Material taking machine alignment method, device, equipment, medium and product

Abstract

The invention relates to the technical field of material taking machine alignment, in particular to a material taking machine alignment method and device, equipment, a medium and a product. The space rectangular coordinates of the maintenance position are converted to an alignment target of a material taking machine coordinate system; judging whether the alignment target belongs to a reachable position interval or not; when the alignment target belongs to the reachable position interval, a material taking machine is controlled to align the alignment target; by judging whether the alignment target belongs to the reachable position interval or not, the risk that the material taking machine collides with the coal stack and the adjacent single machine in the alignment process is effectively avoided, and the safety of the maintenance process is improved.

Description

Technical Field

[0001] The invention relates to the technical field of reclaimer alignment, and in particular to a reclaimer alignment method, device, equipment, medium and product. Background Art

[0002] During the maintenance of the bucket wheel body, suspension skin, etc., the maintenance personnel need to direct the operator on site to align the reclaimer to a suitable position to avoid the influence of the long strip material piles on both sides or the operation of adjacent single machines, resulting in low maintenance efficiency. If the communication is not smooth, the reclaimer may collide with the coal pile or adjacent single machine, which will have a serious impact on production and equipment. There is a technical problem of low reclaimer alignment efficiency in this field. Summary of the invention

[0003] The invention provides a reclaimer alignment method, device, equipment, medium and product, which solve the technical problem of low reclaimer alignment efficiency.

[0004] In a first aspect, the present invention provides a method for positioning a material grabber, the method comprising: acquiring the spatial rectangular coordinates of a maintenance position; converting the spatial rectangular coordinates of the maintenance position into an alignment target of a coordinate system of the material grabber; determining whether the alignment target belongs to a reachable position interval; when the alignment target belongs to the reachable position interval, controlling the material grabber to align the alignment target.

[0005] In some embodiments, the method further includes: when the alignment target does not belong to the reachable position interval, recalibrating the maintenance position.

[0006] In some embodiments, the step of converting the spatial rectangular coordinates of the maintenance position to the alignment target of the material reclaimer coordinate system includes: obtaining the process parameters of the material reclaimer; based on the process parameters of the material reclaimer and the spatial rectangular coordinates of the maintenance position, converting the spatial rectangular coordinates of the maintenance position into the walking displacement, rotation angle and / or pitch angle of the material reclaimer.

[0007] In some embodiments, the step of determining whether the alignment target belongs to a reachable position interval includes: determining whether the alignment target belongs to a reachable position interval based on a safe position interval of a walking, slewing and pitching mechanism and an adjacent single-machine safe position anti-collision detection.

[0008] In some embodiments, when the alignment target belongs to the reachable position interval, the step of controlling the material grabber to align the alignment target includes: determining whether the alignment target belongs to the free operating position interval; when the alignment target belongs to the free operating position interval, controlling the material grabber to align the alignment target.

[0009] In some embodiments, when the alignment target belongs to the free operating position interval, the step of controlling the material reclaimer to align the alignment target includes: obtaining the self-inspection status of the material reclaimer; when the self-inspection status of the material reclaimer is normal, controlling the material reclaimer to align the alignment target.

[0010] In the second aspect, the present invention provides a grabber alignment device, the device comprising: a spatial coordinate acquisition module, used to acquire the spatial rectangular coordinates of the maintenance position; a grabber coordinate conversion module, used to convert the spatial rectangular coordinates of the maintenance position to an alignment target of the grabber coordinate system; a judgment module, used to judge whether the alignment target belongs to a reachable position interval; and an alignment module, used to control the grabber to align the alignment target when the alignment target belongs to the reachable position interval.

[0011] In a third aspect, the present invention provides a computer device, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of any of the above-mentioned material reclaimer alignment methods.

[0012] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the above-mentioned methods for positioning a reclaimer.

[0013] In a fifth aspect, the present invention provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of any of the above-mentioned methods for positioning a reclaimer.

[0014] The present invention provides a method, device, equipment, medium and product for reclaimer alignment, wherein the method comprises: acquiring the spatial rectangular coordinates of the maintenance position; converting the spatial rectangular coordinates of the maintenance position into an alignment target of the reclaimer coordinate system; judging whether the alignment target belongs to a reachable position interval; when the alignment target belongs to the reachable position interval, controlling the reclaimer to align the alignment target; by judging whether the alignment target belongs to the reachable position interval, the risk of the reclaimer colliding with the coal pile or an adjacent single machine during the alignment process is effectively avoided, thereby improving the safety of the maintenance process. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention will be described in more detail below based on embodiments and with reference to the accompanying drawings:

[0016] Figure 1 It is a schematic flow chart of a reclaimer alignment method provided in an embodiment of the present application;

[0017] Figure 2 It is a structural schematic diagram of a reclaimer alignment device provided in an embodiment of the present application;

[0018] Figure 3This is a schematic diagram of a reclaimer aligned to a maintenance position provided in an embodiment of the present application;

[0019] Figure 4 It is a structural schematic diagram of an automatic alignment device for a reclaimer provided in an embodiment of the present application;

[0020] Figure 5 This is a schematic diagram of the installation of an automatic alignment device for a reclaimer provided in an embodiment of the present application;

[0021] Figure 6 This is a schematic diagram of an automatic alignment control process of a reclaimer provided in an embodiment of the present application;

[0022] Figure 7 It is a schematic diagram of converting a reclaimer maintenance position into two alignment targets provided by an embodiment of the present application;

[0023] Figure 8 It is a schematic diagram of a self-detection process of a safe position interval of a reclaimer provided in an embodiment of the present application;

[0024] Fig. 9 This is a schematic diagram of a self-detection process for preventing collisions in safe positions of adjacent single machines provided in an embodiment of the present application;

[0025] Fig.10 It is a schematic diagram of a self-detection process of a free operating position interval of a reclaimer provided in an embodiment of the present application.

[0026] In the drawings, the same reference numerals are used for the same components, and the drawings are not drawn to scale. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the scheme of the present invention, and to fully understand and implement how the present invention applies technical means to solve technical problems and achieve the corresponding technical effects, the technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only an embodiment of a part of the present invention, not all of the embodiments. The embodiments of the present invention and the various features in the embodiments can be combined with each other without conflict, and the technical schemes formed are all within the scope of protection of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0030] During the maintenance of the bucket wheel body, suspension skin, etc., the maintenance personnel need to direct the operator on site to align the reclaimer to a suitable position to avoid the influence of the long strip material piles on both sides or the operation of adjacent single machines, resulting in low maintenance efficiency. If the communication is not smooth, the reclaimer may collide with the coal pile or adjacent single machine, which will have a serious impact on production and equipment. There is a technical problem of low reclaimer alignment efficiency in this field.

[0031] Hereinafter, the technical solution of the present application will be described in conjunction with specific embodiments.

[0032] Embodiment 1

[0033] Figure 1 is a flow chart of a method for positioning a reclaimer provided in an embodiment of the present application, such as Figure 1 As shown, in the technical solution of this embodiment, a method for positioning a material reclaimer is provided, and the method includes: obtaining the spatial rectangular coordinates of the maintenance position; converting the spatial rectangular coordinates of the maintenance position to the alignment target of the material reclaimer coordinate system; judging whether the alignment target belongs to a reachable position interval; when the alignment target belongs to the reachable position interval, controlling the material reclaimer to align the alignment target.

[0034] The technical problem to be solved by this embodiment is how to improve the alignment efficiency during the reclaimer maintenance process, avoid the inefficiency caused by manual alignment, and solve the possible reclaimer collision and personal injury problems. There are technical problems in the field of reclaimer maintenance with low alignment efficiency and high safety risks.

[0035] The technical solution of this embodiment obtains the spatial rectangular coordinates of the maintenance position, and then converts them to the alignment target of the material reclaimer coordinate system, and then determines whether the alignment target belongs to the reachable position interval. If it does, the material reclaimer is controlled to align the alignment target. In this process, the spatial rectangular coordinates of the maintenance position are obtained by using a position calibration device, a ground base station and a position satellite. The spatial rectangular coordinates are converted into alignment targets such as the walking displacement, rotation angle and pitch angle of the material reclaimer through the process parameters of the material reclaimer (such as the walking track coordinates, the arm length, the bucket wheel body diameter, etc.).

[0036] In the maintenance and alignment of the port coal pile reclaimer, the traditional maintenance method requires the maintenance personnel to direct the operator on site to align the reclaimer to the appropriate position. The whole process is time-consuming, labor-intensive and inefficient. However, this embodiment greatly improves the accuracy and efficiency of alignment by automatically obtaining the spatial rectangular coordinates of the maintenance position and converting them into the alignment target of the reclaimer coordinate system. For example, in the maintenance of a certain reclaimer, in the past, the maintenance personnel needed to communicate with the operator on site continuously to adjust the position of the reclaimer, and it often took many attempts to reach the appropriate maintenance position, which not only wasted a lot of time, but also increased the work intensity of the operator. After adopting the technical solution of this embodiment, the position calibration device can quickly and accurately obtain the spatial rectangular coordinates of the maintenance position, and the alignment target converted by the process parameters of the reclaimer is more accurate. The reclaimer can move directly toward the target position, reducing the process of repeated corrections and greatly improving the maintenance efficiency. At the same time, by judging whether the alignment target belongs to the reachable position interval, the risk of collision between the reclaimer and the coal pile and adjacent single machine during the alignment process is effectively avoided, and the safety of the maintenance process is improved. It also plays a positive role in ensuring the stable operation of production and equipment, reducing equipment damage and maintenance costs caused by collisions, and providing strong support for the efficient operation of the port.

[0037] Embodiment 2

[0038] Based on the above embodiment, the method further includes: when the alignment target does not belong to the reachable position interval, recalibrating the maintenance position.

[0039] The technical problem to be solved by this embodiment is to timely adjust the maintenance position when the alignment target does not belong to the reachable position interval to ensure the accuracy and safety of the reclaimer alignment. In the art, there is a technical problem that the reclaimer cannot align due to improper selection of the maintenance position.

[0040] The technical solution of this embodiment recalibrates the maintenance position when it is determined that the alignment target does not belong to the reachable position interval. When the maintenance personnel select an inappropriate maintenance position, the position calibration device recalibrates the coordinates, and then converts and judges again in combination with the process parameters of the reclaimer to ensure that the maintenance position finally selected is reachable.

[0041] During the maintenance process of the coal pile reclaimer at the port, if the maintenance position is not properly selected, the reclaimer may not be able to reach the position for maintenance, which not only wastes time but may also affect the production progress. After adopting the technical solution of this embodiment, when it is found that the alignment target does not belong to the reachable position interval, the maintenance position can be recalibrated in time. For example, in actual maintenance, the maintenance personnel may choose a position close to the coal pile or a position that may collide with an adjacent single machine due to inaccurate judgment of the on-site situation. At this time, the system will automatically determine that the position is unreachable and prompt the maintenance personnel to reselect the maintenance position. The maintenance personnel can reposition it in a suitable position through the position calibration device, and perform coordinate calibration and conversion again. This ensures that the reclaimer can accurately reach the maintenance position, improving the efficiency and safety of maintenance. At the same time, it also avoids reclaimer collision accidents caused by improper selection of the maintenance position, reduces equipment damage and maintenance costs, and provides protection for safe production at the port.

[0042] Embodiment 3

[0043] Based on the above embodiment, the step of converting the spatial rectangular coordinates of the maintenance position to the alignment target of the material reclaimer coordinate system includes: obtaining the process parameters of the material reclaimer; based on the process parameters of the material reclaimer and the spatial rectangular coordinates of the maintenance position, converting the spatial rectangular coordinates of the maintenance position into the walking displacement, rotation angle and / or pitch angle of the material reclaimer.

[0044] The technical problem to be solved by this embodiment is how to accurately convert the spatial rectangular coordinates of the maintenance position into the alignment target of the coordinate system of the material reclaimer to improve the accuracy and efficiency of alignment. In the art, there is a technical problem that the inaccurate conversion of the maintenance position coordinates leads to difficulty in reclaimer alignment.

[0045] The technical solution of this embodiment obtains the process parameters of the reclaimer, and based on the process parameters of the reclaimer and the spatial rectangular coordinates of the maintenance position, converts the spatial rectangular coordinates of the maintenance position into the travel displacement, rotation angle and / or pitch angle of the reclaimer. The process parameters of the reclaimer are fixed, including the travel track coordinates, arm length, bucket wheel body diameter, etc. Using these parameters, combined with the spatial rectangular coordinates of the maintenance position, the travel displacement, rotation angle and pitch angle of the reclaimer can be accurately calculated.

[0046] In the maintenance alignment of the coal pile reclaimer at the port, accurate coordinate conversion is the key to achieving automatic alignment. After adopting the technical solution of this embodiment, the maintenance position can be accurately converted into the walking displacement, rotation angle and pitch angle of the reclaimer according to the process parameters of the reclaimer and the spatial rectangular coordinates of the maintenance position. For example, in the maintenance of a certain reclaimer, it was difficult to accurately determine the distance the reclaimer needs to travel and the rotation and pitch angles when manually directing the alignment in the past, and it often took many attempts to reach the appropriate position. Now, through the technical solution of this embodiment, the system can automatically calculate these parameters, and the reclaimer can move directly according to the calculated parameters, greatly improving the accuracy and efficiency of alignment. At the same time, accurate coordinate conversion also reduces equipment wear and energy waste caused by inaccurate alignment, extends the service life of the equipment, and reduces operating costs. In addition, accurate alignment can also improve the quality of maintenance, ensure that the reclaimer can operate normally after maintenance, and provide reliable protection for the production operations of the port.

[0047] Embodiment 4

[0048] On the basis of the above embodiment, the step of judging whether the alignment target belongs to the reachable position interval includes: judging whether the alignment target belongs to the reachable position interval according to the safe position interval of the walking, slewing and pitching mechanisms and the anti-collision detection of the safe position of the adjacent single machine.

[0049] The technical problem to be solved by this embodiment is how to comprehensively consider the safe position intervals of each mechanism of the reclaimer and the safe positions of adjacent single machines when judging whether the alignment target is reachable, so as to ensure the safety of alignment. There is a technical problem in the art that the reclaimer may collide with other equipment during alignment.

[0050] The technical solution of this embodiment determines whether the alignment target belongs to the reachable position range by detecting the safe position range of the walking, rotating and pitching mechanisms and the safe position anti-collision of the adjacent single machine. The test of the reachable position range of the reclaimer is completed by walking, rotating and pitching, recording various limit limit data, and determining the reachable position range. At the same time, the PLC program detects whether the adjacent single machine is in operation, and uniformly converts the position data of the reclaimer and the adjacent single machine into the three-dimensional coordinate system of the yard to determine whether there is an overlapping area to prevent collision.

[0051] Safety is of vital importance in the maintenance and alignment of the reclaimer of the coal pile in the port. After adopting the technical solution of this embodiment, the safe position intervals of each mechanism of the reclaimer and the safe positions of the adjacent single machines can be fully considered, effectively avoiding the risk of collision of the reclaimer during the alignment process. For example, in actual maintenance, the walking, rotating and pitching mechanisms of the reclaimer have certain safe position intervals. If the alignment target exceeds this interval, it may cause equipment damage or casualties. At the same time, the operation of adjacent single machines will also affect the alignment of the reclaimer. If anti-collision detection is not performed, a collision accident may occur. Through the technical solution of this embodiment, the system can automatically detect the accessible position interval of the reclaimer, and perform anti-collision detection with the adjacent single machines to ensure that the reclaimer is aligned within a safe range. This not only improves the safety of maintenance, but also reduces production interruptions and equipment maintenance costs caused by collision accidents, providing a guarantee for the stable operation of the port.

[0052] Embodiment 5

[0053] Based on the above embodiment, when the alignment target belongs to the reachable position interval, the step of controlling the material grabber to align the alignment target includes: determining whether the alignment target belongs to the free working position interval; when the alignment target belongs to the free working position interval, controlling the material grabber to align the alignment target.

[0054] The technical problem to be solved by this embodiment is to further determine whether the alignment target belongs to the free operation position interval after determining that the alignment target belongs to the reachable position interval, so as to ensure that the reclaimer can automatically align under the premise of safety. There is a technical problem in the art that the reclaimer is restricted and cannot operate freely after alignment.

[0055] The technical solution of this embodiment determines whether the alignment target belongs to the free operation position interval. When the alignment target belongs to the free operation position interval, the material reclaimer is controlled to align the alignment target. The soft limit is set by the PLC program. The soft limit setting is generally smaller than the emergency stop limit data to ensure that the alarm is triggered in advance and the relevant actions are stopped before the emergency stop limit action. When the action is really necessary, personnel on-site supervision is required.

[0056] In the maintenance alignment of the port coal pile reclaimer, it is necessary not only to ensure that the reclaimer can reach the maintenance position, but also to ensure that it can operate freely at this position. After adopting the technical solution of this embodiment, after determining that the alignment target belongs to the reachable position interval, it is possible to further judge whether the target belongs to the free operation position interval. For example, in the maintenance of the reclaimer of Guoneng Huanghua Port Company, sometimes the reclaimer can reach the maintenance position, but due to the limitations of the surrounding environment, it is sometimes unable to operate freely. Through the technical solution of this embodiment, the system can automatically determine whether the alignment target belongs to the free operation position interval. If it does not, it is necessary to release the soft limit control and strengthen monitoring. In this way, it can ensure that the reclaimer is automatically aligned under the premise of safety, which improves the efficiency and safety of maintenance. At the same time, the judgment of the free operation position interval can also avoid unnecessary restrictions on the reclaimer during the operation process, thereby improving the utilization rate of the equipment. In addition, through on-site monitoring by personnel, possible problems can be discovered and handled in a timely manner, further ensuring the safety of the maintenance process.

[0057] Embodiment 6

[0058] Based on the above embodiment, when the alignment target belongs to the free operating position interval, the step of controlling the material reclaimer to align the alignment target includes: obtaining the self-inspection status of the material reclaimer; when the self-inspection status of the material reclaimer is normal, controlling the material reclaimer to align the alignment target.

[0059] The technical problem to be solved by this embodiment is how to ensure that the self-checking state of the reclaimer is normal after determining that the alignment target belongs to the free operation position interval, so as to ensure the smooth progress of automatic alignment. In the art, there is a technical problem that the reclaimer fails to self-check sufficiently before alignment, resulting in alignment failure.

[0060] The technical solution of this embodiment obtains the self-check status of the reclaimer. When the self-check status of the reclaimer is normal, the reclaimer is controlled to align the alignment target. Before the reclaimer performs automatic alignment, it needs to self-check whether the states of each mechanism such as walking, rotation, and pitching are normal. If a problem is found in the self-check, it is necessary to contact personnel for processing.

[0061] In the maintenance and alignment of the reclaimer of the coal pile in the port, the self-check status of the reclaimer is directly related to the success of the automatic alignment. After adopting the technical solution of this embodiment, it is possible to further obtain the self-check status of the reclaimer after determining that the alignment target belongs to the free operating position interval. For example, in actual maintenance, the reclaimer may have a mechanism failure or abnormal situation due to various reasons. If automatic alignment is performed in this case, it is likely to cause alignment failure or even cause a safety accident. Through the technical solution of this embodiment, the system can automatically detect the self-check status of the reclaimer, and only when the self-check status is normal will the reclaimer be controlled to align the alignment target. This can ensure the smooth progress of automatic alignment and improve the efficiency and safety of maintenance. At the same time, the self-check process can also promptly discover potential problems of the reclaimer, provide a basis for the maintenance and maintenance of the equipment, and extend the service life of the equipment. In addition, by ensuring that the self-check status of the reclaimer is normal, the maintenance time and cost caused by equipment failure can be reduced, and the operating efficiency of the port can be improved.

[0062] Embodiment 7

[0063] Figure 2 is a structural schematic diagram of a reclaimer alignment device provided in an embodiment of the present application, such as Figure 2 As shown, in the technical solution of this embodiment, a material grabber alignment device is provided, and the device includes: a spatial coordinate acquisition module, used to acquire the spatial rectangular coordinates of the maintenance position; a material grabber coordinate conversion module, used to convert the spatial rectangular coordinates of the maintenance position to the alignment target of the material grabber coordinate system; a judgment module, used to judge whether the alignment target belongs to a reachable position interval; and an alignment module, used to control the material grabber to align the alignment target when the alignment target belongs to the reachable position interval.

[0064] The technical problem to be solved by this embodiment is how to improve the alignment efficiency during the reclaimer maintenance process, avoid the inefficiency caused by manual alignment, and solve the possible reclaimer collision and personal injury problems. There are technical problems in the field of reclaimer maintenance with low alignment efficiency and high safety risks.

[0065] The technical solution of this embodiment obtains the spatial rectangular coordinates of the maintenance position, and then converts them to the alignment target of the material reclaimer coordinate system, and then determines whether the alignment target belongs to the reachable position interval. If it does, the material reclaimer is controlled to align the alignment target. In this process, the spatial rectangular coordinates of the maintenance position are obtained by using a position calibration device, a ground base station and a position satellite. The spatial rectangular coordinates are converted into alignment targets such as the walking displacement, rotation angle and pitch angle of the material reclaimer through the process parameters of the material reclaimer (such as the walking track coordinates, the arm length, the bucket wheel body diameter, etc.).

[0066] In the maintenance and alignment of the port coal pile reclaimer, the traditional maintenance method requires the maintenance personnel to direct the operator on site to align the reclaimer to the appropriate position. The whole process is time-consuming, labor-intensive and inefficient. However, this embodiment greatly improves the accuracy and efficiency of alignment by automatically obtaining the spatial rectangular coordinates of the maintenance position and converting them into the alignment target of the reclaimer coordinate system. For example, in the maintenance of a certain reclaimer, in the past, the maintenance personnel needed to communicate with the operator on site continuously to adjust the position of the reclaimer, and it often took many attempts to reach the appropriate maintenance position, which not only wasted a lot of time, but also increased the work intensity of the operator. After adopting the technical solution of this embodiment, the position calibration device can quickly and accurately obtain the spatial rectangular coordinates of the maintenance position, and the alignment target converted by the process parameters of the reclaimer is more accurate. The reclaimer can move directly toward the target position, reducing the process of repeated corrections and greatly improving the maintenance efficiency. At the same time, by judging whether the alignment target belongs to the reachable position interval, the risk of collision between the reclaimer and the coal pile and adjacent single machine during the alignment process is effectively avoided, and the safety of the maintenance process is improved. It also plays a positive role in ensuring the stable operation of production and equipment, reduces equipment damage and maintenance costs caused by collisions, and provides strong support for the efficient operation of ports. Other technical features and beneficial effects of this embodiment correspond to those of the above embodiment and will not be repeated here.

[0067] Embodiment 8

[0068] In the technical solution of this embodiment, a computer device is provided, including a memory, a processor and a computer program stored in the memory, and the processor executes the computer program to implement the steps of any of the reclaimer alignment methods of the above embodiments.

[0069] In the technical solution of this embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the reclaimer alignment method of any of the above embodiments are implemented.

[0070] In the technical solution of this embodiment, a computer program product is provided, including a computer program, which, when executed by a processor, implements the steps of any of the reclaimer alignment methods of the above embodiments.

[0071] The processor may include, but is not limited to, for example, one or more processors or microprocessors. Each processor may be an application specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array (FPGA), a controller, a microcontroller, a microprocessor or other electronic components to implement the method in the above embodiment. The computer readable storage medium may be implemented by any type of volatile or non-volatile storage device or a combination thereof, and the computer readable storage medium may include, but is not limited to, for example, a random access memory (RAM), a read-only memory (ROM), a flash memory, an EPROM memory, an EEPROM memory, a register, a computer storage medium (such as a hard disk, a floppy disk, a solid state drive, a removable disk, a CDROM, a DVDROM, a Blu-ray disc, etc.).

[0072] The computer-readable storage medium may also store at least one computer-executable program / instruction, such as a computer-readable instruction. The computer-readable storage medium includes, but is not limited to, volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory, etc.

[0073] Computer-readable storage media may include, for example, read-only memory (ROM), hard disk, flash memory, etc. For example, a non-temporary computer-readable storage medium may be connected to a computing device such as a computer, and then, when the computing device runs computer-readable instructions stored on the computer-readable storage medium, the various methods described above may be performed. In addition, the computer device may also include (but not limited to) a data bus, an input / output (I / O) bus, a display, and input / output devices (e.g., a keyboard, a mouse, a speaker, etc.). The processor may communicate with external devices via a wired or wireless network via the I / O bus. In one embodiment, the at least one computer-executable instruction may also be compiled into or constitute a software product / computer program product, wherein one or more computer-executable instructions are executed by the processor to execute the various functions and / or steps of the methods in the embodiments described in the present technology.

[0074] Embodiment 9

[0075] Based on the above embodiments, this embodiment provides an application example.

[0076] This application example relates to an automatic alignment device and method for a reclaimer. During the maintenance of the bucket wheel body, suspension skin, etc., in order to avoid the influence of the long strip material piles on both sides or the operation of adjacent single machines, the maintenance personnel need to direct the operator on site to align the reclaimer to a suitable position, resulting in low maintenance efficiency. If the communication is not smooth, the reclaimer will collide with the coal pile or the adjacent single machine, which will have a serious impact on production and equipment. There is a technical problem of low reclaimer alignment efficiency in this field.

[0077] During the maintenance process of the bucket wheel body, suspension skin, etc. of the reclaimer, the present invention converts the coordinates of the maintenance position into the reclaimer's own coordinate system as the target position for automatic alignment of the reclaimer based on the characteristics of fixed process parameters such as the coordinates of the reclaimer's walking track, the arm length, and the bucket wheel body diameter. After the on-site maintenance personnel select a suitable maintenance position, the coordinates of the bottom edge of the bucket wheel body at this maintenance position are measured by the alignment device, and converted to the reclaimer's own coordinate system in combination with the coordinate conversion expression. The reclaimer performs self-detection based on its own safe position range to clarify whether to adjust the maintenance target position, release the limit control to strengthen monitoring, or directly align. A method for automatically aligning a predetermined target position after automatically judging the priority of the reclaimer maintenance project and the preparation status of each element. Avoid the occurrence of low maintenance efficiency and reclaimer collision problems caused by poor maintenance communication among on-site maintenance personnel.

[0078] During the maintenance of the bucket wheel body, suspension skin, etc., the maintenance personnel need to direct the operator on site to align the reclaimer to a suitable maintenance position (such as Figure 3 ), such as the position between two long stockpiles.

[0079] Considering the site layout, in order to maximize the storage and equipment utilization of the stockpile, the reclaimer maintenance position is relatively close to the coal pile. Two reclaimers are usually set up on the same track for coal distribution operations. There may also be reclaimers operating on the coal pile near the maintenance position, which puts higher requirements on the tacit cooperation between personnel. However, if the maintenance position of the reclaimer may exceed the safe action range, the maintenance personnel cannot know in advance. Once the on-site monitoring is not in place or the limit fails, the reclaimer will collide, which will have a serious impact on production and equipment.

[0080] To deal with the above situation, after the maintenance project is ready, maintenance personnel are arranged to monitor at various locations where collisions may occur, a special maintenance communication channel is set up, and a dedicated person is arranged to contact the operator to align the maintenance position. After preliminary alignment and repeated corrections, it arrives at the predetermined maintenance position. The whole process is not only time-consuming and labor-intensive, but also involves major safety risks such as collision with the reclaimer and personal injury.

[0081] The purpose of the present invention is to overcome the above-mentioned shortcomings. During the maintenance process of the bucket wheel body, suspension skin, etc. of the reclaimer, the coordinates of the maintenance position are converted to the coordinate system of the reclaimer itself, based on the characteristics of fixed process parameters such as the coordinates of the reclaimer's walking track, the length of the boom, and the diameter of the bucket wheel body, as the target position for the automatic alignment of the reclaimer. After the on-site maintenance personnel determine the appropriate maintenance position, the coordinates of the bottom edge of the bucket wheel body at this maintenance position are measured by the alignment device, and converted to the coordinate system of the reclaimer itself in combination with the coordinate conversion expression. The reclaimer performs self-detection based on its own safe position range to clarify whether to adjust the maintenance target position, release the limit control to strengthen monitoring, or directly align. The reclaimer automatically judges the priority of the maintenance project and the preparation status of each element and then selects the established target position for automatic alignment.

[0082] The scheme of the present invention includes two parts: mechanical mechanism design and control scheme design, wherein the mechanical mechanism of the automatic alignment device of the reclaimer (such as Figure 4 ) includes three parts: a position calibration device 1, a ground base station 2 and a position satellite 3.

[0083] The position calibration device 1 communicates and calibrates the position with the position satellite 3 through the ground base station 2. The position calibration device 1 is composed of a signal transceiver 4, a decoder 5 and a wireless transmission module 6. After the signal transceiver 4 calibrates the current position, the decoder 5 completes data decoding and transmits it to the device database receiver 7 through the wireless transmission module.

[0084] Figure 5 This is a schematic diagram of the installation of an automatic alignment device for a reclaimer provided in an embodiment of the present application. Before the start of maintenance, maintenance personnel need to select a suitable maintenance position in advance, and place the position calibration device 10 directly below the bucket wheel body 8 of the reclaimer on the yard ground 9. According to the characteristics of fixed process parameters such as the coordinates of the reclaimer's walking track 12, the length of the boom 11, and the diameter of the bucket wheel body 8, the maintenance position coordinates are converted to the reclaimer's own coordinate system, so that the reclaimer obtains the alignment target based on the reclaimer's own coordinate system. The reclaimer self-detects the safe positions of the walking, rotating, and pitching mechanisms, and determines whether to adjust the maintenance target position, release the limit control to strengthen monitoring, or directly align. When the production shutdown, spare parts, personnel, and maintenance vehicles involved in the maintenance project are in place, the reclaimer automatically aligns according to the established target position.

[0085] See the automatic alignment control flow chart of the reclaimer for Figure 6 :

[0086] Step 1: Get started.

[0087] Process 2: The maintenance personnel select the maintenance location based on the maintenance project and surrounding conditions.

[0088] Process 3: Maintenance personnel place the position calibration device at the corresponding position, and complete the precise calibration of coordinates (X, Y, Z) in combination with satellites and ground base stations. The three-dimensional coordinates of satellite positioning are usually called spatial rectangular coordinates, which are composed of three axes: X, Y, and Z. The X-axis represents the east-west direction, the Y-axis represents the north-south direction, and the Z-axis represents the vertical direction. Through the satellite positioning system, the specific coordinate value of a certain position on the earth in this three-dimensional coordinate system can be determined, thereby achieving accurate positioning. For example, in the global positioning system (GPS), the satellite sends a signal to the receiver, and the receiver determines its position in the spatial rectangular coordinate system through complex calculations based on the multiple satellite signals received. This three-dimensional coordinate can be used in many fields such as navigation, surveying and mapping, and geographic information systems.

[0089] Process 4: The reclaimer combines its own process parameters and coordinate calibration values ​​to convert the maintenance position coordinates into alignment targets (travel displacement, rotation angle, pitch angle) based on the reclaimer's own coordinate system. When the vertical distance between the maintenance position and the travel track is less than the vertical projection length of the boom, there will be two alignment targets to choose from (such as Figure 7 ).

[0090] Process 5: The reclaimer determines whether it belongs to the reachable position range based on the safe position range of each mechanism of walking, rotating and pitching and the anti-collision self-detection of the safe position of the adjacent single machine. If it does not belong to the reachable position range, the maintenance personnel reselect the maintenance position.

[0091] Figure 8 This is a schematic diagram of a self-detection process of a reclaimer safety position interval provided in an embodiment of the present application. Fig. 9 This is a schematic diagram of a self-detection process flow for preventing collisions between adjacent stand-alone safety positions provided in an embodiment of the present application. Fig.10It is a schematic diagram of the self-detection process for the free operation position range of a reclaimer provided by an embodiment of the present application. The self-detection of the safe position range of the reclaimer can be achieved during the limit switch test and is completed through walking, slewing, and pitching. The reclaimer walks forward until the front limit stop is triggered, and the walking data X1 is recorded; the same method is used to record the walking rear limit stop data X2; the boom of the reclaimer is slewed to zero degrees, and the pitch is lowered until the boom-to-dam foundation anti-collision limit switch is triggered, and the pitch angle Z0 is recorded; the reclaimer's pitch is raised until the pitch upper emergency stop action occurs, and the pitch data Z1 is recorded; the boom of the reclaimer is slewed to the left by 45 degrees, and the pitch is lowered until the lower emergency stop limit switch is triggered, and the pitch data Z2 is recorded; the boom of the reclaimer is slewed to the right until the boom-to-dam foundation anti-collision limit switch is triggered, and the slewing angle Y1 is recorded; the boom of the reclaimer is slewed to the left until the left emergency stop is triggered, and the slewing angle Y2 is recorded. Using the same method, when the boom is at 45 degrees on the right side and the pitch angle is lower than Z1, the boom-to-anti-collision limit switch action angle Y3 and the right emergency stop angle Y4 during slewing on the right side are measured. The test of the reachable position range of the reclaimer is completed. When the pitch angle Z > Z0, the reachable position range is walking (X1, X2), slewing (Y2, Y4), and pitching (Z0, Z1). When the pitch angle Z < Z0, the reachable position range is walking (X1, X2), slewing (Y2, Y1) and (Y3, Y4), and pitching (Z2, Z0).

[0092] For the anti-collision self-detection of the adjacent single-machine safe position, first, the PLC program is used to detect whether there is a reclaimer or a stacker operating at the adjacent stack position. Otherwise, there is no anti-collision; if so, the walking, slewing, and pitching data of the reclaimer and the adjacent single machine are uniformly transformed into the three-dimensional coordinate system of the yard, and whether there is an overlapping area is determined by the projection in the X, Y, and Z axis directions. Otherwise, there is no anti-collision; if so, there is an anti-collision, and the maintenance position of the reclaimer is an unreachable area, and the maintenance position of the reclaimer needs to be reselected.

[0093] Process 6: If so, it is judged whether it belongs to the free operation position range. Soft limits are set through the PLC program. Generally, the soft limits are set to be less than the emergency stop limit data to ensure that an alarm is given in advance and relevant actions are stopped before the emergency stop limit switch operates. When actual operation is required, on-site personnel supervision is needed.

[0094] Process 7: Otherwise, the soft limit control is released and stronger supervision is carried out, and it transfers to Process 8 where the reclaimer has the condition for automatic alignment.

[0095] Process 8: If so, the reclaimer has the condition for automatic alignment.

[0096] Process 9: The reclaimer selects maintenance items according to the priority order to determine whether the elements of the maintenance items, such as production shutdown, spare parts preparation, personnel preparation, maintenance vehicle preparation, and automatic alignment conditions, are available. If yes, it will proceed to process 12 to check whether the status of each mechanism of the reclaimer is normal. The reclaimer maintenance items are prioritized according to their importance and urgency, generally at level 2-3.

[0097] Defective repairs that may cause the equipment to be forced to stop operating within a week, causing machine damage or personal injury accidents are Level I maintenance projects. Defective repairs that will not affect the equipment, system or personal safety within a week, and may cause downtime or expansion of failures if not handled in time within a month are Level II maintenance projects. Defective repairs that reduce the performance and reliability of normal wear parts and require replacement, repair, modification or further observation, and may cause equipment failures if not handled within a quarter are Level III maintenance projects.

[0098] Process 10: Otherwise, determine whether all elements of the maintenance project with a lower priority level are available. If so, execute process 12 to check whether the status of each mechanism of the reclaimer is normal.

[0099] Process 11: Otherwise, determine whether the elements of the maintenance items with two lower priorities are available, and so on.

[0100] Process 12: The reclaimer self-checks whether the status of each mechanism such as walking, rotation, and pitching is normal. If so, execute process 14 and the reclaimer obtains the alignment target and automatically aligns.

[0101] Process 13: Otherwise, contact personnel for processing.

[0102] Process 14: The reclaimer obtains the alignment target of the maintenance project and automatically aligns it.

[0103] Process 15: The reclaimer determines whether the walking, rotating and pitching data are consistent with the alignment target, otherwise it goes to process 14 and the reclaimer continues to align.

[0104] Process 16: If yes, the reclaimer completes automatic alignment.

[0105] The present invention ingeniously utilizes the characteristics of fixed process parameters such as the coordinates of the reclaimer's walking track, the length of the boom, and the diameter of the bucket wheel body, and transforms the maintenance position coordinates into the reclaimer's own coordinate system through the reclaimer's automatic alignment device. The target position for the reclaimer's automatic alignment is selected after automatic judgment through anti-collision detection of the safe positions of each mechanism of the reclaimer and the safe positions of adjacent single machines. The established target position is selected for automatic alignment after automatic judgment through the priority of the reclaimer's maintenance items and the preparation status of each element. The problem of time-consuming and labor-intensive manual communication and low alignment efficiency is effectively avoided, and the safety problems of collision and personal injury in the reclaimer's alignment process are effectively solved, thereby improving maintenance efficiency and safety reliability.

[0106] The mechanical and electrical components involved in the present invention are relatively simple, with low maintenance difficulty, convenient use, easy operation, and extremely high promotion value.

[0107] This method is applied to the R7 reclaimer of Guoneng Huanghua Port Company, which effectively avoids the low maintenance efficiency, reclaimer collision prevention and personal injury problems caused by manual alignment during the maintenance of the reclaimer bucket wheel body, suspension skin, etc., as well as the serious impact on production and equipment.

[0108] In the embodiments provided by the present invention, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the above-mentioned module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0109] It should be noted that, in the present invention, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element limited by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0110] Although the embodiments disclosed in the present invention are as above, the above contents are only embodiments adopted for facilitating the understanding of the present invention and are not intended to limit the present invention. Any technician in the technical field to which the present invention belongs can make any modifications and changes in the form and details of the implementation without departing from the spirit and scope disclosed in the present invention, but the patent protection scope of the present invention shall still be subject to the scope defined in the attached claims.

Claims

1. A reclaimer alignment method, characterized in that: The method comprises: Obtain the spatial rectangular coordinates of the maintenance position; Convert the spatial rectangular coordinates of the maintenance position to the alignment target of the reclaimer coordinate system; Determining whether the alignment target belongs to a reachable position interval; When the alignment target belongs to the reachable position interval, the reclaimer is controlled to align the alignment target.

2. The reclaimer alignment method according to claim 1, characterized in that: The method further comprises: When the alignment target does not belong to the reachable position interval, the maintenance position is recalibrated.

3. The reclaimer alignment method according to claim 1, characterized in that: The step of converting the spatial rectangular coordinates of the maintenance position to the alignment target of the reclaimer coordinate system includes: Obtain the process parameters of the reclaimer; Based on the process parameters of the reclaimer and the spatial rectangular coordinates of the maintenance position, the spatial rectangular coordinates of the maintenance position are converted into the travel displacement, rotation angle and / or pitch angle of the reclaimer.

4. The reclaimer alignment method according to claim 1, characterized in that: The step of determining whether the alignment target belongs to a reachable position interval includes: According to the safe position intervals of the walking, slewing and pitching mechanisms and the anti-collision detection of the safe position of the adjacent single machine, it is determined whether the alignment target belongs to the reachable position interval.

5. The reclaimer alignment method according to claim 1, characterized in that: When the alignment target belongs to the reachable position interval, the step of controlling the reclaimer to align the alignment target comprises: Determining whether the alignment target belongs to a free operation position interval; When the alignment target belongs to the free operation position interval, the reclaimer is controlled to align the alignment target.

6. The reclaimer alignment method according to claim 5, characterized in that: When the alignment target belongs to the free operation position interval, the step of controlling the reclaimer to align the alignment target comprises: Get the self-test status of the reclaimer; When the self-checking state of the reclaimer is normal, the reclaimer is controlled to align the alignment target.

7. A reclaimer alignment device, characterized in that: The device comprises: A spatial coordinate acquisition module, used to acquire the spatial rectangular coordinates of the maintenance position; The reclaimer coordinate conversion module is used to convert the spatial rectangular coordinates of the maintenance position to the alignment target of the reclaimer coordinate system; A judgment module, used to judge whether the alignment target belongs to a reachable position interval; The alignment module is used to control the material reclaimer to align the alignment target when the alignment target belongs to the reachable position interval.

8. A computer device comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the reclaimer alignment method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the reclaimer alignment method described in any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the reclaimer alignment method described in any one of claims 1 to 6 are implemented.

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