares the three index items in the standard state quantity and the actual state quantity in turn;

[0059] Adjustment module: Determine the state quantity deviation of each indicator item based on the comparison results. If the deviation of the corresponding indicator item is outside the preset range, issue an early warning and remind the staff to adjust the state quantity.

[0060] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0061] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0063] Figure 1 Flow chart of a bucket wheel machine state monitoring and control method in an embodiment of the present invention;

[0064] Figure 2 It is a structural diagram of a bucket wheel machine state monitoring and control system in an embodiment of the present invention;

[0065] Figure 3 Schematic diagram for determining the standard boom pitch angle and standard unloading rotation angle of the bucket wheel crane boom. DETAILED DESCRIPTION

[0066] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0067] Embodiment 1:

[0068] The present invention provides a bucket wheel machine state monitoring and control method, such as Figure 1 As shown, the method includes:

[0069] Step 1: Obtain the stockpiling information of the target incoming material;

[0070] Step 2: Based on the stockpiling information of the target incoming material, the standard boom pitch angle, standard unloading rotation angle and standard operating parameters of the bucket wheel crane boom are determined to generate a standard state quantity;

[0071] Step 3: Detect the actual boom pitch angle, actual unloading rotation angle and actual operating parameters of the bucket wheel machine during operation to generate actual state quantities;

[0072] Step 4: Compare the three index items in the standard state quantity and the actual state quantity in turn;

[0073] Step 5: Determine the state quantity deviation of each indicator item based on the comparison results. If the state quantity deviation of the corresponding indicator item is outside the preset range, issue an early warning and remind the staff to adjust the state quantity.

[0074] In this embodiment, the stockpiling information refers to how the target incoming materials are stacked. The approximate placement height, length and width of the coal pile can be determined through the scale information and the optimal feeding height.

[0075] Therefore, the stockpiling information is for unloading and taking materials, and the coal parameters can be determined, as well as the taking and unloading heights of the bucket wheel excavator boom during taking and unloading according to the coal parameters.

[0076] In this embodiment, the bucket wheel machine includes a bucket wheel machine boom and an arm frame, and the bucket wheel machine boom includes: a discharge end boom and a feed end boom.

[0077] In this embodiment, the standard unloading rotation angle is the horizontal angle between the boom and the armrest at the unloading end under standard conditions, and is determined based on the place where the unloading is loaded and unloaded in the unloading area.

[0078] In this embodiment, the standard state quantity is determined by the standard cantilever pitch angle of the boom to determine the inclined suspension state of the boom, the standard unloading rotation angle to determine the left and right rotation angle of the boom at the unloading end, and the standard operating parameters to determine the gear change parameters within the same time period, and recorded as the standard state quantity.

[0079] In this embodiment, the standard operating parameters are the gear parameters in each time period, for example, the start and end time points are 8:30--10:00, and between 8:30--8:50, the transmission gear is 2nd gear.

[0080] In this embodiment, the actual unloading rotation angle is the angle between the boom and the armrest at the unloading end of the bucket wheel machine under real-time working conditions, ranging from 0°-180°. In the process of controlling the bucket wheel machine to work according to the corresponding working instructions, the corresponding actual unloading rotation angle in this case is at the specified angle.

[0081] In this embodiment, the state quantity deviation can be the difference between the standard unloading rotation angle and the actual unloading rotation angle. For example, if the standard unloading rotation angle is 10° and the actual unloading rotation angle is 15°, then the deviation of the rotation angle is 5°. If the standard rotation angle deviation value is 3°, then the actual unloading rotation angle needs to be adjusted to 13°.

[0082] The standard cantilever pitch angle is 20°, and the actual cantilever pitch angle is 10°, so the deviation of the cantilever pitch angle is 10°. If the standard pitch angle deviation value is 5°, then the actual pitch angle needs to be adjusted to 15°.

[0083] The transmission gear in the standard operating parameters is gear 3, and the transmission gear in the actual operating parameters is gear 1, so the gear deviation in the operating parameters is gear 2. If the transmission gear deviation value of the standard operating parameters is gear 1, then the actual transmission gear needs to be adjusted to gear 2.

[0084] In this embodiment, the preset range is -5%---3%. If the standard state quantity deviation is 1%, -5% means the deviation is on the left of the standard state quantity deviation, and the state quantity deviation is 5%. 3% means the deviation is on the right of the standard state quantity deviation, and the state quantity deviation is 3%. If the standard state quantity deviation is outside the preset range, a red light will be turned on for warning. If the standard state quantity deviation is within the preset range, a yellow light will be turned on for warning.

[0085] In this embodiment, the state quantity deviation is a specific numerical value, and the state quantity deviation degree is the deviation value divided by the standard angle. For example, the standard unloading rotation angle is 10°, and the standard rotation angle deviation value is 3°, then the state quantity deviation degree is 3÷10=30%.

[0086] In this embodiment, the state quantity adjustment refers to adjusting the actual cantilever pitch angle, the actual unloading rotation angle and the actual operating parameters to within the allowable range. For example, if the standard deviation is 3 and the comparison deviation result is 5, the actual state quantity needs to be adjusted to a deviation less than or equal to 3 from the standard state quantity.

[0087] The beneficial effects of the above technical solution are: a standard state quantity is generated through the stockpile information of the target incoming material and compared with the actual state quantity in the working process. If the state quantity deviation value is outside the preset range, an early warning is issued and the state quantity is adjusted, thereby improving the work efficiency of coal loading and unloading.

[0088] Embodiment 2:

[0089] The present invention provides a bucket wheel machine state monitoring and control method for obtaining the stockpiling information of target incoming materials, the method comprising:

[0090] Collecting image information of target incoming materials, and analyzing the image information to obtain material information and scale information of the target incoming materials;

[0091] Determine the size of the ground that allows the target incoming materials to be placed, and determine the optimal feeding height of the target incoming materials based on the size information;

[0092] Screening out density information of target incoming materials from a material-density database based on the material information;

[0093] The material information, scale information, optimal feeding height and density information of the target incoming material are confirmed as the stockpiling information.

[0094] In this embodiment, the image information is a picture with visual effects. For example, when obtaining an image of a coal pile, the material and size of the coal pile can be obtained from the image based on the grayscale value of the image.

[0095] In this embodiment, the material information refers to the material and texture of the incoming material. For example, if the target incoming material is coal, the texture, smoothness, transparency, reflectivity, refractive index, and luminosity of the coal all belong to the material information of the coal.

[0096] In this embodiment, the scale information refers to the profile information and weight of the coal.

[0097] In this embodiment, the size of the ground is a fixed place for placing target incoming materials, such as a square area of ​​200 meters in length and 100 meters in width.

[0098] In this embodiment, the optimal feeding height is a height that ensures transmission efficiency while not causing power loss to the boom, that is, the coal heights at different positions are determined from the contour information, and the area with consistent coal heights is determined, and the height of the area is used as the optimal feeding height.

[0099] In this embodiment, the material-density database is a database containing a large number of different object materials corresponding to different densities, wherein the object can be coal of different materials, such as steel charcoal and coal.

[0100] In this embodiment, the stockpiling information refers to how the target incoming materials are stacked. The approximate placement height, length and width of the coal pile can be determined through the scale information and the optimal feeding height.

[0101] Therefore, the stockpiling information is for unloading and picking up materials, and the material parameters can be determined, as well as the picking up and unloading heights of the bucket wheel excavator boom during picking up and unloading according to the material parameters.

[0102] The beneficial effects of the above technical solution are: obtaining the material information and scale information of the target incoming material through image information, calculating the optimal feeding height of the target incoming material and the density information of the target incoming material, and being able to quickly obtain multiple information of the target incoming material.

[0103] Embodiment 3:

[0104] The present invention provides a bucket wheel machine state monitoring and control method, which determines the standard boom pitch angle and standard unloading rotation angle of the bucket wheel machine boom based on the stockpiling information of the target incoming material, such as Figure 3 As shown, 1--bucket arm, 2--reclaiming end arm, 3--arm frame, 4--bucket wheel, 5--discharging end arm, 6--standard pitch angle of the reclaiming end arm, 7--standard pitch angle of the discharging end arm, including:

[0105] Determine the height to be adjusted of the arm 2 at the material taking end based on the optimal feeding height;

[0106] Based on the height to be adjusted of the material taking end arm 2, determine the angle between the material taking end arm 2 and the bucket arm 1;

[0107] Determine the friction between the reclaiming belt on the reclaiming end arm and the incoming material unloaded by the bucket wheel 4;

[0108] Based on the angle and the friction force, the conveying speed of the unloaded incoming material on the material taking end arm 2 is determined;

[0109] Determine the position and height information of the unloading area corresponding to the bucket wheel machine after taking the material;

[0110] Based on the position information and height information of the unloading area, determine the unloading height and left and right swing amplitude of the unloading end arm 5;

[0111] According to the unloading height of the unloading end arm, a first standard pitch angle 7 of the unloading end arm is determined, and according to the retrieving height of the retrieving end arm, a second standard pitch angle 6 of the retrieving end arm is determined;

[0112] The standard unloading rotation angle is determined according to the left and right swing amplitude of the big arm at the unloading end.

[0113] In this embodiment, the height to be adjusted is the height at which the boom at the material-retrieving end is raised or lowered according to the optimal feeding height of the target incoming material. For example, if the optimal feeding height of the target incoming material is 29 meters and the current height of the boom at the material-retrieving end is 25 meters, then the height to be adjusted is 4 meters.

[0114] In this embodiment, the transmission speed when there is no friction between the feeding belt on the feeding end arm at the current angle and the incoming material unloaded by the bucket wheel is determined, which is the dynamic acceleration × the sine value of the current angle. According to the relationship between kinetic energy and friction, the first kinetic energy of the feeding end arm based on the current angle and friction and the second kinetic energy of the feeding end arm based on the current angle and no friction are determined. The ratio of the transmission speed is determined according to the ratio of the first kinetic energy and the second kinetic energy. The transmission speed is determined according to the transmission speed when there is no friction and the ratio of the transmission speed.

[0115] In this embodiment, the unloading area is a place where incoming materials are placed and unloaded, which can be a large truck or can be placed directly on the ground.

[0116] In this embodiment, the height information refers to the height of a large truck or the ground level, and the ground level is generally 0.

[0117] In this embodiment, the unloading height refers to the height of the boom at which unloading can be performed. For example, if the height of a large truck is 5 meters, the unloading height may be 8 meters.

[0118] In this embodiment, the left and right swing amplitude is due to the different places where the incoming materials are placed for unloading. The big arm at the unloading end will swing left and right to adjust the position according to the place where the incoming materials are placed to unload the incoming materials.

[0119] In this embodiment, the rotation angle is the angle between the unloading end boom and the arm frame, and the angle is obtained based on the horizontal line of the arm frame and the left and right inclined lines of the unloading end boom based on the horizontal plane.

[0120] The beneficial effects of the above technical solution are: the height to be adjusted of the boom at the material-retrieving end is determined by the optimal feeding height, the angle between the boom at the material-retrieving end and the bucket arm is determined, and at the same time, the unloading height and left and right swing amplitude of the boom at the unloading end are determined according to the position information and height information of the unloading area. The standard pitch angle of the boom of the bucket wheel excavator and the standard rotation angle of the boom at the unloading end can be accurately obtained, the optimal height for the bucket wheel excavator to retrieve and unload materials is determined, and the working efficiency of the bucket wheel excavator is improved.

[0121] Embodiment 4:

[0122] The present invention provides a bucket wheel machine state monitoring and control method, which determines the standard operating parameters of the bucket wheel machine boom based on the stockpiling information of the target incoming material, including:

[0123] Calculate the material transportation time based on the target incoming material stockpiling information and the standard material transportation efficiency information of the bucket wheel excavator boom;

[0124] Based on the transmission speed of the target incoming material on the bucket wheel machine arm and the number of bucket wheels, the rotation speed of the bucket wheel is determined;

[0125] Acquire initial control parameters of a bucket wheel machine arm and a bucket wheel, acquire an initial transmission speed of the bucket wheel machine arm and an initial rotation speed of the bucket wheel according to the initial control parameters, adjust the initial control parameters according to a first proportional relationship between the target rotation speed and the initial rotation speed and a second proportional relationship between the transmission speed and the initial transmission speed, and acquire target control parameters;

[0126] The start and end time points of the target control parameters are determined according to the material transportation time, and the start and end time points are associated with the target control parameters to generate standard operating parameters of the bucket wheel excavator boom.

[0127] In this embodiment, the efficiency information refers to the weight of materials that the bucket wheel boom can transport within a unit period.

[0128] The weight of the target incoming material is W, and the material transport rate of the arm is η, so the material transport time is The unit of weight is kg and the unit of conveying speed is kg / s.

[0129] In this embodiment, the rotation speed is determined according to the conveying speed, for example, how much weight of material needs to be conveyed within a specified time, and the bucket wheel cannot be too fast or too slow.

[0130] In this embodiment, the initial control parameter may be a gear parameter, wherein when the second ratio is twice the first ratio, the transmission gear in the initial control parameter needs to be adjusted to the 2nd gear.

[0131] In this embodiment, the standard operating parameters are the gear parameters in each time period, for example, the start and end time points are 8:30--10:00, and between 8:30--8:50, the transmission gear is 2nd gear.

[0132] The beneficial effect of the above technical solution is: by obtaining the proportional relationship between the target rotation angular velocity of the bucket wheel and the initial rotation speed, as well as the proportional relationship between the transmission speed and the initial transmission speed, the initial control parameters are adjusted to obtain the target control parameters, and at the same time, the material transportation time of the bucket wheel crane boom is calculated to determine the start and end time points of the target control parameters, and the standard operating parameters of the bucket wheel crane boom can be determined, making the operation process more precise and the results obtained more convincing.

[0133] Embodiment 5:

[0134] The present invention provides a bucket wheel machine state monitoring and control method, which generates a standard state quantity according to a standard boom pitch angle, a standard unloading rotation angle and a standard operating parameter, including:

[0135] Obtain the quantitative parameters of the suspension state of the bucket wheel crane boom according to the standard boom pitch angle;

[0136] Obtain the quantitative parameters of the loading state of the bucket wheel crane boom according to the standard unloading rotation angle;

[0137] Obtain the quantitative parameters of the bucket wheel crane boom's operating status based on standard operating parameters;

[0138] The suspension state quantified parameters, the feeding state quantified parameters and the operation state quantified parameters of the bucket wheel machine boom are integrated to generate a standard state quantity.

[0139] In this embodiment, the inclined suspension state of the boom can be determined according to the standard cantilever pitch angle, and its specific state quantification parameter can be the angle with the horizontal direction in the suspension state.

[0140] In this embodiment, the quantitative parameter of the feeding state is expressed as a standard feeding speed.

[0141] In this embodiment, the quantitative parameters of the operating state are represented by the gear change state parameters of the control console controlling the boom and the bucket wheel.

[0142] In this embodiment, the tilted suspension state of the boom, the loading speed and the gear change parameters in the same time period under standard conditions are recorded as standard state quantities.

[0143] The beneficial effect of the above technical solution is: by integrating the quantitative parameters of the suspension state, the quantitative parameters of the loading state and the quantitative parameters of the operating state of the bucket wheel crane boom to generate standard state quantities, a standard and high-value reference sample is provided, which lays the foundation for subsequent state comparison.

[0144] Embodiment 6:

[0145] The present invention provides a bucket wheel machine state monitoring and control method, which compares three index items in the standard state quantity and the actual state quantity in sequence, including:

[0146] Dividing the state index items in the standard state quantity and the actual state quantity respectively;

[0147] The index values ​​of the same state index items of the two in the division results are obtained and divided into a first index value and a second index value, and the first index value and the second index value are compared.

[0148] In this embodiment, the status indicator items refer to the boom pitch angle, the unloading rotation angle and the operating parameters.

[0149] In this embodiment, the first index value refers to the value of the index item in the standard state quantity, for example, the standard unloading rotation angle is 40°.

[0150] In this embodiment, the second indicator value refers to the value of the indicator item in the actual state quantity, for example, the actual unloading rotation angle is 60°.

[0151] In this embodiment, 40° and 60° are compared to obtain a deviation value.

[0152] The beneficial effect of the above technical solution is that by dividing and comparing the state index items in the standard state quantity and the actual state quantity, the difference between the same index items in the two can be obtained, laying a foundation for subsequent adjustment of the index value.

[0153] Embodiment 7:

[0154] The present invention provides a bucket wheel machine state monitoring and control method, which determines the state quantity deviation of each index item according to the comparison result, and if the deviation degree of the corresponding index item is outside the preset range, issues an early warning and reminds the staff to adjust the state quantity, including:

[0155] Determine a deviation value of each state indicator item according to the comparison result and determine a deviation direction of the deviation value based on a preset deviation threshold value set for the corresponding state indicator item;

[0156] Calculate the ratio of the deviation value of each state indicator item to the first indicator value of the state indicator item to obtain the state quantity deviation degree;

[0157] Combine the state quantity deviation of each state indicator item with the corresponding deviation direction to generate the state quantity direction deviation degree of the state indicator item;

[0158] Determine whether the state quantity direction deviation of each state indicator item is outside the preset range. If so, issue an early warning and remind the staff to adjust the state quantity.

[0159] In this embodiment, the status indicator items refer to the pitch angle of the cantilever, the unloading rotation angle and the operating parameters, wherein the operating parameters include: belt gear change, bucket wheel gear change, etc.

[0160] In this embodiment, the deviation value is, for example, that the pitch angle of the standard cantilever is 50° and the pitch angle of the actual cantilever is 40°, then the deviation value is 10°. If the standard deviation is 11°, then the deviation direction of the deviation value 10° is on the left.

[0161] In this embodiment, the state quantity deviation degree is the deviation value divided by the index value of the corresponding standard state index item, which is 10÷50=20%.

[0162] In this embodiment, the preset range of the state quantity deviation is -5% to 3%, wherein -5% means the deviation is to the left of the standard deviation and the state quantity deviation is 5%, and 3% means the deviation is to the right of the standard deviation and the state quantity deviation is 3%.

[0163] The beneficial effect of the above technical solution is: the state quantity direction deviation degree of the state indicator item is obtained through the deviation value, deviation direction and state quantity deviation degree of each state indicator item, and it is judged whether the state quantity direction deviation degree is outside the preset range. The state quantity direction deviation degree can be determined, so that the operator can accurately adjust the state quantity, avoid constant adjustment and waste time, and affect the speed of material collection and unloading.

[0164] Embodiment 8:

[0165] The present invention provides a bucket wheel machine state monitoring and control method, which includes: before generating an actual state quantity according to an actual boom pitch angle, an actual rotation angle and actual operation parameters, the method further includes:

[0166] The kinematic model of the bucket wheel machine is obtained, and a virtual transmission test scene of the bucket wheel machine for the target incoming material is constructed according to the scale information and material information of the target incoming material;

[0167] generating initial stockpiling information according to the scale information of the target incoming material, and running the kinematic model of the bucket wheel machine in the virtual conveying test scene based on the initial stockpiling information;

[0168] Detect the virtual action area of ​​the coal pile of the bucket wheel at the end of the boom at the bucket wheel machine reclaiming end during the virtual test;

[0169] Compare the virtual action area of ​​the coal pile with the standard action area of ​​the coal pile of the bucket wheel on the end of the boom at the reclaiming end of the bucket wheel machine to determine the reclaiming blind area and the regional structure of the reclaiming blind area;

[0170] Based on the regional structure of the material-taking blind area, the area to be detected corresponding to the actual coal pile in the real scene is locked, and ultrasonic waves are emitted to each area point of the area to be detected to obtain the acting medium of each area point;

[0171] According to the working medium of each area point, determine the type of medium existing in the area to be detected and the number of medium points corresponding to each medium type;

[0172] When the medium type is only related to stockpiling, it is determined that the initial stockpiling information is feasible;

[0173] When the medium type is related to the stockpile and also to the bucket wheel, judging whether the initial stockpile information is feasible according to the comparison between the medium quantity point corresponding to the bucket wheel medium type and the total medium quantity point;

[0174] When the comparison result is greater than a preset threshold, it is determined that the initial stockpile information is not feasible, and the position of the initial stockpile corresponding to the initial stockpile information is adjusted to obtain a target stockpile;

[0175] Otherwise, it is determined that the initial stockpiling information is feasible.

[0176] In this embodiment, the virtual transmission test scene is to reconstruct the bucket wheel machine in three dimensions through a computer to simulate the operation process of the bucket wheel machine, saving manpower and material resources.

[0177] In this embodiment, the initial stockpiling information refers to how the target incoming materials are initially stacked, and the approximate placement height, length and width of the coal pile can be determined through the scale information and the optimal feeding height.

[0178] The stockpiling information is for unloading and retrieving, and can determine the material parameters and the retrieving and unloading height of the bucket wheel excavator boom during retrieving and unloading according to the coal material parameters.

[0179] In this embodiment, the kinematic model is a simulation model of the bucket wheel machine movement drawn by three-dimensional simulation software, and the posture and position of the unloading end arm and the feeding end arm of the bucket wheel machine can be seen from the model.

[0180] The placement height and placement posture of the target incoming materials are determined by the volume and weight of the target incoming materials. The model is run according to the placement height and placement posture of the target incoming materials to observe the movement process of the bucket wheel excavator.

[0181] In this embodiment, the virtual action area of ​​the coal pile is a virtual area that the bucket wheel machine passes through during the test.

[0182] In this embodiment, the regional structure of the blind spot refers to the outline of the blind spot, and the position of the blind spot in the real scene can be locked according to the regional structure of the blind spot.

[0183] In this embodiment, the medium types are bucket wheel medium and stockpile medium, that is, the bucket wheel machine and the target stockpile are taken as objects and the objects are regarded as media.

[0184] In this embodiment, the preset threshold is 15%. If the media quantity points related to the bucket wheel media type are 5 and the total media quantity points are 10, and the percentage of the media quantity points related to the bucket wheel media type to the total media quantity points is calculated to be 50%, which is greater than the preset threshold, then the initial stockpiling information needs to be readjusted.

[0185] In this embodiment, the area to be detected including the coal pile is determined according to the mapping of the blind area of ​​the material extraction, multiple area points are calibrated in the target area with the center point of the area to be detected as the origin and the target length as the radius, ultrasonic waves are emitted to each area point, and the action medium of each area point is determined according to the signal frequency of the feedback sound wave signal;

[0186] Since the bucket wheel and coal are two different media, they can be effectively distinguished based on the signal frequency.

[0187] The beneficial effects of the above technical solution are: by running the kinematic model of the bucket wheel machine in a virtual transmission test scene, the blind area structure of the bucket wheel machine in the virtual scene is detected and converted into the area to be detected in the real scene, ultrasonic waves are sent to the area to be detected, and the medium type and medium quantity points in each area are obtained, so as to judge whether the initial material pile is feasible based on the medium type and medium quantity points, accurately discover the blind areas of material collection and the reasons affecting material collection, and adjust the stockpile information in time to complete rapid material collection.

[0188] Embodiment 9:

[0189] A control system for monitoring the status of a bucket wheel machine, such as Figure 2 As shown, including:

[0190] Acquisition module: obtains the stockpiling information of target incoming materials;

[0191] The first generation module: determines the standard boom pitch angle, standard unloading rotation angle and standard operating parameters of the bucket wheel crane boom based on the stockpiling information of the target incoming material, and generates a standard state quantity;

[0192] The second generation module: detects the actual boom pitch angle, actual unloading rotation angle and actual operation parameters of the bucket wheel machine during operation, and generates the actual state quantity;

[0193] Comparison module: compares the three index items in the standard state quantity and the actual state quantity in turn;

[0194] Adjustment module: Determine the state quantity deviation of each indicator item based on the comparison results. If the deviation of the corresponding indicator item is outside the preset range, issue an early warning and remind the staff to adjust the state quantity.

[0195] The beneficial effects of the above technical solution are: a standard state quantity is generated through the stockpile information of the target incoming material and compared with the actual state quantity in the working process. If the state quantity deviation value is outside the preset range, an early warning is issued and the state quantity is adjusted, thereby improving the work efficiency of coal loading and unloading.

[0196] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A bucket wheel excavator state monitoring and control method, characterized in that: The method includes: Step 1: Obtain the stockpiling information of the target incoming material; Step 2: Based on the stockpiling information of the target incoming material, the standard boom pitch angle, standard unloading rotation angle and standard operating parameters of the bucket wheel crane boom are determined to generate a standard state quantity; Step 3: Detect the actual boom pitch angle, actual unloading rotation angle and actual operating parameters of the bucket wheel machine during operation to generate actual state quantities; Step 4: Compare the three index items in the standard state quantity and the actual state quantity in turn; Step 5: Determine the state quantity deviation of each indicator item based on the comparison results. If the deviation of the corresponding indicator item is outside the preset range, issue an early warning and remind the staff to adjust the state quantity; Among them, obtaining the stockpile information of the target incoming material includes: Collecting image information of target incoming materials, and analyzing the image information to obtain material information and scale information of the target incoming materials; Determine the size of the ground that allows the target incoming materials to be placed, and determine the optimal feeding height of the target incoming materials based on the size information; Screening out density information of target incoming materials from a material-density database based on the material information; Confirming the material information, scale information, optimal feeding height and density information of the target incoming material as the stacking information; Before generating the actual state quantity according to the actual cantilever pitch angle, the actual rotation angle and the actual operation parameters, the following steps are also included: The kinematic model of the bucket wheel machine is obtained, and a virtual transmission test scene of the bucket wheel machine for the target incoming material is constructed according to the scale information and material information of the target incoming material; generating initial stockpiling information according to the scale information of the target incoming material, and running the kinematic model of the bucket wheel machine in the virtual conveying test scene based on the initial stockpiling information; Detect the virtual action area of ​​the coal pile of the bucket wheel at the end of the boom at the bucket wheel machine reclaiming end during the virtual test; Compare the virtual action area of ​​the coal pile with the standard action area of ​​the coal pile of the bucket wheel on the end of the boom at the reclaiming end of the bucket wheel machine to determine the reclaiming blind area and the regional structure of the reclaiming blind area; Based on the regional structure of the material-taking blind area, the area to be detected corresponding to the actual coal pile in the real scene is locked, and ultrasonic waves are emitted to each area point of the area to be detected to obtain the acting medium of each area point; According to the working medium of each area point, determine the type of medium existing in the area to be detected and the number of medium points corresponding to each medium type; When the medium type is only related to stockpiling, it is determined that the initial stockpiling information is feasible; When the medium type is related to the stockpile and also to the bucket wheel, judging whether the initial stockpile information is feasible according to the comparison between the medium quantity point corresponding to the bucket wheel medium type and the total medium quantity point; When the comparison result is greater than a preset threshold, it is determined that the initial stockpile information is not feasible, and the position of the initial stockpile corresponding to the initial stockpile information is adjusted to obtain a target stockpile; Otherwise, it is determined that the initial stockpiling information is feasible.

2. A bucket wheel excavator state monitoring and control method according to claim 1, characterized in that: Based on the stockpiling information of the target incoming material, the standard boom pitch angle and standard unloading rotation angle of the bucket wheel crane boom are determined, including: Determine the height to be adjusted of the boom at the material reclaiming end based on the optimal feeding height; Based on the height to be adjusted of the boom at the material taking end, determining the angle between the boom at the material taking end and the bucket arm; Determine the friction between the reclaiming belt on the reclaiming end arm and the incoming material unloaded by the bucket wheel; Based on the angle and the friction force, the conveying speed of the unloaded incoming material on the big arm of the material taking end is determined; Determine the position and height information of the unloading area corresponding to the bucket wheel machine after taking the material; Based on the position information and height information of the unloading area, determine the unloading height and left and right swing amplitude of the unloading end boom; Determine a first standard pitch angle of the arm at the unloading end according to the unloading height of the arm at the unloading end, and determine a second standard pitch angle of the arm at the retrieving end according to the retrieving height of the arm at the retrieving end; The standard unloading rotation angle is determined according to the left and right swing amplitude of the big arm at the unloading end.

3. A bucket wheel excavator state monitoring and control method according to claim 1, characterized in that: Based on the stockpile information of the target incoming material, the standard operating parameters of the bucket wheel crane boom are determined, including: Calculate the material transportation time based on the target incoming material stockpiling information and the standard material transportation efficiency information of the bucket wheel excavator boom; Based on the transmission speed of the target incoming material on the bucket wheel machine arm and the number of bucket wheels, the rotation speed of the bucket wheel is determined; Acquire initial control parameters of a bucket wheel machine arm and a bucket wheel, acquire an initial transmission speed of the bucket wheel machine arm and an initial rotation speed of the bucket wheel according to the initial control parameters, adjust the initial control parameters according to a first proportional relationship between the target rotation angular velocity and the initial rotation speed and a second proportional relationship between the optimal transmission speed and the initial transmission speed, and acquire target control parameters; The start and end time points of the target control parameters are determined according to the material transportation time, and the start and end time points are associated with the target control parameters to generate standard operating parameters of the bucket wheel excavator boom.

4. A bucket wheel excavator state monitoring and control method according to claim 1, characterized in that: Generate standard state quantities based on standard boom pitch angle, standard unloading rotation angle and standard operating parameters, including: Obtain the quantitative parameters of the suspension state of the bucket wheel crane boom according to the standard boom pitch angle; Obtain the quantitative parameters of the loading state of the bucket wheel excavator boom according to the standard bucket wheel rotation angle; Obtain the quantitative parameters of the bucket wheel crane boom's operating status based on standard operating parameters; The suspension state quantified parameters, the feeding state quantified parameters and the operation state quantified parameters of the bucket wheel machine boom are integrated to generate a standard state quantity.

5. The bucket wheel excavator state monitoring and control method according to claim 1, characterized in that: The three indicators in the standard state quantity and the actual state quantity are compared in turn, including: Dividing the state index items in the standard state quantity and the actual state quantity respectively; The index values ​​of the same state index items of the two in the division results are obtained and divided into a first index value and a second index value, and the first index value and the second index value are compared.

6. A bucket wheel machine state monitoring and control method according to claim 1, characterized in that: The state quantity deviation of each indicator item is determined based on the comparison results. If the deviation of the corresponding indicator item is outside the preset range, an early warning is issued to remind the staff to adjust the state quantity, including: Determine a deviation value of each state indicator item according to the comparison result and determine a deviation direction of the deviation value based on a preset deviation threshold value set for the corresponding state indicator item; Calculate the ratio of the deviation value of each state indicator item to the first indicator value of the state indicator item to obtain the state quantity deviation degree; Combine the state quantity deviation of each state indicator item with the corresponding deviation direction to generate the state quantity direction deviation degree of the state indicator item; Determine whether the state quantity direction deviation of each state indicator item is outside the preset range. If so, issue an early warning and remind the staff to adjust the state quantity.

7. A bucket wheel machine state monitoring control method system, characterized in that: include: Acquisition module: obtains the stockpiling information of target incoming materials; The first generation module: determines the standard boom pitch angle, standard unloading rotation angle and standard operating parameters of the bucket wheel crane boom based on the stockpiling information of the target incoming material, and generates a standard state quantity; The second generation module: detects the actual boom pitch angle, actual unloading rotation angle and actual operation parameters of the bucket wheel machine during operation, and generates the actual state quantity; Comparison module: compares the three index items in the standard state quantity and the actual state quantity in turn; Adjustment module: Determine the state quantity deviation of each indicator item based on the comparison results. If the deviation of the corresponding indicator item is outside the preset range, issue an early warning and remind the staff to adjust the state quantity; Among them, obtaining the stockpile information of the target incoming material includes: Collecting image information of target incoming materials, and analyzing the image information to obtain material information and scale information of the target incoming materials; Determine the size of the ground that allows the target incoming materials to be placed, and determine the optimal feeding height of the target incoming materials based on the size information; Screening out density information of target incoming materials from a material-density database based on the material information; Confirming the material information, scale information, optimal feeding height and density information of the target incoming material as the stacking information; Before generating the actual state quantity according to the actual cantilever pitch angle, the actual rotation angle and the actual operation parameters, the following steps are also included: The kinematic model of the bucket wheel machine is obtained, and a virtual transmission test scene of the bucket wheel machine for the target incoming material is constructed according to the scale information and material information of the target incoming material; generating initial stockpiling information according to the scale information of the target incoming material, and running the kinematic model of the bucket wheel machine in the virtual conveying test scene based on the initial stockpiling information; Detect the virtual action area of ​​the coal pile of the bucket wheel at the end of the boom at the bucket wheel machine reclaiming end during the virtual test; Compare the virtual action area of ​​the coal pile with the standard action area of ​​the coal pile of the bucket wheel on the end of the boom at the reclaiming end of the bucket wheel machine to determine the reclaiming blind area and the regional structure of the reclaiming blind area; Based on the regional structure of the material-taking blind area, the area to be detected corresponding to the actual coal pile in the real scene is locked, and ultrasonic waves are emitted to each area point of the area to be detected to obtain the acting medium of each area point; According to the working medium of each area point, determine the type of medium existing in the area to be detected and the number of medium points corresponding to each medium type; When the medium type is only related to stockpiling, it is determined that the initial stockpiling information is feasible; When the medium type is related to the stockpile and also to the bucket wheel, judging whether the initial stockpile information is feasible according to the comparison between the medium quantity point corresponding to the bucket wheel medium type and the total medium quantity point; When the comparison result is greater than a preset threshold, it is determined that the initial stockpile information is not feasible, and the position of the initial stockpile corresponding to the initial stockpile information is adjusted to obtain a target stockpile; Otherwise, it is determined that the initial stockpiling information is feasible.

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