Roll-over machine gravity center detection system and method

Abstract

The present application relates to the technical field of dumper unloading system, in particular to a dumper gravity center detection system and method, a vehicle recognition device is arranged at the entrance end of the dumper, the vehicle recognition device is used for recognizing the entering vehicle, so as to obtain the current vehicle information and send it to the data processing module; a weight detection device is arranged at the bottom of the supporting roller device of the dumper, which is used for obtaining the real-time weight data of the area above the dumper body and sending it to the data processing module; according to the current vehicle information, the real-time rotation angle data and the real-time weight data, the corresponding gravity center data is called, the gravity center offset of the dumper is calculated, the gravity center offset is compared with the preset safe gravity center offset range, and whether the gravity center offset exceeds the threshold value is judged; the judgment result is fed back to the dumper control system. The present application realizes real-time control of the running safety of the dumper, and further improves the safety factor of the dumper.

Description

Technical Field

[0001] The present invention relates to the technical field of car dumper unloading systems, and in particular to a car dumper gravity center detection system and method. Background Art

[0002] The car dumper unloading system is a large-scale automatic unloading system used in power plants, ports, metallurgical plants, coal mines, coking plants, and other enterprises. It can unload bulk materials from railway vehicles. The car dumper is used to unload the pulled loaded or empty vehicles by clamping and pulling them closer before turning them over to unload. It is a key device for transferring materials to the material yard or combustion area and is a key component of the car dumper unloading system.

[0003] However, traditional tipping machines only have angle detection devices. When working, the angle detection device of the tipping machine is used to detect the rotation angle of the tipping machine, and when a specific angle is reached, water spraying, dust reduction, vibration and other operations are performed. The main method of angle detection is detection by the main command controller, which cannot achieve real-time control of the operating safety of the tipping machine. Summary of the Invention

[0004] In view of the defects of the prior art, the present invention provides a tipper center of gravity detection system and method, which performs real-time detection of the center of gravity of the tipper and is interlocked with the tipper control system. Once the detection data exceeds the design range, the machine will be shut down immediately, thereby realizing real-time control of the tipper operation safety.

[0005] In order to achieve the above-mentioned purpose, the technical solution provided by the present invention is a center of gravity detection system for a car tipper, which includes a vehicle identification device, an angle detection device, a weight detection device and a data processing module; wherein the vehicle identification device is provided at the entrance end of the car tipper, and the vehicle identification device is used to identify the entering vehicle to obtain the current vehicle information and send it to the data processing module; the angle detection device is provided on the driving device of the car tipper, and the angle detection device is used to obtain the real-time rotation angle data of the car tipper and send it to the data processing module; the weight detection device is provided at the bottom of the support roller device of the car tipper, and is used to obtain the real-time weight data of the area above the car tipper body and send it to the data processing module;

[0006] The data processing module retrieves the corresponding center of gravity data based on the current vehicle information, real-time rotation angle data and real-time weight data, and calculates the center of gravity offset of the tipping machine based on the center of gravity data; the data processing module is used to compare the center of gravity offset with the preset safe center of gravity offset range, and determine whether the center of gravity offset exceeds the threshold; the data processing module is used to feed back the judgment result to the tipping machine control system.

[0007] Furthermore, the vehicle identification device includes a photoelectric switch, a camera, a limit switch and an identification module; the photoelectric switch is used to send a signal to the camera when the front position of the vehicle enters a preset area; the camera is used to receive the signal from the photoelectric switch, turn on and collect the vehicle image information of the vehicle, and send the vehicle image information to the identification module; the identification module is used to receive the vehicle image information and pick up feature points, identify and send the current vehicle information to the data processing module; the limit switch is used to send a signal to the camera when the rear position of the vehicle leaves the preset area; the camera is used to receive the signal from the limit switch and turn off.

[0008] Furthermore, the weight detection device includes a bracket and a high-precision weight sensor fixed to the bracket.

[0009] The method for detecting the center of gravity of a dumper includes the following specific steps:

[0010] Collect vehicle image information, and identify and obtain current vehicle information based on the vehicle image information;

[0011] Detect and obtain real-time rotation angle data of the dumper;

[0012] Detect and obtain real-time weight data of the dumper;

[0013] According to the current vehicle information, real-time rotation angle data and real-time weight data, the corresponding center of gravity data is retrieved;

[0014] The center of gravity offset of the dumper is calculated based on the center of gravity data;

[0015] Comparing the center of gravity offset with a preset safe center of gravity offset range, and determining whether the center of gravity offset exceeds a threshold;

[0016] Feedback the judgment result to the dumper control system.

[0017] Furthermore, the method includes collecting weight data corresponding to different vehicles in advance and establishing corresponding vehicle models before performing the center of gravity detection of the tipping machine, determining the center of gravity data of vehicles of different weights at different rotation angles through the vehicle model, using the vehicle information of the vehicle as the first characteristic value, the weight of the vehicle as the second characteristic value, and the rotation angle of the vehicle as the third characteristic value. Each group of the first characteristic value, the second characteristic value, and the third characteristic value corresponds to a center of gravity data, and the corresponding relationship is stored in the PLC database.

[0018] Furthermore, the collecting of vehicle image information and identifying and obtaining the current vehicle information based on the vehicle image information includes starting to collect the vehicle image information of the vehicle when the front position of the vehicle enters a preset area; identifying and obtaining the current vehicle information based on the vehicle image information and sending it to the data processing module; and stopping collecting the vehicle image information of the vehicle when the rear position of the vehicle leaves the preset area.

[0019] The beneficial effects of the present invention are as follows: the angle and center of gravity of the tipping machine are detected, and once the detection data exceeds the design range, the machine is immediately shut down, thereby achieving real-time control of the operating safety of the tipping machine and further improving the safety factor of the tipping machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Schematic diagram of the flow of a method for detecting the center of gravity of a dumper in one embodiment of the present invention;

[0021] Figure 2 This is a schematic diagram of a vehicle entering a parking lot in one embodiment of the present invention;

[0022] Figure 3 Schematic diagram of a car tipper center of gravity detection system applied to an O-type car tipper in one embodiment of the present invention;

[0023] Figure 4 Schematic diagram of a car tipper gravity center detection system applied to a vertical car pressing car tipper in one embodiment of the present invention;

[0024] Figure 5 Schematic diagram of a tipper gravity center detection system applied to a shoulder pole beam vehicle tipper in one embodiment of the present invention;

[0025] Figure 6 Schematic diagram of a car dumper gravity center detection system applied to a fan-shaped car press dumper in one embodiment of the present invention;

[0026] In the picture:

[0027] 100. Vehicle identification device,

[0028] 200. Angle detection device,

[0029] 300. Weight detection device,

[0030] 400, data processing module,

[0031] 10. Inlet end of the dumper, 20. Vehicle, 30. Dumper, 31. Drive unit, 32. Support roller unit,

[0032] L1, center line of the dumper, L2, center line of the vehicle. DETAILED DESCRIPTION

[0033] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0034] See also Figure 1 , shows a center of gravity detection system for a car tipper in one embodiment of the present invention. This detection system can be applied to different forms of car tippers, such as fan-shaped car presses, vertical car presses, shoulder beam car presses, O-type car tippers, single-car tippers, double-car tippers, three-car tippers, four-car tippers, dual-purpose container tippers, etc., and can also adapt to the tipping and unloading of different vehicles (C60-C100, flat cars, bottom-driving cars, open-top containers, etc.) and perform center detection.

[0035] See attached Figure 1 and Figure 2 The center-of-gravity detection system for a car dumper includes a vehicle identification device 100, an angle detection device 200, a weight detection device 300, and a data processing module 400. The vehicle identification device 100 is located at the entrance 10 of the car dumper 30. The area directly opposite the entrance 10 is the designated area for vehicle entry. The vehicle identification device 100 is used to identify the entering vehicle 20, obtain the current vehicle information, and transmit it to the data processing module 400.

[0036] See also Figure 3-Figure 6 The angle detection device 200 is installed on the drive device 31 of the tipper 30. It is used to obtain real-time rotation angle data of the tipper and transmit it to the data processing module 400. The weight detection device 300 is installed at the bottom of the tipper's support roller device 32. It is used to obtain real-time weight data of the area above the tipper 30 body and transmit it to the data processing module 400. In specific settings, the weight detection device 300 includes a high-precision weight sensor and a bracket, and the real-time weight data can be accurate to within 50kg.

[0037] The data processing module 400 retrieves the corresponding center of gravity data based on the current vehicle information, real-time rotation angle data and real-time weight data, and calculates the center of gravity offset of the tipping machine based on the center of gravity data; the data processing module is used to compare the center of gravity offset with the preset safe center of gravity offset range, and determine whether the center of gravity offset exceeds the threshold.

[0038] As an example, the method of obtaining center of gravity data includes: before performing the center of gravity detection of the tipping machine, the weight data corresponding to different vehicles can be collected in advance, and the corresponding vehicle model can be established by using three-dimensional modeling. The center of gravity data of vehicles of different weights at different rotation angles are determined through the vehicle model. The same type of vehicle information may have different weights. The vehicle information of the vehicle is used as the first characteristic value, the weight of the vehicle is used as the second characteristic value, and the rotation angle of the vehicle is used as the third characteristic value. Each group of the first characteristic value, the second characteristic value, and the third characteristic value corresponds to a center of gravity data, and the center of gravity data is stored in the PLC database; in the actual production process, the center of gravity data is retrieved according to the current vehicle information, real-time rotation angle data and real-time weight data, and the center of gravity offset is determined.

[0039] The data processing module 400 is used to feed back the judgment result to the dumper control system.

[0040] In one embodiment, the vehicle identification device 100 includes a photoelectric switch, a camera, a limit switch and an identification module; the photoelectric switch is used to send a signal to the camera when the front position of the vehicle enters a preset area; the camera is used to receive the signal from the photoelectric switch, turn on and collect vehicle image information of the vehicle, and send the vehicle image information to the identification module; the identification module is used to receive vehicle image information and pick up feature points, identify and send current vehicle information to the data processing module; the limit switch is used to send a signal to the camera when the rear position of the vehicle leaves the preset area; the camera is used to receive the signal from the limit switch and turn off.

[0041] In one embodiment, the weight detection device 300 includes a bracket and a high-precision weight sensor fixed to the bracket.

[0042] The method for detecting the center of gravity of a dumper includes the following specific steps:

[0043] Step S100: Collect vehicle image information, and identify and obtain current vehicle information based on the vehicle image information; the current vehicle information includes, but is not limited to, the type, model, and size of the vehicle. Types include, but are not limited to, fan-shaped presses, vertical presses, shoulder-beam presses, O-type dumpers, single-car dumpers, double-car dumpers, triple-car dumpers, quadruple-car dumpers, and dual-purpose container dumpers.

[0044] Furthermore, in one embodiment, step S100, collecting vehicle image information, and identifying and obtaining current vehicle information based on the vehicle image information, specifically includes:

[0045] Step S110: When the front of the vehicle enters a preset area, start collecting vehicle image information;

[0046] Step S120: Identify and obtain current vehicle information based on the vehicle image information and send it to the data processing module;

[0047] Step S130: When the rear end of the vehicle leaves the preset area, stop collecting the vehicle image information.

[0048] Step S200: Detect and obtain real-time rotation angle data of the tipping machine;

[0049] Step S300, detect and obtain the real-time weight data of the tipping machine; it should be noted that the measured real-time weight data is the sum of the vehicle weight and the weight of the tipping machine at the measuring point. When retrieving the corresponding center of gravity data, it is necessary to subtract the weight of the tipping machine before retrieving it.

[0050] Step S400: Retrieve corresponding center of gravity data based on current vehicle information, real-time rotation angle data, and real-time weight data;

[0051] Step S500: Calculate the center of gravity offset of the dumper according to the center of gravity data;

[0052] Step S600, compare the center of gravity offset with the preset safe center of gravity offset range, and determine whether the center of gravity offset exceeds the threshold; in one embodiment, the method for determining the preset safe center of gravity offset range is to use the initial center of gravity as the center of the sphere and a spherical area with a radius of 300 mm. If it exceeds the preset safe center of gravity offset range, an alarm will be issued and the machine will be shut down.

[0053] Step S700: Feedback the judgment result to the tipping machine control system.

[0054] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0055] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0056] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0057] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it can mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher horizontal height than the second feature. When a first feature is "below," "below," or "below" a second feature, it can mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower horizontal height than the second feature. It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there can be an intermediate element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there can be an intermediate element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only embodiments.

Claims

1. The center of gravity detection system of the dumper is characterized by: It includes a vehicle identification device, an angle detection device, a weight detection device and a data processing module; wherein, A vehicle identification device is provided at the entrance of the dumper, and is used to identify the entering vehicle, obtain the current vehicle information and send it to the data processing module; An angle detection device, provided on the driving device of the tipping machine, the angle detection device is used to obtain real-time rotation angle data of the tipping machine and send it to the data processing module; A weight detection device, provided at the bottom of the support roller device of the tipper, for obtaining real-time weight data of the area above the tipper body and sending it to the data processing module; a data processing module, which retrieves corresponding center of gravity data based on current vehicle information, real-time rotation angle data, and real-time weight data, and calculates a center of gravity offset of the dumper based on the center of gravity data; the data processing module is used to compare the center of gravity offset with a preset safe center of gravity offset range, and determine whether the center of gravity offset exceeds a threshold; The data processing module is used to feed back the judgment result to the dumper control system.

2. The center of gravity detection system for a car dumper according to claim 1, characterized in that: The vehicle identification device includes a photoelectric switch, a camera, a limit switch and an identification module; the photoelectric switch is used to send a signal to the camera when the front position of the vehicle enters a preset area; the camera is used to receive the signal from the photoelectric switch, turn on and collect the vehicle image information of the vehicle, and send the vehicle image information to the identification module; the identification module is used to receive the vehicle image information and pick up feature points, identify and send the current vehicle information to the data processing module; the limit switch is used to send a signal to the camera when the rear position of the vehicle leaves the preset area; the camera is used to receive the signal from the limit switch and turn off.

3. The center of gravity detection system for a car dumper according to claim 1, characterized in that: The angle detection device includes a high-precision encoder and an encoder bracket connecting shaft.

4. The center of gravity detection system for a car dumper according to claim 1, characterized in that: The weight detection device includes a bracket and a high-precision weight sensor fixed to the bracket.

5. A method for detecting the center of gravity of a dumper, characterized in that: The specific steps include Collect vehicle image information, and identify and obtain current vehicle information based on the vehicle image information; Detect and obtain real-time rotation angle data of the dumper; Detect and obtain real-time weight data of the dumper; According to the current vehicle information, real-time rotation angle data and real-time weight data, the corresponding center of gravity data is retrieved; The center of gravity offset of the dumper is calculated based on the center of gravity data; Comparing the center of gravity offset with a preset safe center of gravity offset range, and determining whether the center of gravity offset exceeds a threshold; Feedback the judgment result to the dumper control system.

6. The method for detecting the center of gravity of a dumper according to claim 5, characterized in that: The method includes collecting weight data corresponding to different vehicles in advance and establishing corresponding vehicle models before performing center of gravity detection of a dumper, determining center of gravity data of vehicles of different weights at different rotation angles through the vehicle models, using vehicle information as a first characteristic value, the weight of the vehicle as a second characteristic value, and the rotation angle of the vehicle as a third characteristic value, each group of the first characteristic value, the second characteristic value, and the third characteristic value corresponding to one center of gravity data, and storing the corresponding relationship in a PLC database.

7. The method for detecting the center of gravity of a dumper according to claim 5, characterized in that: The collecting of vehicle image information and identifying and obtaining current vehicle information based on the vehicle image information includes: When the front of the vehicle enters the preset area, the vehicle image information of the vehicle is collected; According to the vehicle image information, identify and obtain current vehicle information and send it to the data processing module; When the rear end of the vehicle leaves the preset area, the acquisition of vehicle image information of the vehicle is stopped.

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