A refuse crane control system for an environmentally friendly power plant

Abstract

The utility model relates to a kind of garbage crane control system for environmental protection power plant, including control cabinet, PLC controller and server are arranged in it;Two-dimensional laser radar, is set to the garbage storehouse top, with server communication connection, for scanning garbage storehouse internal environment to obtain data;Unloading door monitoring module is set, including light curtain sensor and millimeter wave radar, for detecting vehicle entry and unloading state;Sensing unit is set to garbage crane, with PLC controller communication connection, including the encoder for detecting the position of large car and trolley on garbage crane, the inclination sensor for detecting the posture of grab bucket, and the radar material level meter for detecting garbage pile height, through PLC controller, server and various sensing devices cooperation, realize the automatic control garbage crane, greatly reduce operator labor intensity.

Description

Technical Field

[0001] This utility model relates to the field of garbage crane control technology, specifically to a garbage crane control system for environmental power plants. Background Technology

[0002] With the continuous concentration of urban population and the continuous improvement of living standards, the amount of household waste is increasing rapidly. If waste is not collected, transported, and disposed of in a timely and proper manner, it will bring about a series of social problems and conflicts, especially in densely populated large cities, where the contradiction between waste accumulation and urban development is becoming increasingly prominent. Among various waste disposal methods, waste-to-energy incineration has the characteristics of resource recovery, volume reduction, and harmlessness, and is currently recognized internationally and domestically as the most appropriate and reasonable waste disposal method.

[0003] Traditional garbage crane operation generally relies on manual control, requiring operators to concentrate for long periods of time, resulting in high labor intensity and easy fatigue. Garbage crane operation also poses certain safety risks, such as grab bucket swaying and collisions with equipment, increasing the equipment failure rate and making it impossible to achieve long-term operation, thus affecting the economic benefits of waste-to-energy plants. Utility Model Content

[0004] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a garbage crane control system for environmental protection power plants.

[0005] The objective of this utility model can be achieved through the following technical solution: a garbage crane control system for an environmentally friendly power plant, comprising a control cabinet containing a PLC controller and a server; a two-dimensional laser radar, mounted above the garbage bin and connected to the server, for scanning the internal environment of the garbage bin to obtain data; a discharge gate monitoring module, configured for each discharge gate, including a light curtain sensor and a millimeter-wave radar, for detecting vehicle entry and discharge status; and a sensing unit, mounted on the garbage crane and connected to the PLC controller, including an encoder for detecting the position of the trolley and crane on the garbage crane, an angle sensor for detecting the attitude of the grab bucket, and a radar level gauge for detecting the height of the garbage pile.

[0006] Preferably, it also includes infrared cameras deployed around and on top of the waste storage facility, which are connected to the server.

[0007] Preferably, it also includes a remote operation monitoring station and a local operation station, both connected to the PLC controller for mode switching and manual intervention.

[0008] Preferably, the unloading gate monitoring module also includes an LED display screen and an audible and visual alarm, which are connected to the PLC controller to display the status and issue warnings.

[0009] Preferably, a millimeter-wave radar is installed on the unloading gate.

[0010] Preferably, the light curtain sensor is an elevated through-beam light curtain.

[0011] The beneficial effects of this invention are as follows: By collaborating with a PLC controller, server, and various sensing devices, automated control of the garbage crane is achieved, significantly reducing the operator's workload. The 3D model and control algorithm generated by the 2D lidar can accurately delineate the work area and plan the optimal path. Combined with encoders and tilt sensors, this ensures accurate equipment positioning and stable grab bucket posture, reducing safety risks such as grab bucket swaying and equipment collisions. Furthermore, the unloading gate monitoring module further enhances operational safety. Overall, this improves the efficiency of the garbage crane operation, ensuring the resource recovery and waste reduction effects of waste incineration power generation. Attached Figure Description

[0012] The present invention will be further described with reference to the accompanying drawings, but the embodiments in the drawings do not constitute any limitation on the present invention. For those skilled in the art, other drawings can be obtained based on the following drawings without creative effort.

[0013] Figure 1 This is a schematic diagram of the structure of a garbage crane control system for an environmentally friendly power plant according to the present invention.

[0014] The labels in the diagram represent: 1. Waste storage area; 2. Unloading gate; 3. Waste crane; 4. Control cabinet; 5. Two-dimensional lidar; 6. Light curtain sensor; 7. Millimeter-wave radar; 8. Radar level gauge; 9. Infrared camera; 10. LED display screen. Detailed Implementation

[0015] It should be noted that if the embodiments of this utility model involve directional indicators such as up, down, left, right, front, back, etc., the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture as shown in the attached figure. If the specific posture changes, the directional indicators will also change accordingly.

[0016] Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0017] The technical solution of this utility model will be clearly and completely described below with reference to specific embodiments. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0018] See Figure 1As shown, the structure of this utility model is as follows: a control system for a garbage crane 3 in an environmentally friendly power plant, including a control cabinet 4, which houses a PLC controller and a server; a two-dimensional laser radar 5, installed above the garbage bin 1 and connected to the server, used to scan the internal environment of the garbage bin 1 to obtain data; a discharge gate monitoring module, installed for each discharge gate 2, including a light curtain sensor 6 and a millimeter-wave radar 7, used to detect vehicle entry and discharge status; and a sensing unit, installed on the garbage crane 3 and connected to the PLC controller, including an encoder for detecting the position of the trolley and the crane 3, an angle sensor for detecting the attitude of the grab bucket, and a radar level gauge 8 for detecting the height of the garbage pile. Specifically, the PLC controller in the control cabinet 4 is the control core of the system, responsible for receiving various signals and executing automatic control logic; the server undertakes the core tasks of data processing and model generation. Multiple 2D LiDARs 5 are installed, and the network of multiple 2D LiDARs 5 scans the internal environment of the waste storage 1, collecting data on the location and shape of the waste storage 1 and the waste pile. The data is then transmitted to the server. The server receives the data from the 2D LiDARs 5 and generates a 3D model of the waste storage 1, providing accurate spatial basis for subsequent work area division and path planning. At the same time, the server has a built-in control algorithm. Based on the above 3D model, combined with the information of the waste storage 1 (such as the fermentation time and remaining capacity of waste in each area) and the work priority rules (such as prioritizing the processing of fermented waste), the algorithm automatically divides the stacking area, fermentation area, and feeding area. After the staff determines the target work area, the algorithm will plan the optimal working path of the waste crane 3 according to the 3D model, generate work instructions such as grabbing, feeding, stacking, trenching, or shaping, and transmit them to the PLC controller. The light curtain sensor 6 in the unloading gate monitoring module detects in real time whether the garbage truck has entered the unloading area and the unloading status, and transmits the detection signal to the PLC controller as the basis for judging whether the unloading gate 2 is in operation. In the sensing unit, the encoder detects the running position of the trolley and the crane in real time to ensure the positioning accuracy of the garbage crane 3 in three-dimensional space; the tilt sensor monitors the tilt angle of the grab bucket to ensure the stability of the grab bucket's posture when grabbing garbage, avoiding garbage spillage or grab failure; the radar level gauge 8 continuously detects the height of the garbage pile, providing data support for the server to update the three-dimensional model and for the PLC to determine the grab depth. After receiving the position, posture, and level data transmitted by the sensing unit, as well as the vehicle and unloading status signals from the unloading gate monitoring module, the PLC controller combines the garbage distribution information in the server's three-dimensional model to execute the preset automatic control logic, realizing the precise grabbing, lifting, and transportation of the garbage crane 3, while coordinating the linkage of various components to ensure a smooth and safe operation process.

[0019] like Figure 1As shown, the system also includes infrared cameras 9 deployed around and on top of the waste storage facility 1. These cameras are connected to the server. Specifically, the infrared cameras 9, distributed around and on top of the waste storage facility 1, enable comprehensive, blind-spot-free monitoring of the entire facility, covering all perspectives required for manual monitoring. The real-time video data collected by the system is transmitted to the server, allowing staff to intuitively understand the distribution of waste within the facility 1, the trajectory of the waste crane 3, and the dynamics of unloading vehicles, providing visual reference for manual intervention.

[0020] Furthermore, it also includes remote operation monitoring stations and local operation stations, both connected to the PLC controller for mode switching and manual intervention. Specifically, when the system is in automatic mode, if abnormal waste distribution or minor equipment malfunctions occur, staff can issue commands through any operation station to switch the system to manual mode and directly control the waste crane 3 to adjust the working path or stop the operation. If the core logic in automatic mode needs temporary optimization (such as adjusting the stacking priority), parameter modification commands can also be transmitted to the PLC controller through the operation station to ensure that the operation is adapted to the actual needs.

[0021] like Figure 1 As shown, the unloading gate monitoring module also includes an LED display screen 10 and an audible and visual alarm, connected to the PLC controller for displaying status and issuing warnings. Specifically, when the PLC controller determines that the grab bucket has entered the material handling area of ​​the corresponding unloading gate 2 based on the grab bucket position signal, it will simultaneously send a "No Unloading" command to the LED display screen 10 and an alarm activation command to the audible and visual alarm, reminding the unloading vehicle to stop entering. After the grab bucket completes material handling and leaves the material handling area, the PLC controller sends a command to switch the LED display screen 10 to "Allow Unloading" and simultaneously stops the audible and visual alarm. If the PLC controller detects that the grab bucket is in the material handling area and the unloading gate monitoring module reports that a vehicle has entered, it will immediately control the grab bucket to stop and trigger the audible and visual alarm to issue a special "Exit Yellow Line" warning signal, forcibly reminding the vehicle to evacuate and avoid collisions between people and vehicles.

[0022] A millimeter-wave radar 7 is installed on the unloading gate. Specifically, the millimeter-wave radar 7 uses electromagnetic waves for detection and is unaffected by environmental factors such as light and dust. It can accurately identify whether a vehicle has entered the unloading area. The millimeter-wave radar 7 and the light curtain sensor 6 form a redundant detection structure. Both transmit detection signals to the PLC controller at the same time. The PLC controller combines the two signals to determine the vehicle status. Only when both signals confirm that there is no vehicle is the unloading area determined to be empty. If either signal indicates that there is a vehicle, the unloading area is determined to be empty. This effectively prevents misjudgment caused by a single sensor failure (such as the light curtain being blocked by dust) and ensures safe isolation between unloading and unloading operations.

[0023] Furthermore, the light curtain sensor 6 is an extended-height through-beam light curtain. Specifically, by increasing the detection height, the extended-height through-beam light curtain can cover the height range of unloading vehicles of different tonnages, avoiding the problem of omissions caused by the light curtain being unable to detect vehicles that are too tall.

[0024] In practical use, during operation, the 2D LiDAR 5 first scans the internal environment of the waste storage 1, collecting data on the location and shape of the waste storage 1 and the waste pile, and transmitting this data to the server. The server receives the data from the 2D LiDAR 5 and generates a 3D model of the waste storage 1. Simultaneously, the light curtain sensor 6 of the unloading gate monitoring module detects whether the garbage truck has entered the unloading area and its unloading status, and transmits the detection signal to the PLC controller in the control cabinet 4. The encoder of the sensing unit detects the running position of the trolley and the crane in real time, the tilt sensor monitors the tilt angle of the grab bucket, and the radar level gauge 8 detects the height of the waste pile. This data is also transmitted to the PLC controller synchronously. The PLC controller integrates the received position, attitude, and level data, as well as the status signal of the unloading gate 2, and combines this with the waste distribution information in the 3D model generated by the server to execute preset automatic control logic, controlling the garbage crane 3 to complete precise grabbing, lifting, and transportation actions, while coordinating the linkage of various components to ensure a smooth and safe operation process.

[0025] The present invention has been further described above with reference to specific embodiments. However, it should be understood that the specific description herein should not be construed as limiting the substance and scope of the present invention. Various modifications made by those skilled in the art to the above embodiments after reading this specification are all within the scope of protection of the present invention.

Claims

1. A garbage crane control system for an environmentally friendly power plant, characterized in that: Includes a control cabinet (4), which contains a PLC controller and a server; A two-dimensional lidar (5) is installed above the waste storage (1) and is connected to the server for scanning the internal environment of the waste storage (1) to obtain data; The unloading gate monitoring module is set for each unloading gate (2), including a light curtain sensor (6) for detecting vehicle entry and unloading status; The sensing unit, which is installed on the garbage crane (3) and communicates with the PLC controller, includes an encoder for detecting the position of the trolley and the trolley on the garbage crane (3), an inclination sensor for detecting the attitude of the grab bucket, and a radar level gauge (8) for detecting the height of the garbage pile.

2. The garbage crane control system according to claim 1, characterized in that: It also includes infrared cameras (9) deployed around and on top of the waste storage facility (1), which are connected to the server.

3. The garbage crane control system according to claim 1, characterized in that: It also includes a remote operation monitoring station and a local operation station, both of which are connected to the PLC controller for mode switching and manual intervention.

4. The garbage crane control system according to claim 1, characterized in that: The unloading gate monitoring module also includes an LED display screen (10) and an audible and visual alarm, which are connected to the PLC controller to display the status and issue warnings.

5. The garbage crane control system according to claim 4, characterized in that: The unloading gate is equipped with a millimeter-wave radar (7).

6. The garbage crane control system according to claim 1, characterized in that: The light curtain sensor (6) is a heightened through-beam light curtain.

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