Coal increasing and decreasing method and system based on crane

Abstract

The invention discloses a coal increasing and decreasing method and system based on a crane, and the method comprises the steps: 1, measuring the load condition of a coal mine vehicle, and collecting the pose data of the coal mine vehicle and a material hump on the coal mine vehicle through a laser radar; 2, processing the collected pose data according to an extended Kalman filtering algorithm to obtain the pose states of the coal mine vehicle and the material humps on the coal mine vehicle; 3, constructing an occupation grid map according to the position and posture states of the coal mine vehicle and the material hump on the coal mine vehicle; 4, materials on the coal mine vehicle are processed through the hoist grab bucket portal crane according to the load condition of the coal mine vehicle and the occupied grid map. According to the method, the pose states of the coal mine vehicle and the materials on the coal mine vehicle are obtained through the extended Kalman filtering algorithm, and the occupied grid map is constructed according to the pose states of the coal mine vehicle and the materials, so that the hoist grab bucket portal crane can automatically increase and decrease the materials according to the occupied grid map.

Description

Technical Field

[0001] The present invention relates to the technical field of material transportation, and in particular to a coal increasing and decreasing method and system based on a crane. Background Art

[0002] When transporting coal mines, the weight of the transported coal materials is often inaccurate and does not meet the national approved weight for trucks on highways, so it is necessary to add or reduce materials to ensure that the coal mine vehicles meet the load requirements and do not cause overload or underload. The existing processing method is generally to manually add or reduce materials to ensure that the material weight is qualified, but manual addition and reduction of materials is slow and time-consuming, and it is not possible to efficiently perform material addition and reduction operations. Summary of the invention

[0003] In order to at least partially solve the problem of low efficiency in adding and reducing materials on coal mine vehicles, the present invention provides a crane-based coal adding and reducing method and system, which obtains the position and posture status of the coal mine vehicle and the materials on the coal mine vehicle through an extended Kalman filter algorithm, and constructs an occupancy grid map according to the position and posture status of the coal mine vehicle and the materials on the coal mine vehicle, so that the hoist grab gantry crane can add and reduce materials according to the occupancy grid map.

[0004] In order to achieve the above object, the technical solution of the present invention is: The first aspect of the present invention provides a method for increasing and decreasing coal based on a crane, comprising: Step 1: Measure the load condition of the coal mine vehicle, and collect the position data of the coal mine vehicle and the material hump on the coal mine vehicle through the laser radar, so as to obtain the position state of the coal mine vehicle and the material hump on the coal mine vehicle later; Step 2: Process the collected posture data according to the extended Kalman filter algorithm to obtain the posture states of the coal mine vehicle and the material hump on the coal mine vehicle, so as to facilitate the subsequent construction of the occupancy grid map; Step 3: construct an occupancy grid map according to the position states of the coal mine vehicle and the material hump on the coal mine vehicle, so as to facilitate the addition and reduction of materials according to the occupancy grid map; Step 4: Process the materials on the coal mine vehicle through the hoist grab gantry crane according to the coal mine vehicle load condition and occupancy grid map.

[0005] Furthermore, the step 2 specifically includes: Inputting the position data of the coal mining vehicle and the material hump on the coal mining vehicle into the model of the extended Kalman filter algorithm; The model of the extended Kalman filter algorithm is predicted and updated to obtain an updated posture state, which is used to represent the posture state of the coal mine vehicle and the material hump on the coal mine vehicle; The updated posture state is repeatedly predicted and updated to obtain the final posture state, and the final posture state is used as the posture state of the coal mine vehicle and the hump of materials on the coal mine vehicle, so as to obtain the accurate posture state of the coal mine vehicle and the materials on the coal mine vehicle.

[0006] Furthermore, the model of the extended Kalman filter algorithm is expressed by the following formula: Among them, is the posture state at time k, is the nonlinear state function, is the control input when k is and are different zero means, is the observation vector, is the observation function; The covariance matrix of the predicted pose state and pose state vector is expressed as follows: in, is the posture state after predicting k times, is the Taylor expansion of the nonlinear state function, is the covariance matrix of the pose state vector after prediction k, is the covariance matrix of the pose state vector at time k after update, is the Jacobian matrix of the nonlinear state function, The transpose of , Q is the noise covariance; The covariance matrix of the updated pose state and pose state vector is expressed as follows: in, is the Kalman gain, is the Jacobian matrix of the observation function, is the covariance matrix of the measured values, is the pose state at time k after the update. Furthermore, the step three specifically includes: Constructing a grid map based on the environment around the coal mining vehicle under the hoist grab gantry crane for preliminary construction of an occupancy grid map; Determine the state of the grid in the grid map according to the position state of the coal mining vehicle and the material hump on the coal mining vehicle, so as to determine whether the grid is occupied; Complete the occupancy grid map construction based on the state of the grid.

[0007] Furthermore, the state of the grid is expressed by the following formula: in, To measure the grid status, To measure the front grid state, Model for measurements of the grid's idle state.

[0008] Furthermore, step four specifically includes: Determine the weight of materials on the coal mine vehicle according to the load condition of the coal mine vehicle, and determine whether the weight of materials on the coal mine vehicle is qualified; If the weight of the material is overloaded, the main grab of the hoist grab gantry crane is controlled according to the grid map to initially unload the material on the coal mine vehicle, and then the quantitative grab of the hoist grab gantry crane is used to perform secondary processing on the material on the coal mine vehicle according to the weight of the material, so that the weight of the material on the coal mine vehicle is qualified; If the material weight is underloaded, the main grab of the hoist grab gantry crane is controlled to load the material on the coal mine vehicle according to the occupied grid map. Then, the quantitative grab of the hoist grab gantry crane is used to perform secondary processing on the material on the coal mine vehicle according to the material weight to make the material weight on the coal mine vehicle qualified.

[0009] Furthermore, the material on the coal mine vehicle is then secondary processed using the quantitative grab of the hoist grab gantry crane according to the weight of the material, specifically including: quantitatively increasing or decreasing the material on the coal mine vehicle and eliminating the material hump on the coal mine vehicle to facilitate transportation of the coal mine vehicle.

[0010] The second aspect of the present invention provides a crane-based coal increasing and decreasing system, comprising: The collection module is used to measure the load condition of the coal mine vehicle, and collect the position data of the coal mine vehicle and the material hump on the coal mine vehicle through the laser radar, so as to obtain the position state of the coal mine vehicle and the material hump on the coal mine vehicle later; The posture module is used to process the collected posture data according to the extended Kalman filter algorithm to obtain the posture state of the coal mine vehicle and the material hump on the coal mine vehicle, so as to facilitate the subsequent construction of the occupancy grid map; The occupancy grid map module is used to construct an occupancy grid map according to the posture state of the coal mine vehicle and the material hump on the coal mine vehicle, so as to facilitate the addition and removal of materials according to the occupancy grid map; Processing module for handling materials on coal mine vehicles through hoist grab gantry crane according to coal mine vehicle load conditions and occupancy grid map The third aspect of the present invention proposes a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, a crane-based coal increase and decrease method as described in the first aspect above is implemented.

[0011] A fourth aspect of the present invention provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the storage medium is located is controlled to execute a crane-based coal increase and decrease method as described in the first aspect above.

[0012] Beneficial effects of the present invention: (1) The present invention proposes a method for increasing and decreasing coal based on a crane, which can control the main grab and quantitative grab of the hoist grab gantry crane to automatically increase and decrease the materials of the coal mine vehicle and eliminate the hump of the material. No manual operation is required throughout the process, which saves manpower and improves the efficiency of increasing and decreasing materials.

[0013] (2) The present invention repeatedly predicts and updates the posture data obtained by the laser radar through the extended Kalman filter algorithm until the final posture state of the material hump on the mining vehicle and the coal mining vehicle is obtained, thereby ensuring the accuracy of positioning and facilitating the processing of materials.

[0014] (3) The present invention first constructs a grid map of the surrounding environment of the coal mine vehicle, and then obtains the state of each grid according to the posture state of the mine vehicle and the material hump on the coal mine vehicle obtained by the extended Kalman filter algorithm, completing the construction of the occupied grid map. It can accurately display the state of the coal mine vehicle and the material on the coal mine vehicle, and facilitate the hoist grab gantry crane to increase or decrease the material through the main grab and the quantitative grab, as well as eliminate the material hump. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A flow chart of a crane-based coal increasing and decreasing method provided in an embodiment of the present invention.

[0016] Figure 2 A flow chart of material processing provided by an embodiment of the present invention.

[0017] Figure 3 A schematic diagram of a laser radar configuration provided in an embodiment of the present invention.

[0018] Figure 4 A schematic diagram of setting an effective area for vehicle positioning in a coal mine provided by an embodiment of the present invention.

[0019] Figure 5 A schematic diagram of laser radar detection provided by an embodiment of the present invention.

[0020] Figure 6 A schematic diagram of a laser radar detection setup provided in an embodiment of the present invention.

[0021] Figure 7 A schematic diagram of a laser radar detection area provided in an embodiment of the present invention.

[0022] Figure 8 A schematic diagram of material hump detection provided in an embodiment of the present invention.

[0023] Fig. 9 A schematic diagram of a hoist grab gantry crane provided in an embodiment of the present invention.

[0024] Fig.10 A schematic diagram of a warehousing system provided in an embodiment of the present invention.

[0025] Fig.11 An architectural diagram of a crane-based coal increasing and decreasing system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution in the embodiment of the present invention will be clearly described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all 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.

[0027] Example 1 like Figure 1 As shown, a method for increasing and decreasing coal based on a crane comprises: S101: Measure the load condition of the coal mine vehicle, and collect the position data of the coal mine vehicle and the material hump on the coal mine vehicle through the laser radar.

[0028] S102: Processing the collected posture data according to the extended Kalman filter algorithm to obtain the posture states of the coal mine vehicle and the material hump on the coal mine vehicle.

[0029] S103: constructing an occupancy grid map according to the position states of the coal mine vehicle and the material hump on the coal mine vehicle.

[0030] S104: Processing materials on the coal mine vehicle through a hoist grab gantry crane according to the coal mine vehicle load condition and the occupied grid map.

[0031] The present invention collects the position data of the coal mine vehicle and the material hump on the coal mine vehicle through the laser radar, and then obtains the position state of the coal mine vehicle and the material hump on the coal mine vehicle through the extended Kalman filter algorithm, so as to accurately locate them. According to the position state of the coal mine vehicle and the material hump on the coal mine vehicle, an occupation grid map is constructed to guide the hoist grab gantry crane to increase or decrease the material. The present invention can achieve a high degree of intelligence and realize unattended increase or decrease of materials. The weighing deviation can be controlled within ±1%, which is suitable for ground and coal mine transportation with coal dust, and the ambient temperature is between -25 and 60°C.

[0032] Example 2 Based on the above embodiments, Figure 2 As shown, the embodiment of the present invention provides a specific process of a method for increasing and decreasing coal based on a crane, and the specific process is as follows: S201: Measure the load condition of the coal mine vehicle, and collect the position data of the coal mine vehicle and the material hump on the coal mine vehicle through the laser radar.

[0033] Specifically, the coal mine vehicle is driven to the weighing scale for weighing, and then the coal mine vehicle is driven under the hoist grab gantry crane, and the laser radar scans it to obtain the position data of the coal mine vehicle and the material hump on the coal mine vehicle.

[0034] LiDAR level scanner is suitable for working environment with explosive gas such as gas and coal dust, and its explosion-proof mark is "Exib I Mb". LiDAR level scanner is based on frequency modulated continuous wave (FMCW) radar level measurement technology and adopts a proprietary radar beam scanning solution to achieve multi-point scanning and 3D imaging of materials.

[0035] The laser radar level scanner can be installed on various types of material bins to scan the materials in the material compartment with an electromagnetic beam. The multi-point scanning data is uploaded to the computer through the RS485 data interface. After calculation by the imaging software algorithm, a 3D image of the material in the bin is reproduced, and information such as the highest point of the material is obtained.

[0036] For some occasions that do not require imaging display, the specific information of the materials that the user is concerned about can be transmitted to the industrial control system through the embedded software calculation of the lidar level scanner itself.

[0037] The laser radar level scanner uses a high-frequency circuit to generate electromagnetic waves with a specific modulation frequency (FMCW), and sends electromagnetic waves through the antenna and receives electromagnetic waves reflected from the target. According to the frequency phase difference between the sent and received electromagnetic waves, the height of the target point is obtained. High-frequency electromagnetic waves have good measurement effects in some harsh working conditions such as strong dust, foam, water vapor, crystallization, and spraying.

[0038] The LiDAR level scanner uses a proprietary electromagnetic beam scanning solution to obtain the three-dimensional coordinate information of the current scanning position. After summarizing all scanning points within a scanning cycle, the imaging algorithm calculates and fits them to accurately restore the material level shape.

[0039] like Figure 3 As shown in the figure, the position of the laser radar in the XYZ coordinate system, including the X, Y, Z size and rotation angle settings (X, Y, Z, AngleAAngleB, AngleC). The position of the laser radar is set by the laser radar origin coordinates and Euler angles.

[0040] Preferably, vehicles are required to reverse into the designated location by means of signboards, designated parking spaces, and specified vehicle directions, and the effective area for positioning coal mine vehicles is determined by a rectangular parallelepiped in a space, such as Figure 4 shown.

[0041] like Figure 5 As shown, the edge of the coal mine vehicle compartment is detected by the laser radar. Specifically, the parameters of the laser radar in the coal mine vehicle compartment area are set, and the laser compartment positioning function of each line of the 16-line or single-line laser radar can be set to be disabled, such as Figure 6 As shown. The position judgment of each coal mine vehicle line is composed of 4 2D space areas (east area 1, west area 2, south area 3, north area 4), all of which are composed of rectangular blocks, such as Figure 7 shown.

[0042] The set XY coordinates and length and width settings of the left area 1 (X1, Y1, XW1, YH1, Y / N1). Y / N1 is the AND and non-AND relationship with the carriage area and the right area. Real-time display of the actual X coordinate offset (XX1), XX1 is sent by the external PLC. The actual X coordinate of the left area = set X1 coordinate + offset XX1. (Offset XX1 is the same for other threads in 16 threads) The XY coordinates and length and width settings of the left area 2 (X2, Y2, XW2, YH2, Y / N2). Y / N is the same as above. Offset (XX1).

[0043] The XY coordinates and length and width settings of the right area 3 (X3, Y3, XW3, YH3, Y / N3). Y / N is the same as above. Offset (XX1).

[0044] The XY coordinates and length and width settings of the right area 4 (X4, Y4, XW4, YH4, Y / N4). Y / N is the same as above. Offset (XX1).

[0045] Confirm that the coal mine vehicle has arrived at the position under the hoist grab gantry crane, and output the coal mine vehicle compartment arrival signal.

[0046] Preferably, the area that can be selected by the laser radar is set to avoid the area of ​​the vehicle's cockpit. For example, the standard parking space is 12.5m×2.5m×4.2m. When the coal mine vehicle is reversed into the warehouse according to regulations, the laser radar captures the 10m×2m plane area that can be grabbed, excluding the position of the cab, to prevent the grab from accidentally touching the cab.

[0047] When the conditions are met in area 1, area 2, area 3 and area 4, the coal mine vehicle arrival signal (C1) is output. The coal mine vehicle arrival signal C1=[ <y n1>(Area 1 has a laser dot)]&[ <y n2>(Area 2 has a laser dot)]&[ <y n3>(There is a laser spot in area 3)]. The total number of vehicles in the coal mine in place C = C1&C2&∙∙∙∙∙∙∙∙&C16.

[0048] Specifically, the position of the coal mine vehicle is determined by scanning the special value points of the coal mine vehicle position in each line of the laser radar in 2D, scanning the front and rear gap areas and the carriage body, and a total of four areas (area 1, area 2, area 3, area 4) to determine the position of the coal mine vehicle, and realize the determination of the carriage position. When there are no / detection points in area 1, area 2, area 3, and area 4 (more than 3 points are considered as laser points), according to the AND-NOT logic, the coal mine vehicle is output at the loading position confirmation signal.

[0049] For example: When Y / N is checked as valid, it is the opposite of the previous one. The location of the coal mine vehicle is as follows: (!Area 1) & (!Area 2) & (!Area 3) & (!Area 4) ——> The coal mine vehicle is at the set position.

[0050] The shapes of area 1, area 2, area 3, and area 4 are all rectangular, and their coordinate positions relative to the laser radar and their length, width, and inversion can all be set.

[0051] Set the laser radar parameters for material hump detection. The 16-line radar and single-line radar can detect the highest point of the material hump in the carriage (B1, B2, B3, B4...). Assume that the material level detection consists of three 3-line components, such as Figure 8 As shown, the first surface line is the first detected curling arc surface line D1, the second surface line is the second curved surface line D2, and the third surface line is the third detected curling arc surface line D3. The heights of the three points on the Z axis are D2>D1>D3.

[0052] Specifically, the XYZ coordinates and shape parameters of curve 1 are (X1, Y1, Z1, W1, P1, H1, Angle1).

[0053] XYZ coordinates and shape parameters of surface line 2 (X2, Y2, Z2, W2, P2, H2, Angle2).

[0054] XYZ coordinates and shape parameters of surface line 3 (X3, Y3, Z3, W3, P3, H3, Angle3).

[0055] The front and rear edge X-coordinate position parameter setting values ​​(F1, F2) are based on the edge position of the coal mine vehicle, that is, the position of the carriage body, to avoid mis-grabbing by the grab bucket.

[0056] The XYZ coordinates and shape parameters of the 3n lines D1, D2, D3... are extracted by the PLC. When the three coordinates are obtained, the crane is controlled to move and the grab bucket is grasped. The grasping priority refers to the Z-axis coordinate parameter: D2>D1>D3.

[0057] S202: Processing the collected posture data according to the extended Kalman filter algorithm to obtain the posture states of the coal mine vehicle and the material hump on the coal mine vehicle.

[0058] Specifically, the Extended Kalman Filter (EKF) algorithm mainly includes two parts: prediction and update. The Extended Kalman Filter algorithm must first transform the nonlinear model into a linear model. During the transformation, the first-order Taylor expansion method is first used for the nonlinear model, and then the Kalman filter algorithm is used during the filtering calculation. The Extended Kalman Filter successfully completes the tracking problem of nonlinear targets through transformation.

[0059] The position data of the coal mine vehicle and the material hump on the coal mine vehicle are input into the model of the extended Kalman filter algorithm. The model of the extended Kalman filter algorithm is expressed by the following formula: in, is the posture state at time k, is the nonlinear state function, is the control input when k is and are different zero means, is the observation vector, is the observation function.

[0060] Then, the model of the extended Kalman filter algorithm is predicted according to the posture state at time k. The prediction formula of the extended Kalman filter includes the state vector equation and the state vector covariance equation. The state vector of the prediction part is expressed by the following formula: in, is the posture state after predicting k times, is the Taylor expansion of the nonlinear state function.

[0061] The state vector covariance of the prediction part is expressed as follows: in, is the covariance matrix of the pose state vector after prediction k, is the covariance matrix of the pose state vector at time k after update, is the Jacobian matrix of the nonlinear state function, for is the transpose of , and Q is the noise covariance.

[0062] After that, the Kalman gain needs to be calculated to update the subsequent prediction part. The measurement value covariance matrix R in the Kalman gain is related to the sensor performance and will not change over time. However, in actual applications, the measurement value covariance matrix R will change due to environmental interference. Therefore, after obtaining the measurement value covariance matrix R, the Kalman gain is calculated based on the state vector covariance of the prediction part at time k. The Kalman gain is expressed as follows: in, is the Kalman gain, is the Jacobian matrix of the observation function, for is the transpose of , and R is the measurement covariance matrix.

[0063] The state equation of the updated part is obtained by the Kalman gain, and the updated posture state is expressed by the following formula: in, is the pose state at time k after the update.

[0064] The updated pose state vector covariance is expressed as follows: The updated posture state is repeatedly predicted and updated to obtain a final posture state, and the final posture state is used as the posture state of the coal mine vehicle and the material hump on the coal mine vehicle.

[0065] S203: Constructing an occupancy grid map according to the position states of the coal mine vehicle and the material hump on the coal mine vehicle.

[0066] Specifically, a grid map is constructed based on the environment around the coal mining vehicle under the hoist grab gantry crane. The grid map is to divide a certain range of places into multiple grids of equal size, each grid containing one or more different grids. The advantage of this method is that it is easy to establish and maintain as much information as possible in the environment, and with the help of this method, the coal mining vehicle and the materials on the coal mining vehicle are located and planned.

[0067] The state of the grid in the grid map is determined according to the position states of the coal mine vehicle and the material hump on the coal mine vehicle.

[0068] Specifically, for each grid, the probability of the idle state and the probability of the occupied state add up to 1. However, it is not appropriate to use two values ​​to represent the state of a grid, so the ratio of the two is introduced to represent the state of the grid. The state of the grid is expressed by the following formula: in, is the state of the grid, is the probability of the idle state, is the probability of occupying the state.

[0069] Assuming that the state of the grid when the data collected by the lidar is not considered is recorded as odd(s), the state of the grid updated when the data collected by the lidar is considered is: in, is the state of the grid under the condition that there is or is not a coal mining vehicle or material on this grid, When z is 0, it means there are coal mining vehicles or materials on this grid; when z is 1, it means there are no coal mining vehicles or materials on this grid.

[0070] According to the Bayesian formula and After processing, we obtain the following two probability equations: where is the probability that the grid is idle when there is or is not a coal mining vehicle or material on the grid, This is the probability that the grid is occupied when there is or is not a coal mining vehicle or material on the grid. This is the probability of the presence or absence of a coal mining vehicle or material on this grid.

[0071] Substituting the two probability equations obtained from the Bayesian formula into the state equation that will update the grid when considering the data collected by the lidar, the following state formula is obtained: Take the logarithm of both sides of the state formula and use log Odd(s) to represent the state of a single grid. The state of a single grid is represented by the following formula: in, For the model of measured values, there are two states: idle and occupied.

[0072] The model for the measured value of the grid idle state is expressed as follows: in, Model for measurements of the grid's idle state.

[0073] A model that expresses the measured values ​​of the grid occupancy state as follows: in, Model for measurements of grid occupancy state.

[0074] At this time, if log Odd(s) is used to express the state of the grid, the state of the grid is expressed by the following formula: in, is the state before LiDAR measurement, It is the state before LiDAR measurement.

[0075] In addition, the default probabilities of the grid idle state and grid occupied state are both 0.5, so the initial value state of a grid is: in, The initial value state of a grid.

[0076] The final state of a grid is updated by simply adding. The state of the grid is expressed by the following formula: or At this time, the number of grid states The larger the value, the greater the probability of being occupied. The occupation grid map is constructed based on the state value of the grid.

[0077] S204: Processing materials on the coal mine vehicle through a hoist grab gantry crane according to the coal mine vehicle load condition and the occupied grid map.

[0078] Specifically, the present invention includes a storage system and an electrical control system in addition to a hoist grab gantry crane when adding or reducing materials. The hoist grab gantry crane is used in conjunction with a weighing scale and performs data exchange, which can realize intelligent automation of the increase or decrease of the weight difference of the transport vehicle. The hoist grab gantry crane is mainly composed of a main beam, outriggers, an electric hoist, an electric grab, a slewing device, etc. Fig. 9 As shown, its main parameters are as follows: 1. Lifting capacity: 2 / 0.2 tons (grab bucket + total weight of materials) 2. Grab bucket capacity: 0.75 / 0.1m 3 3. Opening and closing mode: electric hoist opening and closing 4. Lifting speed: 8m / min 5. Hoist running speed: 20m / min 6. Trolley running speed: 20m / min 7. Lifting height: 6000mm 8. Work level: A5 The storage system is installed beside the hoist grab gantry crane. It is mainly used for material storage and can calculate the weight of loaded or unloaded materials through the weighing system on the storage system. Fig.10 As shown, the specific parameters are as follows: 1. Storage volume: 5m³ 2. Storage diameter: φ2500mm 3. Weighing system accuracy: 1% 4. Main material of storage: Q355B 5. Storage warehouse dust removal system: bag pulse dust removal The function of the electrical control system is to determine whether the coal mine vehicle is overloaded or underloaded based on the data fed back by the weighing scale. When these two situations occur, the control system makes logical judgments based on the data fed back by the weighing scale and the data fed back by the vehicle position, and generates operation instructions to control the main grab and quantitative grab to automatically increase or decrease the difference of the transport vehicle, automatically solving the overload and underload problems of the transport vehicle, so as to realize intelligent and unmanned operation of coal material loading and unloading. The electrical control system includes: Siemens SIMATIC S7-1200 controller, which is the control center of the electrical control system, has powerful data processing capabilities and high reliability, can adapt to harsh working environments, and can quickly perform complex calculations and task scheduling. It can expand multiple I / O modules and communication modules and can be flexibly configured according to needs.

[0079] The communication system is used to exchange data with other system modules and provide communication interfaces for the control system. These interfaces include serial communication, Ethernet, etc. to ensure real-time transmission of information and coordinated operation of the system.

[0080] Human-machine interface: As an internal component of the control center, the human-machine interface (HMI) is a bridge for operators to communicate with the control system. It can provide a visual display of the system status and allow operators to intervene or adjust when necessary.

[0081] The transmission control of the grab crane consists of three transmission shafts. The transmission of the three shafts forms a closed-loop control through the frequency converter and motor encoder, supplemented by a visual monitoring system for precise positioning and intelligent grabbing.

[0082] The specific configuration list is shown in Table 1: Table 1: Electrical control system configuration list Serial number Component Name Component Model Number of components 1 CPU 1215C 6ES7215-1BG40-0XB0 1 2 CM 1241 6ES7241-1CH32-0XB0 1 3 Miniature circuit breakers 5SY6 2P C25A 1 4 Miniature circuit breakers 5SY6 2P C10A 2 5 Miniature circuit breakers 5SY6 2P C6A 3 6 Miniature circuit breakers 5SY6 1P C6A 3 7 Switching Power Supply 6EP1333-2BA01 1 8 touchscreen TPC1570Gi 1 9 switch UT-62206SM-SC 1 10 Intermediate relay DRM270024LT+FS2COECO 25 11 Thermostat AK30 1 12 terminal SAKDU2.5N 150 13 Molded case switch 3VM1M400 5 14 Frequency Converter SIEMENS S120 5 15 Encoder BRT38-R0 M 4096 D150-DC24 5 When the weighing scale feedbacks that the coal mine vehicle is overloaded or underloaded, the electrical control system controls the hoist grab gantry crane to add and unload bulk materials such as coal. Its work is divided into the following two situations: When the weighing scale weighs the vehicle and feeds back the overloaded materials, the weighing scale prompts that the vehicle is overloaded and needs to be unloaded. The coal mine vehicle drives under the hoist grab gantry crane and selects the grab bucket for unloading according to the overload weight. If the overload weight is too small, the quantitative grab bucket (the quantitative grab bucket has a lifting capacity of 200kg and a grabbing capacity of about 100kg) is used to unload the materials. If the overload weight is too large, the main grab bucket (grabbing weight of about 1 ton) of the hoist grab gantry crane is used for unloading. The main grab bucket grabs the grid representing the material according to the grid map, grabs the material on the coal mine vehicle, performs preliminary processing, and unloads the material into the storage system around the hoist grab gantry crane. At the same time, the weighing system in the storage system weighs the material grabbed by the main grab bucket. When the unloaded material just reaches the device quantity requirement, the main grab bucket stops working. If the weighing system measures that the unloading weight exceeds or is less than the required unloading amount, the quantitative grab bucket is started for secondary processing to make up the difference. When unloading materials, the hump of the materials is grabbed first to eliminate the hump of the materials and facilitate the subsequent transportation of coal mine vehicles.

[0083] When the weighing data from the scale indicates that the vehicle is underloaded: the weighing scale prompts that the vehicle is underloaded and material replenishment is required. When the coal mine vehicle drives under the hoist grab gantry crane, the hoist grab gantry crane makes a judgment based on the underload amount. When the underload amount is greater than the rated grab capacity of the main grab, the main grab is first used to grab the material in the storage bin, and the material is unloaded into the idle grid on the coal mine vehicle. The material is then replenished into the vehicle until the underload amount is less than the rated grab capacity of the main grab. The quantitative grab is then started to replenish the weight to make up the difference. When replenishing materials, the main grab and the quantitative grab are controlled to first eliminate the original material hump and then evenly add the material to prevent the formation of a hump on the coal mine vehicle.

[0084] Example 3 Corresponding to the above method, such as Fig.11 As shown, the present invention proposes a crane-based coal increasing and decreasing system, comprising: The collection module is used to measure the load of coal mine vehicles and collect the position data of coal mine vehicles and material humps on coal mine vehicles through laser radar; A posture module is used to process the collected posture data according to the extended Kalman filter algorithm to obtain the posture state of the coal mine vehicle and the material hump on the coal mine vehicle; An occupancy grid map module is used to construct an occupancy grid map according to the posture states of the coal mine vehicle and the material hump on the coal mine vehicle; The processing module is used to process the materials on the coal mine vehicle through the hoist grab gantry crane according to the coal mine vehicle load condition and the occupancy grid map.

[0085] It should be noted that the crane-based coal increasing and decreasing system provided in the embodiment of the present invention is for realizing the above-mentioned crane-based coal increasing and decreasing method. Its specific functions can be referred to the above-mentioned method embodiments, which will not be repeated here.

[0086] Example 4 Based on the above embodiments, an embodiment of the present invention further provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, a crane-based coal increasing and decreasing method in the above embodiments is implemented.

[0087] Preferably, the present invention also provides a computer-readable storage medium, the storage medium comprising a stored computer program, wherein when the computer program is running, the device where the storage medium is located is controlled to execute a coal increasing and decreasing method based on a crane in the above-mentioned embodiment.

[0088] In summary, the present invention proposes a method for increasing and decreasing coal based on a crane, which can control the main grab and quantitative grab of the hoist grab gantry crane to automatically increase and decrease the materials of the coal mine vehicle and eliminate the hump of the material. No manual operation is required throughout the process, which saves manpower and improves the efficiency of increasing and decreasing the material. The present invention repeatedly predicts and updates the posture data obtained by the laser radar through the extended Kalman filter algorithm until the final posture state of the mine vehicle and the material hump on the coal mine vehicle is obtained, which ensures the accuracy of positioning and facilitates the processing of materials. The present invention first constructs a grid map of the surrounding environment of the coal mine vehicle, and then obtains the state of each grid according to the posture state of the mine vehicle and the material hump on the coal mine vehicle obtained by the extended Kalman filter algorithm, completes the construction of the occupied grid map, and can accurately display the state of the coal mine vehicle and the material on the coal mine vehicle, which is convenient for the hoist grab gantry crane to increase and decrease the material through the main grab and quantitative grab, and eliminate the material hump.

[0089] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.< / y> < / y> < / y>

Claims

1. A method for increasing and decreasing coal based on a crane, characterized in that: include: Step 1: Measure the load of the coal mine vehicle and collect the position data of the coal mine vehicle and the material hump on the coal mine vehicle through the laser radar; Step 2: Processing the collected posture data according to the extended Kalman filter algorithm to obtain the posture states of the coal mine vehicle and the material hump on the coal mine vehicle; Step 3: construct an occupancy grid map according to the posture states of the coal mine vehicle and the material hump on the coal mine vehicle; Step 4: Process the materials on the coal mine vehicle through the hoist grab gantry crane according to the coal mine vehicle load condition and occupancy grid map.

2. A method for increasing and decreasing coal based on a crane according to claim 1, characterized in that: The step 2 specifically includes: Inputting the position data of the coal mining vehicle and the material hump on the coal mining vehicle into the model of the extended Kalman filter algorithm; Predict and update the model of the extended Kalman filter algorithm to obtain the updated posture state; The updated posture state is repeatedly predicted and updated to obtain a final posture state, and the final posture state is used as the posture state of the coal mine vehicle and the material hump on the coal mine vehicle.

3. A method for increasing and decreasing coal based on a crane according to claim 2, characterized in that: The model of the extended Kalman filter algorithm is expressed by the following formula: ； in, is the posture state at time k, is the nonlinear state function, is the control input when k is and are different zero means, is the observation vector, is the observation function; The covariance matrix of the predicted pose state and pose state vector is expressed as follows: ； ； in, is the posture state after predicting k times, is the Taylor expansion of the nonlinear state function, is the covariance matrix of the pose state vector after prediction k, is the covariance matrix of the pose state vector at time k after update, is the Jacobian matrix of the nonlinear state function, for The transpose of , Q is the noise covariance; The covariance matrix of the updated pose state and pose state vector is expressed as follows: ； ； in, is the Kalman gain, is the Jacobian matrix of the observation function, is the covariance matrix of the measured values, is the pose state at time k after the update.

4. A method for increasing and decreasing coal based on a crane according to claim 1, characterized in that: The step three specifically includes: Construct a grid map based on the environment around the coal mining vehicle under the hoist grab gantry crane; Determine the state of the grid in the grid map according to the position state of the coal mine vehicle and the material hump on the coal mine vehicle; Complete the occupancy grid map construction based on the state of the grid.

5. A method for increasing and decreasing coal based on a crane according to claim 4, characterized in that: The state of the grid is expressed by the following formula: ； in, To measure the grid status, To measure the front grid state, Model for measurements of the grid's idle state.

6. A method for increasing and decreasing coal based on a crane according to claim 1, characterized in that: Step 4 specifically includes: Determine the weight of materials on the coal mine vehicle based on the coal mine vehicle load conditions; If the weight of the material is overloaded, the main grab of the hoist grab gantry crane is controlled according to the grid map to initially unload the material on the coal mine vehicle, and then the quantitative grab of the hoist grab gantry crane is used to perform secondary processing on the material on the coal mine vehicle according to the weight of the material, so that the weight of the material on the coal mine vehicle is qualified; If the material weight is underloaded, the main grab of the hoist grab gantry crane is controlled to load the material on the coal mine vehicle according to the occupied grid map. Then, the quantitative grab of the hoist grab gantry crane is used to perform secondary processing on the material on the coal mine vehicle according to the material weight to make the material weight on the coal mine vehicle qualified.

7. A method for increasing and decreasing coal based on a crane according to claim 6, characterized in that: Afterwards, the material on the coal mine vehicle is secondary processed using the quantitative grab of the hoist grab gantry crane according to the weight of the material, specifically including: quantitatively increasing or decreasing the material on the coal mine vehicle and eliminating the material hump on the coal mine vehicle.

8. A coal increasing and decreasing system based on a crane, characterized in that: include: The collection module is used to measure the load of coal mine vehicles and collect the position data of coal mine vehicles and material humps on coal mine vehicles through laser radar; A posture module is used to process the collected posture data according to the extended Kalman filter algorithm to obtain the posture state of the coal mine vehicle and the material hump on the coal mine vehicle; An occupancy grid map module is used to construct an occupancy grid map according to the posture states of the coal mine vehicle and the material hump on the coal mine vehicle; The processing module is used to process the materials on the coal mine vehicle through the hoist grab gantry crane according to the coal mine vehicle load condition and the occupancy grid map.

9. A terminal device, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, a crane-based coal increasing and decreasing method as claimed in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The storage medium includes a stored computer program, wherein when the computer program is executed, the device where the storage medium is located is controlled to execute a coal increasing and decreasing method based on a crane as described in any one of claims 1 to 7.

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