Railway rapid quantitative loading system and method for various bulk materials at port

Abstract

The invention relates to a railway rapid quantitative loading system and method for various bulk materials in a port. The railway rapid quantitative loading system comprises a plurality of stock bins, a belt conveyor with a variable-frequency speed regulator, a surge bin with an anti-jamming double-wing radial gate, a hyperbolic weighing bin and an anti-impact chute, wherein the stock bins are sequentially connected in a material conveying mode. Intelligent, rapid and quantitative loading of various bulk cargos is achieved on a single set of loading system, the loading requirements of ports and the like for large delivery volume and more bulk cargos are met, and the beneficial effects of being small in investment, small in occupied area, environmentally friendly and capable of saving energy are achieved. The hyperbolic weighing bin, the anti-jamming double-wing radial gate, the secondary flow control anti-impact chute and the like improve the loading stability and reliability of the system on various bulk materials, effectively prevent the bulk materials with high density, high hardness and non-uniform granularity from impacting the stock bin, the gate, a compartment bottom plate and the like, guarantee efficient and smooth operation of the bulk materials in the loading and transporting process, and improve the loading safety of the bulk materials. By means of the railway rapid quantitative loading system, accurate loading, thorough cleaning and rapid replacement of various bulk cargos can be achieved.

Description

Technical Field

[0001] The present invention relates to a rapid quantitative loading system and method for multiple bulk materials by railway in a port, which is a mechanical transportation device and method, and is a rapid quantitative loading system and loading process method for bulk materials by railway applicable to ports. Background Art

[0002] With the rapid development of the economy, good resource allocation is required among various regions, and ports play an important role in this. Dry bulk goods mainly including coal, iron ore, etc. are the main bulk goods in ports and are also important raw materials for the development of the national economy. With the rapid economic growth, the demand for resource-based goods such as coal and iron ore is strong, the trade volume of dry bulk goods continues to expand, and the loading demands for different bulk materials are increasing day by day. As a transfer hub for dry bulk goods, ports bear huge production pressures. At the same time, limited by the port site, it is impossible to establish separate loading systems for different dry bulk goods. Therefore, the train loading of single bulk materials can no longer meet the port's demands, and the loading and transfer of multiple bulk materials is a problem that needs to be solved. Summary of the Invention

[0003] In order to overcome the problems of the prior art, the present invention provides a rapid quantitative loading system and method for multiple bulk materials by railway in a port. The said system and method for rapid quantitative loading of multiple bulk materials by railway in a port emerge as the times require. Different bulk materials can be rapidly and quantitatively loaded through a loading system that can precisely control the loading volume of bulk materials, with low investment, less land occupation, high efficiency, intelligent and efficient, safe and environmentally friendly.

[0004] The object of the present invention is achieved as follows: A rapid quantitative loading system for multiple bulk materials by railway at a port, comprising: a material fetching subsystem in a stockyard composed of multiple stacker-reclaimers and multiple horizontal conveyor belts, the material fetching subsystem in the stockyard is sequentially connected to a lifting belt conveyor with a variable frequency speed regulator, a buffer bin with an anti-jamming double-wing arc gate, a hyperbolic weighing bin, and an anti-impact chute, characterized in that each of the stacker-reclaimers is provided with a material fetching amount sensor, each of the horizontal conveyor belts and the lifting belt conveyor is provided with a real-time belt conveying amount sensing subsystem, and the real-time belt conveying amount sensing subsystem of the belt conveyor includes: a speed sensor and a weighing sensor installed on the idler support of the belt conveyor, and a binocular stereo camera installed directly above the belt; a material level sensor is provided in the buffer bin; each material fetching amount sensor, the variable frequency speed regulator of the lifting belt conveyor, the real-time belt conveying amount sensing subsystem, and the material level sensor are electrically connected to a material fetching adaptive controller; the batching gate controller of the anti-jamming double-wing arc gate, the sensor for opening the batching gate, and the electronic scale of the weighing bin are electrically connected to a batching adaptive controller; the hyperbolic weighing bin is provided with a first-stage discharge gate, a first-stage flow controller, and a first-stage gate opening sensor; the chute is provided with a second-stage discharge gate, a second-stage flow controller, and a second-stage gate opening sensor; the first-stage flow controller, the first-stage gate opening sensor, the second-stage flow controller, and the second-stage gate opening sensor are electrically connected to a discharge adaptive controller, and the material fetching adaptive controller, the batching adaptive controller, and the discharge adaptive controller are electrically connected to a coordination controller; The material fetching adaptive controller is used to realize the intelligent flexible adjustment of the multi-belt bulk material flow of multiple material fetching machines by using a T-S fuzzy neural network model. The input parameters are: the material level in the buffer bin, the currents of multiple belts, the vehicle speed, the position of the damaged carriage, and the opening and closing parameters of the material fetching machine, and the output parameters are: the control of the material fetching machine and the control of the belt conveyor; the fuzzy sets and training samples are determined according to the actual working conditions on site, and through repeated training and actual tests, the control objective of adaptive feeding is realized; The batching adaptive controller is used to establish a mathematical model of the batching process and realize the adaptive control of the batching speed and accuracy of the system by using intelligent prediction; on the basis of the mathematical model of the batching process, the system batching error analysis process is added to realize the intelligent analysis of the batching accuracy and the adaptive adjustment of parameters of the automatic loading system online. At the same time, a precise bin filling and active blockage clearing error compensation strategy is adopted, one is to ensure the batching accuracy, and the other is to ensure that the bulk materials in the weighing bin are emptied during unloading to avoid blockage and jamming; The discharge adaptive controller is used to realize the adaptive adjustment of the opening time of the weighing bin gate and the height of the loading chute, the main control points of intelligent loading, through the analysis of the characteristics of bulk materials and the data simulation system; at the same time, through data recovery and analysis, the simulation situation is corrected to realize the pre-analysis of the control of key loading nodes and the actual full-automatic control process; The described coordination controller is used to unify and coordinate the control of the material fetching equipment, the belt conveyor, and the loading system, adjust the material fetching amount in real time according to the required loading amount, control the start and stop of the material fetching machine, and the start and stop of the belt conveyor; when loading different bulk materials, it is necessary to empty the bulk materials in the buffer bin to avoid bulk material mixing and waste. A diversified intelligent loading adaptation and flow precise control technology for bulk materials has been developed to realize the timely and accurate emptying of the bulk materials in the buffer bin when the loaded bulk materials change, effectively avoiding bulk material mixing and waste.

[0005] A method for rapid quantitative railway loading of various bulk materials at a port using the above system, the steps of the method include: Step 1, obtaining loading task information: The loading task information includes: information of each carriage of the train, including: carriage arrangement, model size of each carriage; bulk material information, including: bulk material type, loading amount of bulk material, bulk material fluidity. Step 2, formulating a loading plan: According to the characteristics of the bulk materials to be loaded in this batch, calculate the loading amount of each carriage and the bulk material flow rate: including the opening parameters of the material fetching machine, the operating parameters of the belt conveyor, the change amount of bulk material accumulation in the buffer bin, the discharging rates of the weighing bin and the chute. Step 3, starting to fetch materials: When the train enters the loading station, start the corresponding material fetching machine according to the loading plan. Step 4, monitoring the material fetching: The material fetching adaptive controller uses the T-S fuzzy neural network model to realize the intelligent flexible adjustment of the bulk material flow of multiple material fetching machines and multiple belts. The input parameters are: buffer bin level, currents of multiple belts, vehicle speed, position of defective carriages, opening and closing parameters of the material fetching machine, and the output parameters are: control of the material fetching machine, control of the belt conveyor. Determine the fuzzy sets and training samples according to the actual on-site working conditions, and through repeated training and actual testing, achieve the control goal of adaptive feeding. Step 5, monitoring the batching: Establish a mathematical model of the batching process, and use intelligent prediction to realize the adaptive control of the batching speed and accuracy; add a batching error analysis process on the basis of the mathematical model of the batching process to realize the intelligent analysis of the batching accuracy and the adaptive adjustment of parameters in the automatic loading process online. At the same time, adopt an error compensation strategy based on precise binning and active blockage clearing to ensure both the accuracy of batching and the emptying of the bulk materials in the weighing bin during discharging, avoiding situations such as blockage and jamming. Step 6, monitoring the discharging: Through the analysis of the bulk material characteristics and data simulation, realize the adaptive adjustment of the opening time of the weighing bin gate and the height of the loading chute at the main control points of intelligent loading. At the same time, through data recovery and analysis, correct the simulation situation to realize the pre-analysis of the key nodes control of loading and the actual fully automatic control process. Step 7, coordinated loading: Coordinate the control of the material fetching equipment, belt conveyor, and loading system. Adjust the material fetching amount in real time according to the required loading amount, control the start and stop of the material fetching machine and the belt conveyor. When loading different bulk materials, it is necessary to empty the bulk materials in the buffer bin to avoid bulk material mixing and waste. When changing the loaded bulk material, the bulk materials in the buffer bin can be emptied in a timely and accurate manner, effectively avoiding bulk material mixing and waste; Step 8, end of loading: When the bulk materials for this batch of loading reach the last carriage and the train leaves after the loading is completed, each detection device checks whether there are any remaining bulk materials in the belt conveyor, buffer bin, hyperbolic weighing bin, and anti-impact chute. If any remaining bulk materials are found, an alarm is given. If no remaining bulk materials are found, the loading ends.

[0006] The advantages and beneficial effects of the present invention are as follows: The present invention uses a set of strict detection and control systems to closely monitor the entire flow channel of the loaded bulk materials, and can quickly identify any blockage in the bulk material flow. The present invention realizes the intelligent and rapid quantitative loading of multiple bulk materials on a single loading system, meets the loading requirements of large quantities of bulk materials at ports and other places, and has the advantages of small investment, less land occupation, environmental protection and energy saving. The hyperbolic weighing bin, anti-blocking double-wing arc gate, and secondary flow control anti-impact chute, etc., improve the stability and reliability of the system for loading multiple bulk materials, effectively prevent the impact of high-density, high-hardness, and uneven particle size bulk materials on the silo, gate, and carriage bottom plate, etc., ensure the efficient and smooth operation of the bulk materials during the loading and transportation process, and can realize accurate loading, clean emptying, and quick replacement of multiple bulk materials in the railway rapid quantitative loading system. Description of the Drawings

[0007] The present invention will be further described below in conjunction with the drawings and embodiments.

[0008] Figure 1 is a schematic structural diagram of the loading system according to Embodiment 1 of the present invention; Figure 2 is a schematic diagram of the monitoring system of the loading system according to Embodiment 1 of the present invention; Figure 3 is a flowchart of the loading method according to Embodiment 2 of the present invention; Detailed Embodiments

[0009] Embodiment 1: This embodiment is a railway rapid quantitative loading system for multiple bulk materials at a port, as Figure 1 、 2 shown. The basic structure of this embodiment includes: a material fetching subsystem 1 in the stacking yard composed of multiple stacker-reclaimers 101 and multiple horizontal conveyor belts 102. The material fetching subsystem in the stacking yard is sequentially connected to a lifting belt conveyor 2 with a variable frequency speed regulator, a buffer bin 3 with an anti-blocking double-wing arc gate 301, a hyperbolic weighing bin 4, and an anti-impact chute 5, asFigure 1 As shown. Each of the stacker-reclaimer is provided with a material taking amount sensor. Each of the horizontal conveyor belt and the elevating conveyor belt is provided with a real-time belt conveying amount sensing subsystem. The real-time belt conveying amount sensing subsystem includes: a belt speed sensor and a weighing sensor installed on the belt conveyor idler bracket, and a binocular stereo camera installed directly above the belt; a material level sensor is provided in the buffer bin; each material taking amount sensor, the frequency converter of the elevating conveyor belt, the real-time belt conveying amount sensing subsystem and the material level sensor are electrically connected to the material taking adaptive controller; the batching gate controller of the anti-blocking double-wing arc gate, the sensor for opening the batching gate, and the electronic scale of the weighing bin are electrically connected to the batching adaptive controller; the hyperbolic weighing bin is provided with a primary discharge gate, a primary flow controller, and a primary gate opening sensor; the chute is provided with a secondary discharge gate, a secondary flow controller, and a secondary gate opening sensor; a falling material state lidar and a carriage identification and positioning subsystem are also provided around the chute. The carriage positioning subsystem includes a carriage position positioning device, a carriage speed detection device, and a carriage model detection device; the primary flow controller, the primary gate opening sensor, the secondary flow controller, the secondary gate opening sensor, the falling material state lidar, and the carriage identification and positioning subsystem are electrically connected to the discharge adaptive controller. The material taking adaptive controller, the batching adaptive controller, and the discharge adaptive controller are electrically connected to the coordination controller, as Figure 2 shown.

[0010] The stockyard described in the embodiment refers to a bulk material stacking place for stacking various bulk materials in a port. Various different bulk materials are stacked in the stockyard, and the stacker-reclaimer is used for stockpiling and reclaiming operations. The stacker-reclaimer is a large-scale mechanical equipment used to stack the bulk materials unloaded from the ship at various locations in the stockyard according to different varieties, or to scoop up the bulk materials that have been stacked at various locations in the stockyard and transport them to the elevating conveyor belt by the horizontal conveyor belt.

[0011] The horizontal conveyor belt is a belt conveying system, including multiple belt conveyors that transfer bulk materials to each other, and is used to centrally convey the bulk materials to be loaded onto the elevating conveyor belt so as to convey the bulk materials to the inlet of the buffer bin at a high place.

[0012] The buffer bin is an impact-resistant and wear-resistant buffer bin. On the basis of fluidity analysis, the volume is taken into account, and at the same time, high-strength wear-resistant plates are laid on the inner wall of the buffer bin.

[0013] The described batching gate is an anti-jamming double-wing arc gate. Compared with a flat gate, the anti-jamming double-wing arc gate is easier to close. When the anti-jamming double-wing arc gate is approaching closure, it does not move in a simple straight line, but in a curved motion that moves forward and upward. This motion is similar to the action of scooping soup with a spoon, which helps to throw away or squeeze the bulk materials remaining at the gate opening to prevent these remaining bulk materials from jamming the gate and making it impossible to close.

[0014] The described weighing bin is a hyperbolic weighing bin. Through the coupling iteration optimization of bulk material fluidity and numerical simulation, the curvature of the hyperbola is reasonably designed, significantly improving the bulk material fluidity, with uniform force on the bin body, small wear on the inner wall of the bin, and strong adaptability to diversified bulk materials. At the same time, combined with the active anti-blocking technology for wet and sticky bulk materials, it solves the problems of poor adaptability of the bin to diversified bulk materials, easy blocking and sticking of the bin, easy wear, and short service life.

[0015] The described chute is a secondary flow control anti-impact chute. The primary discharge gate 401 below the weighing bin serves as the primary flow control unit and adopts a hydraulic servo drive system to precisely control the unloading of bulk materials in the weighing bin. The loading chute is designed with an anti-impact gate, and the gate of the chute (secondary discharge gate) 501 serves as the secondary flow control unit. It effectively prevents the impact of iron ore and the like on the carriage floor. The secondary discharge gate also adopts an inverse arc gate. The inverse arc gate requires less maintenance and has high reliability. By controlling the opening of the inverse arc gate through a servo oil cylinder, precise discharging can be achieved.

[0016] The chute control in this embodiment uses a servo hydraulic cylinder, and the control accuracy reaches 10 mm. When the track surface height and the structure of the loading station are determined, accurately controlling the position and angle of the chute can achieve an effective discharging effect and prevent the collision between the carriage and the chute.

[0017] The difficulty in this embodiment lies in: precisely controlling the feeding amount, and when changing each type of bulk material, no bulk material should be left remaining. During loading, the loading amount of each carriage is strictly controlled so that the total loading amount is exactly corresponding to the sum of the loading amounts of each carriage, that is, no extra bulk material is loaded and no bulk material is left remaining. When the loading of one type of bulk material is completed, the remaining amount of bulk materials in all equipment of the loading system, including the belt conveyor, buffer bin, metering bin, and chute, is zero. Due to the different characteristics of various bulk materials, mainly the different fluidities, it is very difficult to achieve no remaining amount of bulk materials in various equipment under normal circumstances. For this reason, this embodiment sets up a monitoring system dedicated to monitoring the state of the bulk material flow, closely monitoring the state of the bulk material flow during the conveying process, and monitoring whether the bulk material flow is flowing smoothly, whether there is any jamming or leakage.

[0018] The monitoring system includes: the material taking amounts of each stacker-reclaimer are fed back to the loading system in real time through material taking amount sensors, and a real-time material conveying amount sensing subsystem is provided on each horizontal conveyor belt and elevating conveyor belt. The real-time material conveying amount sensing subsystem includes a speed measuring sensor for measuring the running speed of the conveyor belt, a weighing sensor for weighing the bulk material on the conveyor belt, and a binocular stereo camera installed directly above the conveyor belt. The material amount on the material conveyor belt is calculated in real time using the running speed of the conveyor belt and the current accumulated amount on the conveyor belt. At the same time, the stereo camera takes pictures to judge the material accumulation state on the conveyor belt, so as to determine and verify whether the calculated bulk material conveying amount by the belt speed and weighing is accurate and whether it is the correct bulk material variety.

[0019] The sensor system described in this embodiment mainly consists of five parts: a material taking adaptive system, a batching adaptive system, a discharging adaptive system, and a collaborative control system. It closely monitors the links of material taking, batching, discharging, etc. Any abnormality can not only obtain information from various sensors but also obtain information through image recognition. The information obtained from the two information detection channels is mutually verified, so that the obtained information is more accurate.

[0020] The described material taking adaptive controller is used to realize the intelligent flexible adjustment of the multi-stackers and multi-belt bulk material flow using the T-S fuzzy neural network model. The input parameters are: buffer bin level, currents of multiple belts, vehicle speed, position of damaged carriage, opening and closing parameters of the stacker-reclaimer, and the output parameters are: stacker-reclaimer control, belt conveyor control; determine the fuzzy set and training samples according to the actual working conditions on site, and through repeated training and actual testing, achieve the control goal of adaptive feeding. Since the stacker-reclaimer and belt conveyor in the stockyard are a relatively complex system and it is difficult to express them with a similar mathematical model, this step uses the T-S fuzzy neural network model for big data training in order to achieve the effect of intelligent adaptive material taking.

[0021] The described batching adaptive controller is used to establish a mathematical model of the batching process and realize the adaptive control of the batching speed and accuracy of the system using intelligent prediction; on the basis of the mathematical model of the batching process, add a system batching error analysis process to realize the intelligent analysis of the batching accuracy and the adaptive adjustment of parameters of the automatic loading system online. At the same time, adopt an active clogging clearing error compensation strategy based on accurate bin matching, one is to ensure the accuracy of batching, and the other is to ensure that the bulk material in the weighing bin is emptied during discharging to avoid clogging and jamming.

[0022] The described discharging adaptive controller is used to realize the adaptive adjustment of the opening time of the weighing bin gate and the height of the loading chute, the main control points of intelligent loading, through the analysis of bulk material characteristics and the data simulation system; at the same time, through data recovery and analysis, correct the simulation situation to realize the pre-analysis of the key node control of loading and the actual fully automatic control process; The described coordination controller is used to unify and coordinate the control of the material fetching equipment, belt conveyor, and loading system, adjust the material fetching amount in real time according to the required loading amount, and control the start and stop of the material fetching machine and the belt conveyor. For different bulk materials during loading, it is necessary to empty the bulk materials in the buffer bin to avoid bulk material mixing and waste. A diversified intelligent loading adaptation and flow precise control technology for bulk materials has been developed to achieve timely and accurate emptying of the bulk materials in the buffer bin when the loaded bulk materials change, effectively avoiding bulk material mixing and waste.

[0023] According to the process principle and based on the tracking measurement of materials, the coordination controller effectively allocates equipment resources to achieve the connection and coordination of each device and subsystem. The coordination controller is equipped with a belt conveyor encapsulation module for coordinating the control of the belt conveyor to fetch materials, a loading station power source encapsulation module for coordinating the control of the overall power source of the loading station, a material fetching equipment encapsulation module for coordinating the material fetching equipment, and a loading station automatic control encapsulation module for coordinating the control of all equipment in the loading station.

[0024] Embodiment 2: This embodiment is a method for rapid quantitative loading of various bulk materials by railway at a port using the system described in Embodiment 1.

[0025] In view of the changes in the characteristics of the same batch of bulk materials, the changes in the characteristics of different batches of bulk materials, the differences in the characteristics of different bulk materials, and the differences in the external dimensions of different railway car types, sensor detection is used instead of human eye observation to detect the car position in real time and provide feedback to accurately grasp the timing of material fetching and unloading. Based on the real-time and accurate discrimination of the car position and the real-time detection of the vehicle speed, through advanced detection feedback, precise control of the automatic lifting of the loading chute of the material fetching belt, and adaptive high-precision unloading control technology, accurate detection adaptation and flow control are achieved when the flow rate and flow volume of different bulk materials change, and timely and accurate emptying of the bulk materials in the buffer bin is realized when the loaded bulk materials change, effectively avoiding bulk material mixing and waste.

[0026] The described method specifically includes (the process is as Figure 3 shown): Step 1, obtain the loading task information: The described loading task information includes: information about each car of the train, including: car arrangement, model size of each car; bulk material information, including: bulk material type, loading amount of the bulk material, fluidity of the bulk material.

[0027] The loading information usually comes from the transportation business department. For example, after a batch of bulk coal is unloaded from a ship at the port and temporarily stored in the stockpile yard at the wharf, it is necessary to load the coal onto the train and transport it away. The basic information of this batch of bulk materials is the storage location of the stockpile, how many tons need to be loaded, how many cars need to be loaded, and the fluidity of this batch of coal, etc. The loading amount plan is formulated based on this information.

[0028] Step 2, formulating the loading plan: According to the characteristics of the bulk materials to be loaded in this batch, calculate the loading quantity of each carriage and the flow rate of the bulk materials, including the opening parameters of the reclaimer, the operating parameters of the belt conveyor, the change in the accumulation of bulk materials in the buffer silo, and the discharging rates of the weighing silo and the chute.

[0029] Make the loading plan for each carriage based on the loading quantity and the number of available wagons. If different types of wagons are encountered, appropriate adjustments should also be made according to the wagon models to avoid overloading, underloading, and uneven loading.

[0030] Step 3, starting the reclaiming: When the train enters the loading station, start the corresponding reclaimer according to the loading plan.

[0031] Since there are various bulk materials in the stockyard and each bulk material has its own stacking location in the stockyard, when the bulk materials start to be conveyed, select the stacking location of the bulk materials for this loading according to the needs, and obtain the reclaiming limit of the prepared bulk material pile, including basic information such as the maximum and minimum conveying capacities of the reclaimer, and start the reclaimer according to the characteristics of the loaded bulk materials, thus starting the loading process.

[0032] Step 4, monitoring the reclaiming: The reclaiming adaptive controller uses the T-S fuzzy neural network model to realize the intelligent flexible adjustment of the bulk material flow of multiple reclaimers and multiple belts. The input parameters are: buffer silo level, currents of multiple belts, vehicle speed, position of damaged carriages, opening and closing parameters of the reclaimer, etc. The output parameters are: reclaimer control and belt conveyor control. Determine the fuzzy sets and training samples according to the actual working conditions on site, and through repeated training and actual testing, achieve the control goal of adaptive feeding.

[0033] Train the T-S fuzzy neural network model with the past data of the stockyard and test and verify it with a section of actual operation data. The key lies in monitoring the materials in the belt conveyor so that the remaining bulk materials on the belt conveyor are close to zero after loading. Under normal circumstances, this can only be achieved through strict manual calculation and control, which requires a large amount of labor cost. Therefore, the T-S fuzzy neural network model is very important. The system after the T-S fuzzy neural network model can save a large amount of human resources.

[0034] Step 5, monitoring the batching: Establish a mathematical model for the batching process and use intelligent prediction to realize the adaptive control of the batching speed and accuracy of the system; add a system batching error analysis process based on the mathematical model of the batching process to realize the intelligent analysis of the batching accuracy and the adaptive adjustment of parameters of the automated loading system online. At the same time, adopt an active anti-blocking error compensation strategy based on accurate binning to ensure the accuracy of batching and ensure that the bulk materials in the weighing silo are emptied during discharging to avoid situations such as blocking and jamming.

[0035] Step 6, Monitor Unloading: Through the analysis of bulk material characteristics and the data simulation system, achieve the adaptive adjustment of the opening time of the weighing bin gate and the height of the loading chute at the main control points of intelligent loading. At the same time, through data recovery and analysis, correct the simulation situation. Achieve the pre-analysis of the key node control of loading and the actual fully automatic control process.

[0036] Detect the horizontal and vertical positions of the carriage during the loading process, as well as the speed of the carriage, for controlling the position of the chute and the timing of unloading. Add a chute anti-collision device to prevent the chute from touching the carriage. Utilize the fluctuations in the bulk material falling pattern in the carriage scanned by lidar to adjust the height of the adaptive adjustment chute and the opening degrees of the primary unloading gate and the secondary unloading gate, making the accumulation of bulk material in the carriage smoother.

[0037] Step 7, Coordinate Loading: Unify and coordinate the control of the material taking equipment, the belt conveyor, and the loading system. Adjust the material taking amount according to the required loading amount in real time, and control the start and stop of the material taking machine, the start and stop of the belt conveyor, etc. For different bulk materials during loading, it is necessary to empty the bulk material in the buffer bin to avoid bulk material mixing and waste. A diversified intelligent loading adaptation and flow precise control technology for bulk materials has been developed to achieve the timely and precise emptying of the bulk material in the buffer bin when the loaded bulk material changes, effectively avoiding bulk material mixing and waste.

[0038] Step 8, End Loading: When the bulk material for this batch of loading reaches the last carriage and the train has finished loading and leaves, each detection device checks whether there is any remaining bulk material in the belt conveyor, buffer bin, hyperbolic weighing bin, and anti-impact chute. If any remaining bulk material is found, an alarm is given. If no remaining bulk material is found, the loading ends.

[0039] After the train has finished loading the bulk material and the vehicle leaves the loading station, for the loading station, the task is not fully completed yet. It is also necessary to go through all the flow channels of the bulk material with each detection device to check whether there is any remaining bulk material stuck in a certain position. If necessary, cleaning measures are taken to clean the stuck bulk material. After the detection and cleaning, the entire loading process ends.

[0040] Finally, it should be noted that the above is only used to illustrate the technical solution of the present invention and not to limit it. Although the present invention has been described in detail with reference to the preferred arrangement, those of ordinary skill in the art should understand that the technical solution of the present invention (such as the structural form of the loading station, the operation mode of the silo and the loading station, the sequence of steps, etc.) can be modified or equivalently replaced without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. A rapid quantitative loading system for multiple bulk materials by railway at a port, comprising: The stockyard reclaiming subsystem consists of multiple stacker-reclaimers and multiple horizontal conveyor belts. The stockyard reclaiming subsystem is sequentially connected to a lifting belt conveyor with a variable frequency speed regulator, a buffer bin with an anti-blocking double-wing arc gate, a hyperbolic weighing bin, and an anti-impact chute. It is characterized in that each of the stacker-reclaimers is provided with a reclaiming quantity sensor, and each of the horizontal conveyor belts and the lifting belt conveyor is provided with a real-time belt conveying quantity perception subsystem. The real-time belt conveying quantity perception subsystem includes: a speed sensor and a weighing sensor installed on the belt conveyor idler bracket, and a binocular stereo camera installed directly above the belt; a material level sensor is arranged in the buffer bin; each reclaiming quantity sensor, the variable frequency speed regulator of the lifting belt conveyor, the real-time belt conveying quantity perception subsystem, and the material level sensor are electrically connected to a reclaiming adaptive controller; the batching gate controller of the anti-blocking double-wing arc gate, the sensor for opening the batching gate, and the electronic scale of the weighing bin are electrically connected to a batching adaptive controller; the hyperbolic weighing bin is provided with a primary discharge gate, a primary flow controller, and a primary gate opening sensor; the chute is provided with a secondary discharge gate, a secondary flow controller, and a secondary gate opening sensor; the primary flow controller, the primary gate opening sensor, the secondary flow controller, and the secondary gate opening sensor are electrically connected to a discharge adaptive controller, and the reclaiming adaptive controller, the batching adaptive controller, and the discharge adaptive controller are electrically connected to a coordination controller; The reclaiming adaptive controller is used to realize the intelligent flexible adjustment of the multi-stackers and multi-belt bulk material flow by using the T-S fuzzy neural network model. The input parameters are: buffer bin material level, currents of multiple belts, vehicle speed, position of damaged carriage, stacker-reclaimer opening and closing parameters, and the output parameters are: stacker-reclaimer control and belt conveyor control; determine the fuzzy sets and training samples according to the actual working conditions on site, and through repeated training and actual testing, achieve the control goal of adaptive feeding; The batching adaptive controller is used to establish a mathematical model of the batching process and realize the adaptive control of the batching speed and accuracy of the system by using intelligent prediction; add a system batching error analysis process on the basis of the batching process mathematics to realize the intelligent analysis of the batching accuracy and the adaptive adjustment of parameters of the automatic loading system online. At the same time, adopt an active anti-blocking error compensation strategy based on accurate binning, one is to ensure the accuracy of batching, and the other is to ensure that the bulk material in the weighing bin is emptied during unloading to avoid blocking and jamming; The discharge adaptive controller is used to realize the adaptive adjustment of the opening time of the weighing bin gate and the height of the loading chute at the main control points of intelligent loading through the analysis of the characteristics of bulk materials and the data simulation system; at the same time, through data recovery and analysis, correct the simulation situation to realize the pre-analysis of the key node control of loading and the actual full-automatic control process; The described coordination controller is used to unify and coordinate the control of the material fetching equipment, belt conveyor, and loading system, adjust the material fetching amount in real time according to the required loading amount, control the start and stop of the material fetching machine, and the start and stop of the belt conveyor. When loading different bulk materials, it is necessary to empty the bulk materials in the buffer bin to avoid bulk material mixing and waste. A diversified intelligent loading adaptation and flow precise control technology for bulk materials has been developed to realize the timely and accurate emptying of the bulk materials in the buffer bin when the loaded bulk materials change, effectively avoiding bulk material mixing and waste.

2. A method for quickly and quantitatively loading various bulk materials by rail at a port using the system described in claim 1, characterized in that, The steps of the described method include: Step 1: Obtain loading task information. The loading task information includes: information about each carriage of the train, including: carriage arrangement, model and size of each carriage; bulk material information, including: bulk material type, loading amount of bulk material, and fluidity of bulk material. Step 2: Develop a loading plan. According to the characteristics of the bulk materials to be loaded in this batch, calculate the loading amount of each carriage and the flow rate of bulk materials, including: opening parameters of the material fetching machine, operating parameters of the belt conveyor, change amount of bulk material accumulation in the buffer bin, discharging rates of the weighing bin and the chute. Step 3: Start material fetching. When the train enters the loading station, start the corresponding material fetching machine according to the loading plan. Step 4: Monitor material fetching. The material fetching adaptive controller uses the T-S fuzzy neural network model to realize the intelligent flexible adjustment of the bulk material flow of multiple material fetching machines and multiple belts. The input parameters are: buffer bin level, currents of multiple belts, vehicle speed, position of damaged carriage, opening and closing parameters of the material fetching machine, and the output parameters are: control of the material fetching machine, control of the belt conveyor. Determine the fuzzy sets and training samples according to the actual working conditions on site, and through repeated training and actual testing, achieve the control goal of adaptive feeding. Step 5: Monitor batching. Establish a mathematical model for the batching process and use intelligent prediction to realize the adaptive control of batching speed and accuracy. Add a batching error analysis process based on the mathematical model of the batching process to realize the intelligent analysis of batching accuracy and the adaptive adjustment of parameters for online automatic loading. At the same time, adopt an error compensation strategy based on precise binning and active blockage clearing to ensure both batching accuracy and the emptying of bulk materials in the weighing bin during discharging, avoiding situations such as blockage and jamming. Step 6: Monitor discharging. Through the analysis of bulk material characteristics and data simulation, realize the adaptive adjustment of the opening time of the weighing bin gate and the height of the loading chute, the main control points of intelligent loading. At the same time, through data recovery and analysis, correct the simulation situation to realize the pre-analysis of the key control points of loading and the actual fully automatic control process. Step 7: Coordinate loading. Unify and coordinate the control of the material fetching equipment, belt conveyor, and loading system, adjust the material fetching amount in real time according to the required loading amount, control the start and stop of the material fetching machine, and the start and stop of the belt conveyor. When loading different bulk materials, it is necessary to empty the bulk materials in the buffer bin to avoid bulk material mixing and waste, realize the timely and accurate emptying of the bulk materials in the buffer bin when the loaded bulk materials change, and effectively avoid bulk material mixing and waste. Step 8, end of loading: The bulk materials loaded in this batch reach the last carriage. After the train is fully loaded and leaves, each detection device checks whether there is any remaining bulk materials in the form of lumps in the belt conveyor, buffer bin, hyperbolic weighing bin, and anti-impact chute. If any remaining bulk materials are found, an alarm is given; if no remaining bulk materials are found, the loading ends.

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