Automatic control system for stacker-reclaimer

Abstract

The present invention relates to the field of machine control technology, and discloses an automatic control system for a stacker and reclaimer. The system collects temperature, humidity, running speed, power, position and height data of the stacker and reclaimer through a sensor module, and a data analysis module calculates the target material reclaiming position, the motion trajectory of the stacker and reclaimer, the power consumption of the stacker and reclaimer, the standard operating temperature of the stacker and reclaimer and the standard running speed of the stacker and reclaimer according to the data transmitted by the sensor module, and calculates the normal working index of the stacker and reclaimer by combining the above numerical values, and a threshold judgment module compares the normal working index of the stacker and reclaimer transmitted by the data analysis module with the stacker and reclaimer working index threshold set in the module, judges the working state of the stacker and reclaimer, and generates a machine working abnormality signal to send to a human-computer interaction module, and when the human-computer interaction module receives the machine working abnormality signal, it displays a control parameter adjustment list of the stacker and reclaimer on a visual interface.

Description

Technical Field

[0001] The invention relates to the technical field of machine control, in particular to an automatic control system for a stacker-reclaimer. Background Art

[0002] The stacker-reclaimer automatic control system is a system that integrates sensors, actuators, controllers and other equipment to monitor and control the operating status and behavior of the stacker-reclaimer. The system monitors the various parameters of the stacker-reclaimer in real time through sensors, such as position, speed, power consumption, temperature, etc., and can promptly detect and handle abnormal situations to ensure the safe operation of the equipment. At the same time, the stacker-reclaimer automatic control system can realize functions such as automatic control of the equipment, real-time monitoring, troubleshooting and data analysis, which improves production efficiency, reduces costs, and improves production quality and stability. Therefore, in modern industrial production, the stacker-reclaimer automatic control system has become an indispensable and important technology.

[0003] At present, most stacker-reclaimer automatic control systems mainly control the normal operation of the stacker-reclaimer and solve abnormalities through manual methods, which results in the stacker-reclaimer needing to be shut down when an abnormality occurs, thus reducing the working efficiency of the stacker-reclaimer. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] In view of the shortcomings of the prior art, the present invention provides an automatic control system for a stacker-reclaimer, which has the function of collecting temperature data of the stacker-reclaimer through a sensor module. , Humidity data of stacker-reclaimer , Stacker-reclaimer operating speed data , Power data of stacker-reclaimer , Stacker-reclaimer position data And the height data of the pile The data analysis module calculates the target material picking position based on the data transmitted by the sensor module. , the movement trajectory of the stacker-reclaimer , Power consumption of stacker-reclaimer , Standard operating temperature of stacker-reclaimer , Standard operating speed of stacker-reclaimer , and comprehensively calculate the normal working indicators of the stacker-reclaimer The threshold judgment module transmits the normal working index of the stacker and reclaimer transmitted by the data analysis module to The stacker-reclaimer working index threshold set in the module Compare and judge the working status of the stacker and reclaimer, and generate abnormal machine working signal Sent to the human-machine interaction module, the human-machine interaction module receives the machine abnormality signal When the stacker-reclaimer is in operation, the control parameter adjustment list of the stacker-reclaimer is displayed on the visual interface. The abnormal parameters of the stacker-reclaimer can be adjusted through the visual interface without stopping the machine, thus reducing human intervention, improving the working efficiency of the stacker-reclaimer and solving the above problems.

[0006] (II) Technical solution

[0007] To achieve the above-mentioned object, the present invention provides the following technical solutions: an automatic control system for a stacker-reclaimer, comprising a sensor module, a data analysis module, a threshold determination module and a human-computer interaction module;

[0008] The sensor module is used to collect temperature data of the stacker-reclaimer , Humidity data of stacker-reclaimer , Stacker-reclaimer operating speed data , Power data of stacker-reclaimer , Stacker-reclaimer position data And the height data of the pile and transmit the collected data to the data analysis module via the network;

[0009] The data analysis module is used to calculate the target material collection position based on the data transmitted by the sensor module. , the movement trajectory of the stacker-reclaimer , Power consumption of stacker-reclaimer , Standard operating temperature of stacker-reclaimer And the standard operating speed of the stacker-reclaimer , and the above numerical calculations are combined to calculate the normal working indicators of the stacker-reclaimer , and transmit the value to the threshold determination module;

[0010] The threshold determination module converts the normal working index of the stacker-reclaimer transmitted by the data analysis module into The stacker-reclaimer working index threshold set in the module Compare and judge the working status of the stacker and reclaimer, and generate abnormal machine working signal Send to human-computer interaction module;

[0011] The human-machine interaction module receives a machine abnormality signal When the stacker-reclaimer is in operation, the control parameter adjustment list is displayed on the visual interface.

[0012] Preferably, the data analysis module calculates the target material collection position according to the data transmitted by the sensor module. , the calculation formula is as follows:

[0013]

[0014] In the formula, Indicates the target material fetching position, Indicates the current position of the stacker-reclaimer. Indicates the target position offset, represents the path planning correction, Represents the dynamic adjustment of the environment, where the target position offset, path planning correction and dynamic adjustment of the environment are all parameters calculated based on sensor data. , and It is a constant used to adjust the influence of various parameters on the target material picking position and is set by the system.

[0015] Preferably, the data analysis module is used to calculate the motion trajectory of the stacker-reclaimer according to the data transmitted by the sensor module. , the calculation formula is as follows:

[0016]

[0017] In the formula, represents the motion trajectory of the stacker-reclaimer, Indicates the current position of the stacker-reclaimer. Indicates the target position of the stacker and reclaimer. Indicates the current time. Represents the total motion time of the machine. This formula describes a quadratic interpolation trajectory through time The position of the stacker-reclaimer at each moment is calculated based on the changes in the formula. This formula is used to control the stacker-reclaimer to move smoothly to the target position during the movement.

[0018] Preferably, the data analysis module is used to calculate the power consumption of the stacker-reclaimer according to the data transmitted by the sensor module. , the calculation formula is as follows:

[0019]

[0020] In the formula, Indicates the power consumption of the stacker-reclaimer, Indicates the acceleration of the stacker-reclaimer operation. Indicates the quality of the stacker-reclaimer. Represents the friction coefficient. This formula describes that during the acceleration process, due to the influence of the mass and friction of the machine, additional power is required to overcome inertia and friction to keep the stacker and reclaimer in an accelerated state. This formula is used to evaluate the amount of dynamic power loss during the acceleration process, help optimize the motion control strategy of the stacker and reclaimer, reduce energy consumption and improve motion efficiency.

[0021] Preferably, the data analysis module is used to calculate the standard operating temperature of the stacker-reclaimer according to the data transmitted by the sensor module. , the calculation formula is as follows:

[0022]

[0023] In the formula, Indicates the standard operating temperature of the stacker-reclaimer. Indicates the external ambient temperature of the machine. Indicates the internal heat of the machine. Indicates the heat dissipation of the machine. Represents heat capacity. This formula takes into account the impact of the internal and external environment of the stacker and reclaimer on the operating temperature. The standard operating temperature of the stacker and reclaimer is determined by calculating the balance between internal heat generation, heat dissipation capacity and heat capacity.

[0024] Preferably, the data analysis module is used to calculate the standard operating speed of the stacker-reclaimer according to the data transmitted by the sensor module. , the calculation formula is as follows:

[0025]

[0026] In the formula, Indicates the standard operating speed of the stacker-reclaimer. Indicates the power of the stacker-reclaimer, represents the friction coefficient, The formula represents the acceleration of the stacker-reclaimer operation. It integrates the power required by the stacker-reclaimer, the load, the friction force and the influence of the acceleration on the standard operating speed. By calculating the combined effect of these factors, the standard operating speed of the stacker-reclaimer is determined.

[0027] Preferably, the data analysis module is based on the movement trajectory of the stacker-reclaimer , Power consumption of stacker-reclaimer , Standard operating temperature of stacker-reclaimer And the standard operating speed of the stacker-reclaimer , Comprehensively calculate the normal working indicators of the stacker-reclaimer , the calculation formula is as follows:

[0028]

[0029] In the formula, Indicates the normal working index of the stacker-reclaimer. represents the motion trajectory of the stacker-reclaimer, Indicates the standard operating speed of the stacker-reclaimer. It represents the standard operating temperature of the stacker-reclaimer. This formula takes into account the moving distance, power consumption, operating speed and operating temperature of the stacker-reclaimer during operation, and is used to evaluate the normal working performance of the stacker-reclaimer.

[0030] Preferably, the threshold determination module uses the normal working index of the stacker and reclaimer transmitted by the data analysis module as follows: The stacker-reclaimer working index threshold set in the module Compare and judge the working status of the stacker-reclaimer, and the judgment method is as follows:

[0031] Stacker-reclaimer operating index threshold The value range is [1,100]. When the stacker-reclaimer works normally, When the range is exceeded, the system generates a machine abnormality signal. And send it to the human-computer interaction module.

[0032] Preferably, the human-machine interaction module receives a machine abnormality signal When the stacker-reclaimer is in operation, the stacker-reclaimer control parameter adjustment list is displayed on the visual interface. The list includes all the working parameters of the stacker-reclaimer and is used for adjusting abnormal parameters of the stacker-reclaimer.

[0033] Compared with the prior art, the present invention provides an automatic control system for a stacker-reclaimer, which has the following beneficial effects:

[0034] The present invention collects temperature data of the stacker and reclaimer through the sensor module , Humidity data of stacker-reclaimer , Stacker-reclaimer operating speed data , Power data of stacker-reclaimer , Stacker-reclaimer position data And the height data of the pile The data analysis module calculates the target material picking position based on the data transmitted by the sensor module. , the movement trajectory of the stacker-reclaimer , Power consumption of stacker-reclaimer , Standard operating temperature of stacker-reclaimer And the standard operating speed of the stacker-reclaimer , and the above numerical calculations are combined to calculate the normal working indicators of the stacker-reclaimer The threshold judgment module transmits the normal working index of the stacker and reclaimer transmitted by the data analysis module to The stacker-reclaimer working index threshold set in the module Compare and judge the working status of the stacker and reclaimer, and generate abnormal machine working signal Sent to the human-machine interaction module, the human-machine interaction module receives the machine abnormality signal When the stacker-reclaimer is in operation, the control parameter adjustment list of the stacker-reclaimer is displayed on the visual interface. The abnormal parameters of the stacker-reclaimer can be adjusted through the visual interface without stopping the machine, thus reducing human intervention and improving the working efficiency of the stacker-reclaimer. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the system flow of the present invention. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] In order to solve the problem that the stacker-reclaimer needs to be shut down for manual intervention when an abnormality occurs, which leads to a decrease in the working efficiency of the stacker-reclaimer, an automatic control system for the stacker-reclaimer is proposed. Figure 1 The system includes a sensor module, a data analysis module, a threshold determination module and a human-computer interaction module, wherein:

[0038] The sensor module collects temperature data of the stacker-reclaimer through temperature sensors, humidity sensors, position sensors, speed sensors and power sensors. , Humidity data of stacker-reclaimer , Stacker-reclaimer operating speed data , Power data of stacker-reclaimer , Stacker-reclaimer position data And the height data of the pile and transmit the above data to the data analysis module through the network;

[0039] The data analysis module calculates the target material picking position based on the data transmitted by the sensor module. , the movement trajectory of the stacker-reclaimer , Power consumption of stacker-reclaimer , Standard operating temperature of stacker-reclaimer And the standard operating speed of the stacker-reclaimer ,in:

[0040] The calculation formula for the target material reclaiming position is as follows:

[0041]

[0042] By calculating the target material reclaiming position, the exact material reclaiming position can be determined to ensure that the stacker-reclaimer can accurately grab the target material and reduce errors and losses. In the formula, Indicates the target material fetching position, Indicates the current position of the stacker-reclaimer. Indicates the target position offset, represents the path planning correction, Represents the dynamic adjustment of the environment, where the target position offset, path planning correction and dynamic adjustment of the environment are all parameters calculated based on sensor data. , and It is a constant used to adjust the influence of various parameters on the target material reclaiming position. It is set by the system. Calculating the target material reclaiming position is a necessary step to realize the automatic control of the stacker-reclaimer. It can realize accurate material reclaiming through the automatic control system, improve the degree of automation and reduce human intervention.

[0043] The calculation formula of the motion trajectory of the stacker-reclaimer is as follows:

[0044]

[0045] By calculating the motion trajectory of the stacker-reclaimer, the optimal path planning can be determined to ensure that the stacker-reclaimer reaches the target location at the fastest speed and shortest distance, thereby improving operational efficiency. In the formula, represents the motion trajectory of the stacker-reclaimer, Indicates the current position of the stacker-reclaimer. Indicates the target position of the stacker and reclaimer. Indicates the current time. Represents the total motion time of the machine. This formula describes a quadratic interpolation trajectory through time The position of the stacker-reclaimer at each moment is calculated based on the change of . This formula is used to control the stacker-reclaimer to move smoothly to the target position during the movement. Calculating the movement trajectory is the basis for realizing the automatic control of the stacker-reclaimer. The automatic control system can realize accurate operation and monitoring, thereby improving production efficiency.

[0046] The power consumption of the stacker-reclaimer is calculated as follows:

[0047]

[0048] By monitoring and calculating power consumption, we can find out the energy waste and inefficiency problems that may exist in the equipment, and then optimize the operating parameters and operation methods, improve the working efficiency of the equipment, and reduce energy waste. In the formula, Indicates the power consumption of the stacker-reclaimer, Indicates the acceleration of the stacker-reclaimer operation. Indicates the quality of the stacker-reclaimer. Represents the friction coefficient. This formula describes that during the acceleration process, due to the influence of the mass and friction of the machine, additional power needs to be consumed to overcome inertia and friction to keep the stacker-reclaimer in an accelerated state. This formula is used to evaluate the amount of dynamic power loss during the acceleration process, help optimize the motion control strategy of the stacker-reclaimer, reduce energy consumption and improve motion efficiency. At the same time, by recording and analyzing power consumption data, the operating status and performance indicators of the equipment can be understood, providing data support for optimizing the production process and improving efficiency.

[0049] The calculation formula for the standard operating temperature of the stacker-reclaimer is as follows:

[0050]

[0051] Determining the standard operating temperature of the stacker-reclaimer can help the equipment operate normally within an appropriate temperature range, avoid the impact of excessively high or low temperatures on equipment performance, and ensure the stability and reliability of the equipment. In the formula, Indicates the standard operating temperature of the stacker-reclaimer. Indicates the external ambient temperature of the machine. Indicates the internal heat of the machine. Indicates the heat dissipation of the machine. Represents heat capacity. This formula takes into account the impact of the internal and external environment of the stacker-reclaimer on the operating temperature. The standard operating temperature of the stacker-reclaimer is determined by calculating the balance between internal heat generation, heat dissipation capacity and heat capacity. At the same time, by monitoring and recording the operating temperature data of the stacker-reclaimer, it can provide a reference for equipment maintenance and performance evaluation, and timely detect and handle temperature anomalies;

[0052] The calculation formula for the standard operating speed of the stacker-reclaimer is as follows:

[0053]

[0054] Setting the appropriate standard operating speed can make the stacker-reclaimer run at the most efficient speed, improve the material transportation efficiency and production efficiency, shorten the production cycle, and increase output. In the formula, Indicates the standard operating speed of the stacker-reclaimer. Indicates the power of the stacker-reclaimer, represents the friction coefficient, The formula represents the acceleration of the stacker-reclaimer operation. It combines the power, load, friction and acceleration required by the stacker-reclaimer on the standard operating speed. By calculating the combined effect of these factors, the standard operating speed of the stacker-reclaimer is determined. A stable standard operating speed helps control the stacking and reclaiming process of materials, improves the quality stability of the products produced, and reduces the error and damage rate in production.

[0055] The data analysis module is based on the movement trajectory of the stacker and reclaimer. , Power consumption of stacker-reclaimer , Standard operating temperature of stacker-reclaimer , Standard operating speed of stacker-reclaimer , Comprehensively calculate the normal working indicators of the stacker-reclaimer , the calculation formula is as follows:

[0056]

[0057] Calculating normal working indicators can help enterprises monitor the operating status of stacker-reclaimers in a timely manner, detect abnormal operation or performance degradation of equipment, and take early warning and measures to ensure the continuous and stable operation of the equipment. In the formula, Indicates the normal working index of the stacker-reclaimer. represents the motion trajectory of the stacker-reclaimer, Indicates the standard operating speed of the stacker-reclaimer. Indicates the standard operating temperature of the stacker-reclaimer. This formula comprehensively considers the moving distance, power consumption, operating speed and operating temperature of the stacker-reclaimer during operation. It is used to evaluate the normal operating performance of the stacker-reclaimer. Monitoring and calculating the normal operating indicators of the stacker-reclaimer are helpful to accurately grasp the production efficiency level, timely discover and solve problems and bottlenecks in the production process, optimize the production process, and improve the production efficiency and competitiveness of the enterprise;

[0058] The threshold judgment module transmits the normal working index of the stacker and reclaimer transmitted by the data analysis module. The stacker-reclaimer working index threshold set in the module Compare and judge the working status of the stacker-reclaimer, and the judgment method is as follows:

[0059] Stacker-reclaimer operating index threshold The value range is [1,100]. When the stacker-reclaimer works normally, When the range is exceeded, the system generates a machine abnormality signal. And send it to the human-computer interaction module;

[0060] The human-machine interaction module receives the abnormal signal from the machine. When the stacker-reclaimer is turned on, the control parameter adjustment list of the stacker-reclaimer is displayed on the visual interface. The list includes all the working parameters of the stacker-reclaimer and is used to adjust the abnormal parameters of the stacker-reclaimer. The operator can set and adjust the parameters of the stacker-reclaimer on this visual interface. Based on the above series of operations, there is no need to stop the stacker-reclaimer, which reduces human intervention and improves the working efficiency of the stacker-reclaimer.

[0061] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic control system for a stacker-reclaimer, characterized in that: It includes sensor module, data analysis module, threshold determination module and human-computer interaction module; The sensor module is used to collect temperature data of the stacker-reclaimer , Humidity data of stacker-reclaimer , Stacker-reclaimer operating speed data , Power data of stacker-reclaimer , Stacker-reclaimer position data And the height data of the pile and transmit the collected data to the data analysis module via the network; The data analysis module is used to calculate the target material collection position based on the data transmitted by the sensor module. , the movement trajectory of the stacker-reclaimer , Power consumption of stacker-reclaimer , Standard operating temperature of stacker-reclaimer And the standard operating speed of the stacker-reclaimer , and the above numerical calculations are combined to calculate the normal working indicators of the stacker-reclaimer , and transmit the value to the threshold determination module; Target material picking position The calculation formula is as follows: In the formula, Indicates the target material fetching position, Indicates the current position of the stacker-reclaimer. Indicates the target position offset, represents the path planning correction, Represents the dynamic adjustment of the environment, where the target position offset, path planning correction and dynamic adjustment of the environment are all parameters calculated based on sensor data. , and It is a constant used to adjust the influence of various parameters on the target material picking position, which is set by the system; The movement trajectory of the stacker-reclaimer The calculation formula is as follows: In the formula, represents the motion trajectory of the stacker-reclaimer, Indicates the current position of the stacker-reclaimer. Indicates the target position of the stacker and reclaimer. Indicates the current time. Represents the total motion time of the machine. This formula describes a quadratic interpolation trajectory through time The position of the stacker-reclaimer at each moment is calculated based on the change of . This formula is used to control the stacker-reclaimer to move smoothly to the target position during the movement. Power consumption of stacker-reclaimer The calculation formula is as follows: In the formula, Indicates the power consumption of the stacker-reclaimer, Indicates the acceleration of the stacker-reclaimer operation. Indicates the quality of the stacker-reclaimer. Represents the friction coefficient. This formula describes that during the acceleration process, due to the influence of the mass and friction of the machine, additional power needs to be consumed to overcome inertia and friction to keep the stacker-reclaimer in an accelerated state. This formula is used to evaluate the amount of dynamic power loss during the acceleration process, helping to optimize the motion control strategy of the stacker-reclaimer, reduce energy consumption and improve motion efficiency. Standard operating temperature of stacker-reclaimer The calculation formula is as follows: In the formula, Indicates the standard operating temperature of the stacker-reclaimer. Indicates the external ambient temperature of the machine. Indicates the internal heat of the machine. Indicates the heat dissipation of the machine. Represents heat capacity. This formula takes into account the impact of the internal and external environment of the stacker-reclaimer on the operating temperature. The standard operating temperature of the stacker-reclaimer is determined by calculating the balance between internal heat generation, heat dissipation capacity and heat capacity. Standard operating speed of stacker-reclaimer The calculation formula is as follows: In the formula, Indicates the standard operating speed of the stacker-reclaimer. Indicates the power of the stacker-reclaimer, represents the friction coefficient, The acceleration of the stacker-reclaimer is expressed by the formula that combines the power, load, friction and acceleration required by the stacker-reclaimer on the standard operating speed. The standard operating speed of the stacker-reclaimer is determined by calculating the combined effect of these factors. Normal working index of stacker-reclaimer The calculation formula is as follows: In the formula, Indicates the normal working index of the stacker-reclaimer. represents the motion trajectory of the stacker-reclaimer, Indicates the standard operating speed of the stacker-reclaimer. Indicates the standard operating temperature of the stacker-reclaimer. This formula comprehensively considers the moving distance, power consumption, operating speed and operating temperature of the stacker-reclaimer during operation and is used to evaluate the normal operating performance of the stacker-reclaimer. The threshold determination module converts the normal working index of the stacker-reclaimer transmitted by the data analysis module into The stacker-reclaimer working index threshold set in the module Compare and judge the working status of the stacker and reclaimer, and generate abnormal machine working signal Send to human-computer interaction module; The human-machine interaction module receives a machine abnormality signal When the stacker-reclaimer is in operation, the control parameter adjustment list is displayed on the visual interface.

2. The automatic control system for a stacker and reclaimer according to claim 1, characterized in that: The threshold determination module converts the normal working index of the stacker-reclaimer transmitted by the data analysis module into The stacker-reclaimer working index threshold set in the module Compare and judge the working status of the stacker-reclaimer, and the judgment method is as follows: Stacker-reclaimer operating index threshold The value range is [1,100]. When the stacker-reclaimer works normally, When the range is exceeded, the system generates a machine abnormality signal. And send it to the human-computer interaction module.

3. The automatic control system for a stacker and reclaimer according to claim 2, characterized in that: The human-machine interaction module receives a machine abnormality signal When the stacker-reclaimer is in operation, the stacker-reclaimer control parameter adjustment list is displayed on the visual interface. The list includes all the working parameters of the stacker-reclaimer and is used for adjusting abnormal parameters of the stacker-reclaimer.

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