A grab bucket crane material handling control method, control system and storage medium

Abstract

This invention provides a material handling control method, control system, and storage medium for a grab bucket crane. The method includes: locating the material handling area corresponding to the discharge port in a height map of the effective material; performing layered material handling in the material handling area, wherein the material handling process of a single layer is represented as follows: arranging material handling points in a matrix within the material handling area to obtain a set of all material handling points; and selecting the set P of material handling points for the current layer based on the average material handling depth of the grab bucket and the highest material point currently in the material handling area. n ; Find a set that belongs to set P n The invention obtains the set of material collection points for the current material collection layer, controls the grab bucket to collect material according to the collection points in the set, and updates the height map of effective material in real time; wherein the material collection points of two adjacent material collection layers are staggered. This invention can realize automated control of the grab bucket machine to collect material and can ensure that no material is missed during the material collection process.

Description

Technical Field

[0001] This invention relates to the field of grab bucket reclaimer control technology, specifically to a grab bucket reclaimer material handling control method, control system, and storage medium. Background Technology

[0002] A raw material yard is a site for receiving, storing, processing, and blending raw materials and fuels for iron and steel metallurgy. Modern large-scale raw material yards include ore yards, coal yards, and auxiliary raw material yards; they not only store incoming iron ore, iron concentrate, pellets, manganese ore, limestone, dolomite, serpentine, silica, coking coal, and thermal coal, but also store some sintered ore, pellets, and recycled materials from the steel plant, such as iron oxide scale, blast furnace ash, crushed coke, sinter powder, and end-of-life materials for blending. Bulk material yards store materials by stacking them in the yard using carts, trucks, etc., and retrieve them when needed using grab bucket cranes.

[0003] Currently, the operation of grab reclaimers is completed through manual intervention and control. Operators need to concentrate for long periods of time, which is physically and mentally demanding. The dust pollution from the loose materials can also have a significant impact on the physical and mental health of the operators.

[0004] In summary, there is an urgent need for a material handling control method, control system, and storage medium for grab buckets to solve the problems existing in the prior art. Summary of the Invention

[0005] The purpose of this invention is to provide a material handling control method for grab bucket reclaimers, aiming to solve the problems of high labor intensity, long working hours, and significant impact on the physical and mental health of operators caused by dust pollution from loose materials in manually controlling grab bucket reclaimers. The specific technical solution is as follows:

[0006] A method for controlling the material handling of a grab bucket crane, comprising:

[0007] S1. Obtain the height map of the effective materials;

[0008] S2. Determine the current discharge port according to process requirements, and determine the corresponding material taking area P in the height diagram of the effective material, and take n=1; wherein, the effective material volume in the material taking area P must be greater than or equal to the required material taking amount;

[0009] S3. Arrange the material picking points in a matrix within the material picking area P to obtain the set of all material picking points. Based on the average material grabbing depth H of the grab bucket and the highest material point in the current material grabbing area P, the set of material points P of the current material grabbing layer is selected. n In the set Searching for a set P n The collection points are determined to obtain the set of collection points for the current collection layer.

[0010] S4. Control the grab bucket according to the assembly... The material picking point in the process picks up material from the current picking layer and updates the height map of the effective material in real time. During the picking process, the relationship between the current total picking amount and the required picking amount is judged in real time. If the current total picking amount is greater than or equal to the required picking amount, the process proceeds to S6. If the current total picking amount is less than the required picking amount, the process continues picking until the picking of the current picking layer is completed and then proceeds to S5.

[0011] S5. After taking n = n + 1, re-enter S3; where, the set With sets The material collection points need to be staggered.

[0012] S6. End material handling.

[0013] Preferably, an invalid material height map and a material to be retrieved height map are created, and the valid material height map is obtained by subtracting the two height maps.

[0014] Preferably, the set of material points P in the current material extraction layer n Represented as:

[0015] P n ={p|p z >p max .zH}

[0016] Where, p z This represents the z-coordinate of point p within the material handling area P. max .z represents the z-coordinate of the highest material point within the material collection area P, and H is the average material collection depth of the grab bucket.

[0017] Preferably, within the material handling area P, material handling points are set in a matrix according to the material handling radius r of the grab bucket, forming the set of material handling points within the material handling area P. Represented as:

[0018]

[0019] Where i = 1, 2, 3, ...; j = 1, 2, 3, ...; p ij .x represents the material pick-up point p. ij x-coordinate value; p ij .y represents the material pick-up point p ij The y-coordinate value; l is the interval between the material picking points and l = 2r; x1 and x2 are the two boundary points of the material picking area P in the x-axis direction, and y1 and y2 are the two boundary points of the material picking area P in the y-axis direction.

[0020] Preferably, the set of material collection points in the current material collection layer. Represented as:

[0021]

[0022] Where, p ′ Represents a set The material collection point in the process.

[0023] Preferred, set Material collection points and collection The material collection points in the set are offset by a distance r in both the x-axis and y-axis directions. The material collection point is represented as follows:

[0024]

[0025] Preferably, the time t required for the grab bucket to retrieve material from the current material layer each time is... m Represented as:

[0026]

[0027] Among them, t xk t represents the travel time of the grab bucket in the x-direction when it is unloaded; yk t represents the travel time of the grab bucket in the y-direction when it is unloaded; zk t represents the travel time of the grab bucket in the z-direction when it is unloaded; xf t represents the travel time of the grab bucket in the x-direction when it is under load; yf t represents the travel time of the grab bucket in the y-direction when it is under load; zf X represents the travel time of the grab bucket under load in the z-direction; T represents the time correction constant; X represents the travel time of the grab bucket under load in the z-direction. x This represents the x-coordinate value of the discharge port, X. y p represents the y-coordinate value of the discharge port. max .z represents the z-coordinate of the highest material point within the material handling area P, and G represents the position of the grab bucket at point P. max The elevation above .z This represents the x-coordinate value of the m-th material picking point. This represents the y-coordinate value of the m-th material picking point. v represents the z-coordinate value of the m-th material picking point. xk v represents the speed of the grab bucket in the x-direction when it is unloaded. yk v represents the y-speed of the grab bucket when it is unloaded. zk v represents the speed of the grab bucket in the z-direction when it is unloaded. xf v represents the speed of the grab bucket in the x-direction when it is under load. yf v represents the speed of the grab bucket in the y-direction when it is under load. zf This indicates the speed of the grab bucket in the z-direction when it is under load.

[0028] Preferably, the total time t required for the grab bucket to complete the material handling task is... a for:

[0029]

[0030] Where q = V2 / V1, q is the number of times the material is taken out to complete the material taking task, V1 is the average material taking amount of the grab bucket, and V2 is the required material taking amount.

[0031] The present invention also provides a material handling control system for a grab bucket crane, the system including a processor and a memory, wherein the memory stores a computer program, and the processor executes the material handling control method when running the computer program.

[0032] The present invention also provides a storage medium storing a computer program, which, when run, executes the material handling control method.

[0033] The application of the technical solution of the present invention has the following beneficial effects:

[0034] The grab bucket crane material handling control method of the present invention is as follows: The current discharge port is determined according to process requirements; the corresponding material handling area P is found in the effective material height map; material handling is performed layer by layer in material handling area P. The material handling process of a single layer is represented as follows: material handling points are arranged in a matrix within material handling area P to obtain the set of all material handling points. Based on the average material grabbing depth H of the grab bucket and the highest material point in the current material grabbing area P, the set of material points P of the current material grabbing layer is selected. n In the set Searching for a set P n The collection points are determined to obtain the set of collection points for the current collection layer. Control the grab according to the set Material is picked up from the picking points in the system, and the height map of the effective material is updated in real time; the picking points of two adjacent picking layers are staggered.

[0035] The material handling control method of this invention enables automated material handling by grab bucket cranes. By employing a layered material handling approach and controlling the offset distance *r* between the material handling points of adjacent material handling layers, it ensures no material is missed during the handling process. This avoids the problem of high material accumulation around the same point due to continuous digging, which hinders material handling, and also avoids the adverse effects of excessively large or small offset distances between the material handling points of adjacent material handling layers. Furthermore, the material handling control method of this invention can also clearly define the time *t* for each material handling operation. m and the total time t required to complete the material collection task a This allows for guidance of work planning; similarly, it allows for obtaining the time t for each material retrieving operation. m and the total time t required to complete the material collection taska Afterwards, feedback can be provided to guide adjustments to the material handling area P in order to minimize the total time required to complete the material handling task.

[0036] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description

[0037] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0038] Figure 1 This is a flowchart of the grab bucket crane material handling control method of the present invention;

[0039] Figure 2 This is a front structural diagram of the grab bucket machine of the present invention;

[0040] Figure 3 This is a top view of the grab bucket machine of the present invention;

[0041] Figure 4 This is a schematic diagram of the current material handling layer;

[0042] Among them, 1. grab bucket, 2. traction rope, 3. mobile trolley, 4. laser scanner, 5. material, 6. overhead crane, 7. longitudinal track, and 8. unloading port. Detailed Implementation

[0043] To facilitate understanding of the present invention, a more complete description is provided below, along with preferred embodiments. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the present invention.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0045] Example 1:

[0046] This embodiment provides a method for controlling the material handling of a grab bucket crane, such as... Figure 1 As shown, it specifically includes:

[0047] S1. Obtain the height map of the effective materials;

[0048] like Figure 2As shown, the trolley 6 can move along the length of the material 5 via the longitudinal tracks 7 at both ends. The moving trolley 3 is connected to the grab bucket 1 via the traction rope 2, driving the grab bucket 1 to move vertically. The moving trolley 3 can move laterally along the length of the trolley 6. The grab bucket 1 grabs the material and moves it to the unloading port for delivery, allowing the material to enter the next process. A laser scanner 4 is fixedly installed in the middle of the trolley, which can scan the entire cross-section of the material 5 while the trolley 6 is running. Based on the positioning information of the trolley, it is converted into three-dimensional point cloud data. Combined with the installation position of the laser scanner, the point cloud data is converted into a world coordinate system with the ground as the horizontal plane. The length and width of the ground are used as the length and width of the image, and the height of the material is used as the data of the corresponding points in the image. That is, the point cloud is converted into a height map. Usually, one pixel represents an actual space size of 5mm × 5mm. The specific size can be adjusted according to the refinement requirements.

[0049] The height map is updated in real time during crane operation, and material inventory can be performed each time the height map is updated. The real-time volume of the material is obtained by summing all pixel values ​​on the height map and multiplying them by the area represented by each pixel value. Since invalid material in the material pile can affect the grab crane's material handling, in order to accurately obtain the effective material that the grab crane can grab, it is necessary to create separate height maps for invalid material and material to be grabbed. Subtracting the two height maps yields the height map for effective material, and the volume of effective material can be calculated based on the height map of effective material.

[0050] The height map of invalid material is obtained by the laser scanner after the material has been removed. The remaining material is invalid material (i.e., material that the grab cannot grab). The height map of material to be picked up is obtained by the laser scanner before picking up the material.

[0051] S2. Determine the current discharge port according to process requirements, and determine the corresponding material taking area P in the height diagram of the effective material, and take n=1; wherein, the effective material volume in the material taking area P must be greater than or equal to the required material taking amount;

[0052] like Figure 3As shown, the material collection area P can be selected based on the nearest location to the unloading port. A preliminary material collection area can be identified initially, generally requiring its width to cover the width of the material. After initially determining the collection area, the effective material volume within that area can be calculated. If the effective material volume is greater than or equal to the required material collection volume, it indicates that the effective material volume within the collection area can meet the material collection task. If not, the collection area needs to be further expanded until the requirement is met. Furthermore, in this embodiment, the collection area is expanded by increasing its length, preferably symmetrically expanding both ends of the length direction. The required material collection volume refers to the total material collection volume that the task needs to complete.

[0053] Furthermore, after the material taking area P is determined, its coordinate interval in the length direction is represented as [x1, x2], and its coordinate interval in the width direction is represented as [y1, y2]. Where, |x2-x1|=w, |y2-y1|=h, w represents the length of the material taking area P, h represents the width of the material taking area P, x1 and x2 are the two boundary points of the material taking area in the length direction (i.e., the x-axis direction), and y1 and y2 are the two boundary points of the material taking area in the width direction (i.e., the y-axis direction).

[0054] S3. Arrange the material picking points in a matrix within the material picking area P to obtain the set of all material picking points. Based on the average material grabbing depth H of the grab bucket and the highest material point in the current material grabbing area P, the set of material points P of the current material grabbing layer is selected. n In the set Searching for a set P n The collection points are determined to obtain the set of collection points for the current collection layer.

[0055] In this embodiment, a layered material taking method is used to take material from the material taking area P, such as... Figure 4 As shown, the set of material points P in the current material picking layer n Represented as:

[0056] P n ={p|p z >p max .zH}

[0057] Where, p z This represents the z-coordinate of point p within the material handling area P. max .z represents the z-coordinate of the highest material point within the material collection area P, and H is the average material collection depth of the grab bucket.

[0058] Furthermore, within the material handling area P, material handling points are set in a matrix according to the material handling radius r of the grab bucket, forming the set of material handling points within the material handling area P. Represented as:

[0059]

[0060] Where i = 1, 2, 3, ...; j = 1, 2, 3, ...; p ij .x represents the material pick-up point p. ij x-coordinate value; p ij .y represents the material pick-up point p ij The y-coordinate value; l is the interval between material picking points and l = 2r.

[0061] Furthermore, since the current set of material points in the material extraction layer is P n Therefore, in the set Searching for a set P n The set of picking points for the current picking layer can be obtained by picking point p.

[0062]

[0063] Get the set of material collection points Then you can proceed according to The material collection point in the middle performs material collection operations on the current material collection layer.

[0064] S4. Control the grab bucket according to the assembly... The material picking point in the process picks up material from the current picking layer and updates the height map of the effective material in real time. During the picking process, the relationship between the current total picking amount and the required picking amount is judged in real time. If the current total picking amount is greater than or equal to the required picking amount, the process proceeds to S6. If the current total picking amount is less than the required picking amount, the picking continues until the picking of the current picking layer is completed, and then the process proceeds to S5 (that is, if the current total picking amount is less than the required picking amount, the picking continues. If the current total picking amount is not greater than or equal to the required picking amount after the picking of the current picking layer is completed, the process proceeds to S5).

[0065] Furthermore, the set of material collection points for the current material collection layer is obtained. Then, materials can be collected in an orderly manner according to the collection points. In this embodiment, the collection order of each collection point is controlled as follows: materials are collected from each collection point in ascending order of y-coordinate, and collection points with the same y-coordinate are collected in ascending order of x-coordinate. Of course, if the locations of the discharge port and each collection point are already determined, some embodiments may also collect materials from each collection point in other orders.

[0066] S5. After taking n = n + 1, re-enter S3; where, the set With sets The material collection points need to be staggered.

[0067] Specifically, in this embodiment, the set The material collection point is represented as follows:

[0068]

[0069] In this embodiment, the set The material collection point is represented as follows:

[0070]

[0071] The staggered distance r between the material collection points of two adjacent material collection layers in both the y-axis and x-axis directions is set to avoid the problem of high material accumulation around the same point due to continuous digging at the same point, which is not conducive to material collection. The staggered distance r between the material collection points of two adjacent material collection layers can ensure that the grab bucket can just take away the material cleanly. It avoids the need to increase the number of material collections due to the staggered distance between the material collection points of two adjacent material collection layers being too small, and also avoids the possibility of missing material due to the staggered distance being too large.

[0072] S6. End material handling.

[0073] If the current total material taking amount is greater than or equal to the required material taking amount, it means that the material taking task at the current unloading port has been completed, and the material taking at the current unloading port should end. The grab bucket should stop or enter the next material taking process.

[0074] Preferably, in order to save material handling time, the lifting height of the grab bucket after each material handling can be set to the z-coordinate value of the highest material point in the material handling area P plus a constant G. Under the premise of ensuring safety, the lifting height of the grab bucket should be as small as possible to shorten the material handling time. The value of G can be set according to the actual situation, generally depending on the structure of the grab bucket itself, and it is necessary to avoid the occurrence of movement collisions.

[0075] Preferably, at position X of the discharge port and position p of each material collection point... m Given a fixed m, which is the sequence number of the material collection point, the time t for each material collection can be calculated. m :

[0076]

[0077] Among them, t xk t represents the travel time of the grab bucket in the x-direction when it is unloaded; yk t represents the travel time of the grab bucket in the y-direction when it is unloaded; zk t represents the travel time of the grab bucket in the z-direction when it is unloaded; xf t represents the travel time of the grab bucket in the x-direction when it is under load; yf t represents the travel time of the grab bucket in the y-direction when it is under load; zfThe z-axis represents the travel time of the grab bucket under load in the z-direction; T represents the time correction constant, which represents the material grabbing time, unloading time, acceleration under no-load, deceleration under no-load, acceleration under load, and deceleration under load relative to time t. m The influence of X can be considered as T being a constant value; x This represents the x-coordinate value of the discharge port, X. y p represents the y-coordinate value of the discharge port. max .z represents the z-coordinate of the highest material point within the material handling area P, and G represents the position of the grab bucket at point P. max The elevation above .z This represents the x-coordinate value of the m-th material picking point. This represents the y-coordinate value of the m-th material picking point. v represents the z-coordinate value of the m-th material picking point. xk v represents the speed of the grab bucket in the x-direction when it is unloaded. yk v represents the y-speed of the grab bucket when it is unloaded. zk v represents the speed of the grab bucket in the z-direction when it is unloaded. xf v represents the speed of the grab bucket in the x-direction when it is under load. yf v represents the speed of the grab bucket in the y-direction when it is under load. zf This indicates the speed of the grab bucket in the z-direction when it is under load.

[0078] Preferably, by inventorying the storage, the average material handling volume V1 of each grab bucket can be obtained. Given the required material handling volume V2, the number of grab bucket operations required to complete the task can be calculated as follows:

[0079] q = V2 / V1

[0080] To obtain the number of material collections q required to complete the material collection task and the time t for each material collection, m Based on this, the total time t required to complete the material retrieving task can be calculated. a for:

[0081]

[0082] The material handling control method of this embodiment enables automated material handling by the grab bucket crane. By employing a layered material handling approach and controlling the offset distance *r* between the material handling points of adjacent layers, it ensures no material is missed during the handling process. This avoids the problem of excessive material accumulation around the same point due to continuous digging, which hinders material handling, and also prevents adverse effects caused by excessively large or small offset distances between the material handling points of adjacent layers. Furthermore, the material handling control method of this embodiment can clearly define the time *t* for each material handling operation. m And predict the total time t required to complete the material handling task. aThis allows for guidance of work planning; similarly, it allows for obtaining the time t for each material retrieving operation. m and the total time t required to complete the material collection task a Afterwards, feedback can be provided to guide adjustments to the material handling area P in order to minimize the total time required to complete the material handling task.

[0083] Example 2:

[0084] This embodiment provides a material handling control system for a grab bucket crane. The system includes a processor and a memory. The memory stores a computer program, and when the processor runs the computer program, it executes the material handling control method in Embodiment 1.

[0085] Example 3:

[0086] This embodiment provides a storage medium storing a computer program, which, when run, executes the material handling control method in Embodiment 1.

[0087] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for controlling the material handling of a grab bucket crane, characterized in that, include: S1. Obtain the height map of the effective materials; S2. Determine the current discharge port based on process requirements, and identify the corresponding material handling area in the effective material height map. And take n=1; where, the material taking area The effective material volume must be greater than or equal to the required material intake. S3, in the material handling area By arranging the material picking points in an internal matrix, a set of all material picking points can be obtained. Based on the average material handling depth H of the grab bucket and the material handling area The set of material points in the current material layer is selected from the highest material point. In the set Searching for a set The collection points are determined to obtain the set of collection points for the current collection layer. ; S4. Control the grab bucket according to the assembly... The material picking point in the process picks up material from the current picking layer and updates the height map of the effective material in real time. During the picking process, the relationship between the current total picking amount and the required picking amount is judged in real time. If the current total picking amount is greater than or equal to the required picking amount, the process proceeds to S6. If the current total picking amount is less than the required picking amount, the process continues picking until the picking of the current picking layer is completed and then proceeds to S5. S5. After setting n = n + 1, re-enter S3; where the set With sets The material collection points need to be staggered. S6. End material handling; The set of material points in the current material picking layer Represented as: in, Indicates the material picking area Chinese material point of Coordinate values Indicates the material picking area The highest material point in the current period Coordinate values This refers to the average material handling depth of the grab bucket; In the material handling area The internal dimensions are based on the grab radius. Material picking points and picking areas are set up in a matrix. Collection of internal material picking points Represented as: in, ; Indicates the material picking point of Coordinate values; Indicates the material picking point of Coordinate values; The interval between material collection points and ; Material picking area exist x Two boundary points along the axis, Material picking area Two boundary points along the y-axis; Set of material collection points in the current material collection layer Represented as: in, Represents a set The material collection point in the process.

2. The material handling control method for a grab bucket crane according to claim 1, characterized in that, Create height maps for invalid materials and height maps for materials to be retrieved. Subtract the two height maps to obtain the height map for valid materials.

3. The material handling control method for a grab bucket crane according to claim 1, characterized in that, gather Material collection points and collection The material collection point is in Axial direction and The material taking radius is staggered in the axial direction. ,gather The material collection point is represented as follows: 。 4. The material handling control method for a grab bucket crane according to any one of claims 1-3, characterized in that, Time required for the grab bucket to retrieve material each time in the current material layer Represented as: in, Indicates when the grab bucket is unloaded Running time in the direction; Indicates when the grab bucket is unloaded Running time in the direction; Indicates when the grab bucket is unloaded Running time in the direction; Indicates when the grab bucket is under load Running time in the direction; Indicates when the grab bucket is under load Running time in the direction; Indicates when the grab bucket is under load Running time in the direction; Indicates the time correction constant; Indicates the discharge port Coordinate values Indicates the discharge port Coordinate values Indicates the material picking area The highest material point in the current period Coordinate value, G represents the position of the grabber. The height of the elevation above, Indicates the first material collection point Coordinate values Indicates the first material collection point Coordinate values Indicates the first material collection point Coordinate values Indicates when the grab bucket is unloaded Speed ​​of movement in the direction, Indicates when the grab bucket is unloaded Speed ​​of movement in the direction, Indicates when the grab bucket is unloaded Speed ​​of movement in the direction, Indicates when the grab bucket is under load Speed ​​of movement in the direction, Indicates when the grab bucket is under load Speed ​​of movement in the direction, Indicates when the grab bucket is under load The speed of movement in a certain direction.

5. The material handling control method for a grab bucket crane according to claim 4, characterized in that, Total time required for the grab bucket to complete the material handling task for: in, , The number of times material needs to be retrieved to complete the material retrieval task. This refers to the average material handling capacity of the grab bucket machine. The required material quantity.

6. A material handling control system for a grab bucket crane, characterized in that, The system includes a processor and a memory, the memory storing a computer program, and the processor executing the material handling control method as described in any one of claims 1-5 when running the computer program.

7. A storage medium, characterized in that, The storage medium stores a computer program, which, when run, executes the material handling control method as described in any one of claims 1-5.

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