Blanking center coordinate positioning device and calculation method for unloading arm of wheel bucket excavator

Abstract

The invention discloses a wheel bucket excavator unloading arm blanking center coordinate positioning device and a calculation method, and belongs to the technical field of intelligent detection control. Comprising a base fixedly connected with the right side of a discharging arm frame of the wheel bucket excavator. A main group of Beidou GNSS full-frequency positioning antenna units and an auxiliary group of Beidou GNSS full-frequency positioning antenna units are arranged on each group of bases; each Beidou GNSS full-frequency positioning antenna unit comprises a fixing support and an adjusting support bolted to the fixing support, a mounting plate is bolted to the adjusting support, and a Beidou GNSS full-frequency positioning antenna is fixedly connected to the mounting plate. According to the real-time space coordinate calculation method, the space real-time coordinate of the blanking center point is calculated by obtaining the vector value and the direction angle of the coordinates of the main and auxiliary full-frequency positioning antennas of the Beidou GNSS. The coordinate value of the center point of the discharging port of the discharging arm can be calculated in real time, the accurate position state of the discharging port is provided for a host system through comparison, and support is provided for multi-machine cooperative control precise positioning of the wheel bucket excavator.

Description

Technical Field

[0001] The invention belongs to the technical field of intelligent detection and control, and in particular relates to a coordinate positioning device and a calculation method for a material drop center of a discharging arm of a bucket wheel excavator. Background Art

[0002] When the open-pit mine continuous system bucket wheel excavator is working automatically, it needs to overlap the subsequent transmission and transfer equipment to overlap the series linkage control to complete the material collection operation. Due to the complexity of the open-pit mine continuous process mining equipment and the working surface environment, the bucket wheel excavator is easily overlapped and deviated from the material drop center of the bucket wheel excavator unloading arm and the transmission and transfer equipment during long-term linkage operation. If the deviation is not handled in time, it is easy to cause safety failures such as material spillage, deviation, and blockage, causing shutdowns and affecting production efficiency. It is impossible to obtain the accurate spatial coordinates of the center point of the drop port in real time through detection means such as sensors. The offset cannot be accurately calculated by comparing the center coordinates of the drop point, and the system cannot immediately make a timely and accurate judgment on the deflection. How to accurately obtain the spatial position of the center point of the drop port is the key to reducing the occurrence of the above safety problems. Summary of the invention

[0003] In view of the above shortcomings, the object of the present invention is to provide a device and a method for calculating the coordinate positioning of the material dropping center of a dumping arm of a bucket wheel excavator.

[0004] The technical solution adopted by the invention is: a device for positioning the coordinates of the drop center of a bucket wheel excavator unloading arm, and the technical key points are: it includes a base fixedly connected to the right side of the arm frame of the bucket wheel excavator unloading arm; two groups of main and secondary Beidou GNSS full-frequency positioning antenna units are arranged on each group of bases; the Beidou GNSS full-frequency positioning antenna units respectively include a fixed bracket 2, an adjustment bracket 3 bolted to the fixed bracket, a mounting plate bolted to the adjustment bracket, a Beidou GNSS full-frequency positioning antenna is fixedly connected to the mounting plate, the adjustment bracket 3 moves up and down on the fixed bracket 2 to adjust the height of the antenna, and a plurality of horizontal bolt holes are arranged on the adjustment bracket 3 for horizontally moving and fine-tuning the position of the Beidou GNSS full-frequency positioning antenna.

[0005] In the above scheme, the Beidou GNSS full-frequency positioning antenna includes a main positioning antenna A1 arranged vertically upward away from the blanking port, and a secondary positioning antenna A2 arranged vertically upward close to the blanking port; the Beidou GNSS full-frequency positioning antenna is connected to the positioning host through a GNSS connecting line and a radio frequency line, and the positioning host is used for real-time data collection and calculation of the coordinates of the center point of the positioning system; a lightning arrester is installed between the GNSS connecting line and the radio frequency line to protect the positioning system.

[0006] A device and a method for locating the coordinates of the material drop center of a bucket wheel excavator unloading arm, the technical key points of which are: comprising the following steps:

[0007] Step A. Install and adjust the Beidou GNSS full-frequency positioning antenna device;

[0008] Step B. Set the coordinates of the main antenna A1 (A1 x ,A1 y ), secondary antenna A2(A2 x ,A2 y ), according to the relative positioning principle, the vector from the main antenna A1 to the auxiliary antenna A2 is calculated in real time Right now

[0009] Step C. Set point V and calculate the increment X from A2 to V v ,Y v ,set up The angle between the horizontal extension line of the center point O and the X axis is θ1, that is, X v =L10*cosθ1,Y v =L10*sinθ1; where L10 is the horizontal distance between the secondary antenna A2 and point V.

[0010] Step D. Set the coordinates of point V (V x , V y ), obtain the fixed point V = (V x , V y )=(A2 x +X v , A2 y +Y v );

[0011] Step E. Calculate the increment X to the fixed point C c ,Y c , θ1 rotates 90° to get θ2, θ2=θ1+90°, X c =L11*cosθ2,Y c =L11*sinθ2, where L11 is the distance from point V to the center point C;

[0012] Step F. Set the coordinates of the center point of the blanking opening C (C x , C y ), and obtain C = (C x , C y )=(C x +X c ,C y +Y c );

[0013] The coordinate value of the center point of the blanking mouth is collected in real time and compared with the coordinate value of the initial center point. When the center blanking mouth is deflected, the blanking mouth is automatically controlled according to the offset to automatically adjust the docking position until the coordinate is within the allowable deviation range to complete the automatic docking correction.

[0014] In the above scheme, the steps of installing and adjusting the Beidou GNSS full-frequency positioning antenna device described in step A are:

[0015] Step A1, two sets of Beidou GNSS full-frequency special positioning antenna devices are installed on the right arm of the discharge port, respectively represented by A1 and A2, and the two antenna devices are equidistant from the neutral axes L1 and L2 of the discharge arm;

[0016] Step A2. Adjust the Beidou GNSS full-frequency special positioning antenna device so that antennas A1 and A2 are installed on the right hand side of the unloading arm;

[0017] Step A3: Adjust the Beidou GNSS full-frequency special positioning antenna device so that the distance from the antenna A2 to the center of the blanking port is L3 = 4 to 6 meters;

[0018] Step A4: Adjust the Beidou GNSS full-frequency special positioning antenna device to make the distance between antennas A1 and A2 as large as possible while ensuring that there are no obstructions near the top of the antenna;

[0019] Step A5: Adjust the Beidou GNSS full-frequency special positioning antenna device so that the installation heights of antennas A1 and A2 are equal; Step A6: Connect the high-precision Beidou positioning host IGV101 to the adjusted Beidou GNSS full-frequency special positioning antenna devices A1 and A2 respectively; that is, the high-precision host is connected to A1 through a connecting line via a lightning arrester BL1 and then through a radio frequency cable; the high-precision host is then connected to A2 through another connecting line via a lightning arrester BL2 and then through a radio frequency cable.

[0020] The beneficial effects of the present invention are as follows: the coordinate value of the center point of the blanking port is collected in real time and compared with the coordinate value of the initial center point; when the center blanking port is deflected, the blanking port is automatically controlled according to the offset to automatically adjust the docking position until the coordinates are within the allowable deviation range to complete automatic docking correction. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 This is a top view of the installation of the Beidou GNSS full-frequency special positioning receiving antenna for the unloading arm of a bucket wheel excavator of the present invention;

[0023] Figure 2 This is a side view of the installation of the Beidou GNSS full-frequency special positioning receiving antenna for the unloading arm of a bucket wheel excavator of the present invention;

[0024] Figure 3 This is the wiring diagram of the Beidou GNSS full-frequency special positioning receiving antenna for the unloading arm of a bucket wheel excavator of the present invention;

[0025] Figure 4 A schematic diagram of reference points for calculating the coordinates of the material drop point of the unloading arm of the bucket wheel excavator of the present invention;

[0026] Figure 5 It is a structural schematic diagram of the coordinate positioning device for the drop point of the unloading arm of a bucket wheel excavator of the present invention;

[0027] Description of the serial numbers in the figure: 1 base, 2 fixed bracket, 3 adjustment bracket, 4 base washer, 5 bolt, 6 nut, 7 adjustment bracket washer; DETAILED DESCRIPTION

[0028] To make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the following is a brief description of the present invention in conjunction with the attached Figure 1 to Figure 5 The present invention is further described in detail with reference to the accompanying drawings and specific embodiments.

[0029] The bucket wheel excavator discharge arm used in this embodiment is mainly composed of an arm frame, a material drop opening and other mechanisms. The positioning device includes a base 1 bolted to the right side of the bucket wheel excavator discharge arm arm frame, the bolt 5 for bolting is M16X55, the nut 6 model is M16, the washer 4 model is 16, the base 1 height is H4=216mm, the width is H6=H7=250mm, the screw hole spacing is W4=W5=50mm, and the screw hole size is d=20-φ18. Two main and auxiliary Beidou GNSS full-frequency positioning antenna units are set on each group of bases 1. The other end of the base 1 is connected to the bolt hole of the fixed bracket 2 by bolts. The Beidou GNSS full-frequency positioning antenna unit includes a fixed bracket 2, an adjustment bracket 3 bolted to the fixed bracket 2, a mounting plate bolted to the adjustment bracket 3, and a Beidou GNSS full-frequency positioning antenna fixed on the mounting plate; the positioning main antenna A1 is installed vertically upward on the side away from the material drop opening, and the positioning auxiliary antenna A2 is arranged to be installed vertically upward near the material drop opening. There are multiple bolt holes on the fixed bracket 2, the screw hole size is d = 20-φ18, the screw hole spacing is H5 = 100mm, and there are 10 rows of mounting holes with a height of H6 = 900mm. The spacing between the two sets of mounting screw holes in each row is W3 = 100mm, and the distance between the first row of holes on the top of the fixed bracket 2 is H7 = 50mm. The width of the fixed bracket 2 is W1 = 150mm, the depth is W2 = 150mm, and the height is H3 = 1816mm. The adjustment bracket 3 is bolted to the fixed bracket 2, the bolt 5 is M16X55, the nut 6 model is M16, and the washer 7 model is 16. The adjustment bracket 3 can adjust the height of the antenna on the fixed bracket 2 up and down according to the positioning accuracy requirements. There are multiple horizontal bolt holes on the adjustment bracket 3, and the Beidou GNSS full-frequency positioning antenna can be horizontally moved to fine-tune the position. The width of the adjustment bracket 3 is w8 = 362mm.

[0030] The Beidou GNSS full-frequency positioning antenna is equipped with two sets of A1 and A2 for coordinated positioning on each unloading arm. The Beidou GNSS full-frequency positioning antenna is installed on the right arm of the material drop port. The neutral wheelbase of the two antenna devices from the unloading arm is L1=L2. The distance from the auxiliary antenna A2 to the center of the material drop port is L3=4~6 meters. The distance L4 between the antennas A1 and A2 is>10 meters. (If conditions permit, the greater the distance, the better, but there should be no obstructions near the top of the antenna). The installation height of the antennas A1 and A2 is H1=H2.

[0031] The Beidou GNSS full-frequency positioning main antenna A1 is connected to the high-precision Beidou positioning host IGV101 through the Fakra-GNSS1 purple connecting line WG1, the lightning arrester BL1, and the black radio frequency line WS1; the Beidou GNSS full-frequency positioning main antenna A2 is connected to the high-precision Beidou positioning host IGV101 through the Fakra-GNSS2 blue connecting line WG2, the lightning arrester BL2, and the black radio frequency line WS2, completing the real-time data collection and calculation of the coordinates of the center point of the positioning system. A lightning arrester is installed between the GNSS connecting line and the radio frequency line to protect the positioning system.

[0032] The specific calculation steps are as follows:

[0033] Step A. In order to accurately calculate the real-time spatial coordinates of the discharge arm’s drop opening, there are strict requirements for the installation of the Beidou GNSS full-frequency special antenna.

[0034] Step B. Adjust the Beidou GNSS full-frequency positioning antenna device; install two sets of Beidou GNSS full-frequency special positioning antenna devices on the right arm of the discharge port, represented by A1 and A2 respectively. The two antenna devices are equidistant from the neutral axis L1 and L2 of the discharge arm, that is, L1 = L2.

[0035] Step C. Adjust the Beidou GNSS full-frequency special positioning antenna device so that antennas A1 and A2 are installed on the right-hand side of the unloading arm.

[0036] Step D: Adjust the Beidou GNSS full-frequency special positioning antenna device so that the distance L3 from the antenna A2 to the center of the blanking port is 4 to 6 meters.

[0037] Step E: Adjust the Beidou GNSS full-frequency special positioning antenna device so that the distance L4 between antennas A1 and A2 is greater than 10 meters. (If conditions permit, the greater the distance, the better, but there should be no obstructions near the top of the antenna)

[0038] Step F: Adjust the Beidou GNSS full-frequency special positioning antenna device so that the installation heights of antennas A1 and A2 are equal, that is, H1 = H2. The installation height is 1.5 meters to 2 meters.

[0039] Step G: Connect the high-precision Beidou positioning host IGV101 to the Beidou GNSS full-frequency special positioning antenna devices A1 and A2 respectively. That is, the high-precision host IGV101 is connected to A1 through the Fakra purple GNSS1 connection line, the lightning arrester BL1, and then the black RF cable. The high-precision host IGV101 is then connected to A2 through the Fakra blue GNSS2 connection line, the lightning arrester BL2, and then the black RF cable. The actual data collection and calculation of the coordinates of the center point of the blanking port of the positioning system are formed.

[0040] Step H. Set the coordinates of the main antenna A1 (A1 x ,A1 y ), the coordinates of the secondary antenna A2 (A2 x ,A2 y ), according to the relative positioning principle, the vector from the main antenna A1 to the auxiliary antenna A2 is calculated in real time Right now

[0041] Step I. Set point V and calculate the increment X from A2 to V v ,Y v ,set up The angle between the horizontal extension line of the center point O and the X axis is θ1, that is, X v =L10*cosθ1,Y v =L10*sinθ1;

[0042] Step J. Set the coordinates of point V (V x , V y ), obtain the fixed point V = (V x , V y )=(A2 x +X v , A2 y +Y v );

[0043] Step K. Calculate the increment X to the fixed point C c ,Y c , θ1 rotates 90° to get θ2, θ2=θ1+90°, X c =L11*cosθ2,Y c =L11*sinθ2;

[0044] Step L. Set the coordinates of the center point of the blanking opening C (C x , C y ), and obtain C = (C x , C y )=(C x +X c ,C y +Y c );

[0045] The coordinate value of the center point of the blanking mouth is collected in real time and compared with the coordinate value of the initial center point. When the center blanking mouth is deflected, the blanking mouth is automatically controlled according to the offset to automatically adjust the docking position until the coordinate is within the allowable deviation range to complete the automatic docking correction.

[0046] In the description of this specification, specific features, structures, materials or characteristics may be combined in an appropriate manner in any one or more embodiments or examples.

[0047] O is the rotation center of the unloading arm, A1 is the GNSS full-frequency special positioning main receiving antenna, A1 is the GNSS full-frequency special positioning secondary receiving antenna, L1 is the distance from the center of the main antenna A1 to the central axis of the unloading arm, L2 is the distance from the center of the secondary antenna A2 to the central axis of the unloading arm, L3 is the horizontal distance from the secondary antenna A2 to the center of the drop point, L4 is the distance between the main and secondary antennas, H1 is the installation height of the main antenna A1, H2 is the installation height of the secondary antenna A2, DROOM is the electrical room, IGV101 is the high-precision Beidou positioning mobile station unit, BL1 and BL2 are lightning arrester units, WG1 is Fakra purple GNSS1 main antenna connecting cable, WG2 is blue GNSS2 sub-antenna connecting cable, WS1 is main RF cable, WS2 is sub-RF cable; d is the size of the screw hole of the fixing bracket, H5 is the spacing between the screw holes of the fixing bracket, H6 is the total height of the mounting holes, W3 is the spacing between the two groups of mounting screw holes in each row, H7 is the distance between the first row of holes on the upper part and the top of the fixing bracket; W1 is the width of the fixing bracket, W2 is the depth of the fixing bracket, H1 and H2 are the installation heights of the antenna, H3 and H4 are the heights of the fixing bracket 2, H6 is the installation width of the base, and W4 and W5 are the screw hole sizes of the screw hole spacing.

[0048] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A device for positioning the material drop center coordinates of a bucket wheel excavator unloading arm, characterized in that: It includes a base fixedly connected to the right side of the unloading arm boom of the bucket wheel excavator; each base is provided with a Beidou GNSS full-frequency positioning antenna unit; the Beidou GNSS full-frequency positioning antenna unit respectively includes a fixed bracket, an adjustment bracket bolted to the fixed bracket, a mounting plate bolted to the adjustment bracket, a Beidou GNSS full-frequency positioning antenna is fixedly connected to the mounting plate, the adjustment bracket moves up and down on the fixed bracket to adjust the height of the antenna, and a plurality of horizontal bolt holes are provided on the adjustment bracket for horizontally moving and fine-tuning the position of the Beidou GNSS full-frequency positioning antenna.

2. The device for positioning the material drop center coordinates of the unloading arm of a bucket wheel excavator according to claim 1, characterized in that: The Beidou GNSS full-frequency positioning antenna includes a main positioning antenna A1 arranged vertically upward on the side away from the blanking opening, and a secondary positioning antenna A2 arranged vertically upward on the side close to the blanking opening; The Beidou GNSS full-frequency positioning antenna is connected to the positioning host through a GNSS connecting line and a radio frequency line. The positioning host is used for real-time data collection and calculation of the coordinates of the center point of the positioning system; a lightning arrester is installed between the GNSS connecting line and the radio frequency line to protect the positioning system.

3. A method for calculating the real-time spatial coordinates of the center point of the discharge port of a bucket wheel continuous equipment discharge arm of an open-pit mine, which is implemented by using a device for positioning the center coordinates of the discharge arm of a bucket wheel excavator as claimed in claim 1, characterized in that: The steps include: Step A. Install and adjust the Beidou GNSS full-frequency positioning antenna device; Step B. Set the coordinates of the main antenna A1 (A1 x ,A1 y ), secondary antenna A2(A2 x ,A2 y ), according to the relative positioning principle, the vector from the main antenna A1 to the auxiliary antenna A2 is calculated in real time Right now Step C. Set point V and calculate the increment X from A2 to V v ,Y v ,set up The angle between the horizontal extension line of the center point O and the X axis is θ1, that is, X v =L10*cosθ1,Y v =L10*sinθ1; Step D. Set the coordinates of point V (V x , V y ), obtain the fixed point V = (V x , V y )=(A2 x +X v , A2 y +Y v ); Step E. Calculate the increment X to the fixed point C c ,Y c , θ1 rotates 90° to get θ2, θ2=θ1+90°, X c =L11*cosθ2,Y c =L11*sinθ2; Step F. Set the coordinates of the center point of the blanking opening C (C x , C y ), and obtain C = (C x , C y )=(C x +X c ,C y +Y c ); The coordinate value of the center point of the blanking mouth is collected in real time and compared with the coordinate value of the initial center point. When the center blanking mouth is deflected, the blanking mouth is automatically controlled according to the offset to automatically adjust the docking position until the coordinate is within the allowable deviation range to complete the automatic docking correction.

4. The method for calculating the real-time spatial coordinates of the center point of the discharge port of the open-pit mine wheel bucket continuous equipment discharge arm as claimed in claim 3, characterized in that: The steps for installing and adjusting the Beidou GNSS full-frequency positioning antenna device described in step A are: Step A1, two sets of Beidou GNSS full-frequency special positioning antenna devices are installed on the right arm of the discharge port, respectively represented by A1 and A2, and the two antenna devices are equidistant from the neutral axes L1 and L2 of the discharge arm; Step A2. Adjust the Beidou GNSS full-frequency special positioning antenna device so that antennas A1 and A2 are installed on the right hand side of the unloading arm; Step A3: Adjust the Beidou GNSS full-frequency special positioning antenna device so that the distance from the antenna A2 to the center of the blanking port is L3 = 4 to 6 meters; Step A4: Adjust the Beidou GNSS full-frequency special positioning antenna device to make the distance between antennas A1 and A2 as large as possible while ensuring that there are no obstructions near the top of the antenna; Step A5: Adjust the Beidou GNSS full-frequency special positioning antenna device so that the installation heights of antennas A1 and A2 are equal; Step A6: Connect the high-precision Beidou positioning host IGV101 to the Beidou GNSS full-frequency special positioning antenna devices A1 and A2 respectively; that is, the high-precision host is connected to A1 through a connecting line via a lightning arrester BL1 and then through a radio frequency cable; the high-precision host is then connected to A2 through another connecting line via a lightning arrester BL2 and then through a radio frequency cable.

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