Gypsum stockpiling room bridge grabbing system based on real-time modeling and working method thereof

Abstract

The invention discloses a real-time modeling-based bridge grabbing system for a gypsum stockpiling room and a working method thereof, the real-time modeling-based bridge grabbing system comprises the gypsum stockpiling room and a control center, a bridge grab machine and a plurality of stereo photogrammetry devices are arranged in the gypsum stockpiling room, the stereo photogrammetry devices are in communication connection with the control center, and the control center is in control connection with the bridge grab machine; the stereoscopic photogrammetry device can obtain point cloud data of a gypsum stockpiling room and transmit the point cloud data to the control center; and the control center can perform real-time modeling according to the point cloud data to form a three-dimensional model diagram of a stone stacking room, and controls the bridge type grab machine to perform displacement and gypsum grabbing and releasing according to the three-dimensional model diagram. The plurality of stereo photogrammetry devices at least comprise a static measurement device and a dynamic measurement device, the static measurement device is fixed at the top of the gypsum stacking room, and the dynamic measurement device is movably arranged in the gypsum stacking room. The automation degree of the bridge grabbing system in the gypsum stockpiling room can be improved.

Description

Technical Field

[0001] The invention relates to the field of gypsum stacking, and in particular to a bridge grab system for a gypsum stacking room based on real-time modeling and a working method thereof. Background Art

[0002] A bridge grab crane and a gypsum placing machine are configured in the gypsum stacking room to realize the functions of gypsum distribution and delivery. At present, the stacking and taking of materials in the gypsum room all need to be completed by the operators on-site in the gypsum room. At present, the automation and intelligence level of most bridge grabs in China is low, and they basically rely on manual control. Before the invention, the production of the workshop relied on the driver to operate the placing machine in the gypsum stacking workshop to realize the switching of gypsum stacking and operate the bridge grab in the driver's room to complete the grabbing and delivery of gypsum. The on-site working environment of the workshop is poor, and long-term work has an adverse effect on the health of personnel. Summary of the invention

[0003] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a bridge grab system for a gypsum stockpile room based on real-time modeling and a working method thereof, aiming to improve the degree of automation of the bridge grab system in the gypsum stockpile room.

[0004] Technical solution: To achieve the above-mentioned purpose, the bridge grab system for a gypsum stockpile room based on real-time modeling of the present invention includes a gypsum stockpile room and a control center. A bridge grab and several stereo photogrammetry devices are arranged in the gypsum stockpile room. The stereo photogrammetry devices are communicatively connected with the control center, and the control center is control-connected with the bridge grab. The stereo photogrammetry devices can obtain point cloud data of the gypsum stockpile room and transmit the point cloud data to the control center. The control center can build a model in real time according to the point cloud data to form a three-dimensional model diagram of the stone stockpile room, and control the bridge grab to move and grab and release the gypsum according to the three-dimensional model diagram.

[0005] Furthermore, the stereophotogrammetric devices include at least one static measuring device and one dynamic measuring device. The static measuring device is fixed on the top of the gypsum stacking room, and the dynamic measuring device is movably arranged in the gypsum stacking room.

[0006] Furthermore, a crossbeam is provided on the top of the gypsum stacking room, and the static measuring device is fixed on the crossbeam.

[0007] Furthermore, the dynamic measuring device is installed on a bridge grab machine; a bridge grab guide rail is provided in the gypsum stacking room, and the bridge grab machine can slide along the bridge grab guide rail and drive the dynamic measuring device to move in the gypsum stacking room.

[0008] Furthermore, both the static measuring device and the dynamic measuring device are laser radars.

[0009] Furthermore, based on the working method of the bridge grab system for the gypsum stockpiling room of real-time modeling, the control center obtains a top view of the gypsum stockpiling room according to the three-dimensional model diagram of the gypsum stockpiling room, and divides the gypsum stockpiling room into a stockpiling area, a buffer area and a discharging area according to the top view of the gypsum stockpiling room. Vehicles transporting gypsum enter and exit the gypsum stockpiling workshop from the discharging area. Gypsum is piled in both the buffer area and the stockpiling area. The area of ​​the buffer area is smaller than that of the stockpiling area, and the buffer area is closer to the discharging area than the stockpiling area. During the discharging period, the control center controls the bridge grab to preferentially grab the gypsum in the buffer area for discharging. During the non-discharging period, the control center controls the bridge grab to grab the gypsum in the stockpiling area and move it to the buffer area.

[0010] Furthermore, when the bridge grab causes the surrounding gypsum to slide down during the process of grabbing gypsum, the movement of the gypsum when sliding down is observed by the laser radar to determine whether the sliding gypsum is in powder or block form.

[0011] Furthermore, during the non-discharging period, when the bridge grab is moving the gypsum in the stockpiling area to the buffer area, the control center controls the entry point of the bridge grab when grabbing the gypsum through the three-dimensional model of the gypsum stockpiling workshop, so that the bridge grab can actively cause the surrounding gypsum to slide slightly when grabbing the gypsum.

[0012] Furthermore, the control center divides the stacking area into multiple stacking grids according to the top view of the gypsum stacking room. When the gypsum in a certain stacking grid is judged to be block-shaped, the control center marks the stacking grid and controls the bridge grab to avoid the marked stacking grid when grabbing the gypsum.

[0013] Beneficial effects: The bridge grab system for gypsum stacking room based on real-time modeling and the working method thereof of the present invention have the following beneficial effects:

[0014] 1) The gypsum stockpile room is modeled in real time through laser radar. The control center controls the bridge grab to move and grab and release gypsum according to the three-dimensional model, which can improve the automation level of the bridge grab system;

[0015] 2) When the bridge grab grabs the gypsum, the control center controls the entry point of the bridge grab according to the 3D model, so that the bridge grab can actively cause the surrounding gypsum to slide slightly, and then observe the movement of the gypsum when it slides through the laser radar to determine whether the sliding gypsum is powdery or lumpy; when grabbing gypsum subsequently, the control center lets the bridge grab avoid areas with lumpy gypsum to ensure the discharge quality of the gypsum. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Attached Figure 1 It is a three-dimensional schematic diagram of the gypsum stacking room;

[0017] Attached Figure 2This is a schematic diagram of the area division in the gypsum stockpile room;

[0018] Attached Figure 3 This is a schematic diagram of the structure of a bridge grab machine. DETAILED DESCRIPTION

[0019] The present invention will be further described below in conjunction with the accompanying drawings.

[0020] As attached Figures 1 to 3 The bridge grab system for gypsum stockpiling room based on real-time modeling includes a gypsum stockpiling room 1 and a control center. The gypsum stockpiling room 1 is used to stack gypsum powder. A bridge grab 2 and several stereo photogrammetry devices are arranged in the gypsum stockpiling room 1. The stereo photogrammetry device is connected to the control center for communication, and the control center is connected to the bridge grab 2 for control.

[0021] The stereophotogrammetry device can obtain the point cloud data of the gypsum stockpile room 1 and transmit the point cloud data to the control center. After receiving the real-time point cloud data, the control center performs real-time modeling based on the real-time point cloud data to form a three-dimensional model diagram of the stone stockpile room. Then the control center controls the bridge grab 2 to move and grab and release gypsum according to the three-dimensional model diagram. The bridge grab 2 is guided to perform automated operations through the real-time three-dimensional model diagram of the gypsum stockpile workshop. While the degree of automation and intelligence is high, the work efficiency has also been improved to a certain extent.

[0022] Specifically, the control center is equipped with modeling software, which completes the following functions: constructing and imaging the three-dimensional model of the gypsum pile; generating a gypsum pile shape diagram; generating a fixed-point walking path during the grabbing operation; providing a basis for the material entry point before the material grabbing begins; and providing real-time changes in the pile shape around the material grabbing point during the material grabbing process. The modeling software and the control center are mature existing technologies, and their structure and working principle will not be elaborated in detail here.

[0023] The stereophotogrammetric devices include at least one static measuring device 3 and one dynamic measuring device 4. The static measuring device 3 is fixed on the top of the gypsum material storage room 1, and the dynamic measuring device 4 is movably arranged in the gypsum material storage room 1. The point cloud data of the gypsum material storage room 1 is obtained by combining multiple static and dynamic measuring devices, and the point cloud data is fused to construct a three-dimensional model diagram, so that the constructed three-dimensional model diagram has no blind spots and is accurate.

[0024] Specifically, the stereophotogrammetric device is a laser radar, that is, the static measuring device 3 and the dynamic measuring device 4 are both laser radars. A crossbeam 10 is provided on the top of the gypsum stockpile room 1, and the static measuring device 3 is fixed on the crossbeam 10. In practical applications, at least six laser radars are arranged at intervals on the crossbeam 10. The dynamic measuring device 4 is installed on the bridge grab 2; a bridge grab guide rail 5 is provided in the gypsum stockpile room 1, and the bridge grab 2 can slide along the bridge grab guide rail 5 and drive the dynamic measuring device 4 to move in the gypsum stockpile room 1. At least two laser radars are arranged at intervals on the bridge grab 2. In addition, a material distribution rail is also provided in the gypsum stockpile room 1, and a material distribution trolley is movably provided on the material distribution rail, and at least two laser radars are also arranged at intervals on the material distribution trolley.

[0025] The present invention also provides a working method of a bridge grab system for a gypsum stacking room based on real-time modeling, wherein the control center obtains a top view of the gypsum stacking room 1 according to a three-dimensional model of the gypsum stacking room 1, and divides the gypsum stacking room 1 into a stacking area 6, a buffer area 7 and a discharge area 8 according to the top view of the gypsum stacking room 1. Figure 2 As shown in the figure, no gypsum is piled in the discharge area 8, and the vehicles transporting gypsum enter and exit the gypsum stockpiling workshop from the discharge area 8. Gypsum is piled in both the buffer area 7 and the stockpiling area 6, wherein the area of ​​the buffer area 7 is smaller than that of the stockpiling area 6, and the buffer area 7 is closer to the discharge area 8 than the stockpiling area 6.

[0026] During the discharge period, the control center controls the bridge grab 2 to preferentially grab the gypsum in the buffer area 7 for discharge to improve work efficiency. After the gypsum in the buffer area 7 is taken out, the bridge grab 2 grabs the gypsum in the stacking area 6 that is closer to the discharge area 8.

[0027] In the non-discharging period, the gypsum in the buffer area 7 is judged whether it is full and whether there is still space for storage according to the three-dimensional model diagram of the gypsum storage room 1. If there is still space for storage, the control center controls the bridge grab 2 to grab the gypsum in the storage area 6 and transfer it to the buffer area 7. If it is full of gypsum, the transfer is stopped. By transferring during the non-discharging period, the discharging efficiency during the discharging period can be improved.

[0028] Gypsum powder is piled in the gypsum stacking room 1, but due to unexpected factors such as moisture, the gypsum powder in the gypsum stacking room 1 may still clump. When discharging, it is necessary to avoid the clumped gypsum. However, in the prior art, it is necessary to manually identify and screen whether the gypsum is clumped, which has high labor costs and low efficiency.

[0029] To solve the above problem, in the present invention, when the bridge grab 2 causes the surrounding gypsum to slide during the process of grabbing gypsum, the movement form of the gypsum when sliding is observed by laser radar. Since there is a difference in the movement form of powdered gypsum and block gypsum when sliding, it can be determined whether the sliding gypsum is powdery or blocky, thereby realizing automatic identification and saving manpower.

[0030] Normally, during the process of the bridge grab 2 grabbing materials, the probability of causing the surrounding gypsum to slide is low, and the recognition coverage rate of whether the gypsum is agglomerated is low. In order to improve the recognition coverage rate, during the non-discharging period, when the bridge grab 2 moves the gypsum in the stockpiling area 6 to the buffer area 7, the control center controls the entry point of the bridge grab 2 when grabbing the gypsum through the three-dimensional model diagram of the gypsum stockpiling workshop, so that the bridge grab 2 can actively cause the surrounding gypsum to slide slightly when grabbing the gypsum. Specifically, during the process of the bridge grab 2 grabbing the gypsum, the entry point of the bridge grab 2 is slightly lower than the maximum height of the gypsum stack, so that after the bridge grab 2 grabs the gypsum, it will cause the gypsum originally at the highest point to slide slightly. By actively causing the slip of the gypsum, the recognition coverage rate of whether the gypsum is agglomerated is improved.

[0031] As attached Figure 2 As shown in , the control center divides the stacking area 6 into a plurality of stacking grids 9 according to the top view of the gypsum stacking room 1. In the process of transferring gypsum from the stacking area 6 to the buffer area 7 in the non-discharging stage, when gypsum in a certain stacking grid 9 is judged to be blocky, the control center marks the stacking grid 9 and controls the bridge grab 2 to avoid the marked stacking grid 9 when grabbing gypsum. The transfer process in the non-discharging stage is also equivalent to a screening process. After screening, the gypsum is transferred to the buffer area 7. However, since the gypsum stays in the buffer area 7 for a short time, the efficiency of gypsum agglomeration is also low.

[0032] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A bridge grab system for gypsum stacking room based on real-time modeling, characterized by: The invention comprises a gypsum material storage room (1) and a control center. A bridge-type grab bucket (2) and a plurality of stereoscopic photogrammetry devices are arranged in the gypsum material storage room (1). The stereoscopic photogrammetry devices are connected to the control center for communication, and the control center is connected to the bridge-type grab bucket (2) for control. The stereophotogrammetry device can obtain point cloud data of the gypsum stockpile room (1) and transmit the point cloud data to the control center; the control center can build a model in real time based on the point cloud data to form a three-dimensional model diagram of the stone stockpile room, and control the bridge grab machine (2) to move and grab and release the gypsum based on the three-dimensional model diagram.

2. The bridge grab system for gypsum stacking room based on real-time modeling according to claim 1 is characterized in that: The plurality of stereophotogrammetric devices include at least one static measuring device (3) and one dynamic measuring device (4), wherein the static measuring device (3) is fixed on the top of the gypsum material storage room (1), and the dynamic measuring device (4) is movably arranged in the gypsum material storage room (1).

3. The bridge grab system for gypsum stacking room based on real-time modeling according to claim 2 is characterized in that: A crossbeam (10) is provided on the top of the gypsum stacking room (1), and the static measuring device (3) is fixed on the crossbeam (10).

4. The bridge grab system for gypsum stacking room based on real-time modeling according to claim 2 is characterized in that: The dynamic measuring device (4) is installed on a bridge grab (2); a bridge grab guide rail (5) is provided in the gypsum material storage room (1); the bridge grab (2) can slide along the bridge grab guide rail (5) and drive the dynamic measuring device (4) to move in the gypsum material storage room (1).

5. The bridge grab system for gypsum stacking room based on real-time modeling according to claim 4 is characterized in that: The static measuring device (3) and the dynamic measuring device (4) are both laser radars.

6. The working method of the bridge grab system for gypsum stacking room based on real-time modeling according to claim 5 is characterized in that: The control center obtains a top view of the gypsum stacking room (1) based on the three-dimensional model of the gypsum stacking room (1), and divides the gypsum stacking room (1) into a stacking area (6), a buffer area (7) and a discharge area (8) based on the top view of the gypsum stacking room (1). Vehicles transporting gypsum enter and exit the gypsum stacking workshop from the discharge area (8). Gypsum is stacked in both the buffer area (7) and the stacking area (6). The area of ​​the buffer area (7) is smaller than that of the stacking area (6), and the buffer area (7) is closer to the discharge area (8) than the stacking area (6). During the discharging period, the control center controls the bridge grab machine (2) to preferentially grab the gypsum in the buffer area (7) for discharging; During the non-discharging period, the control center controls the bridge grabber (2) to grab the gypsum in the stockpiling area (6) and transfer it to the buffer area (7).

7. The working method of the bridge grab system for gypsum stacking room based on real-time modeling according to claim 6 is characterized by: When the bridge grab (2) causes surrounding gypsum to slide down during the process of grabbing gypsum, the movement of the gypsum when sliding down is observed by laser radar, thereby judging whether the gypsum sliding down is in powder or block form.

8. The working method of the bridge grab system for gypsum stacking room based on real-time modeling according to claim 7 is characterized in that: During the non-discharging period, when the bridge grab (2) is moving the gypsum in the stockpiling area (6) to the buffer area (7), the control center controls the entry point of the bridge grab (2) when grabbing the gypsum through the three-dimensional model diagram of the gypsum stockpiling workshop, so that the bridge grab (2) can actively cause the surrounding gypsum to slide slightly when grabbing the gypsum.

9. The working method of the bridge grab system for gypsum stacking room based on real-time modeling according to claim 8 is characterized in that: The control center divides the stacking area (6) into a plurality of stacking grids (9) according to a top view of the gypsum stacking room (1); when gypsum in a certain stacking grid (9) is judged to be in block shape, the control center marks the stacking grid (9) and controls the bridge grab (2) to avoid the marked stacking grid (9) when grabbing the gypsum.

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