堆料机无人值守智能堆料控制系统设计与实现

发布时间：2018-01-22 02:17

本文关键词： 激光扫描三维建模微波雷达组态软件 PLC控制　出处：《燕山大学》2012年硕士论文　论文类型：学位论文

【摘要】：在国内外煤炭码头中，堆料机是重要的堆场作业设备。它的主要功能是将卸车机卸下的煤炭堆存到堆场上，方便取料机进行取料装船作业。堆料机的操作模式一直以来都是人工手动操作，劳动强度大，自动化程度低，作业效率根据司机的疲劳程度、操作水平等起伏较大，容易出现作业质量事故等问题。因此，设计出一套全自动、全天候智能堆料的控制系统对减少司机数量、降低劳动强度、提高作业效率和作业质量方面都有着重大的意义。本文以黄骅港3号堆料机为原型，设计了一套智能化的无人堆料系统，该系统由激光扫描与雷达测距三维建模系统、智能堆料控制及空间防碰撞系统、PLC控制系统、以及远程人机界面监控系统等组成。主要原理为通过激光扫描仪、雷达等检测手段将煤堆的三维点云信息实时的采集到服务器上，经过滤波、规格化、数学拟合等算法处理，将点云信息转化为标准的三维煤堆模型；然后再通过模拟司机控制堆料机思维的行为编程，通过OPC接口将应该操作的指令直接发给PLC；PLC接收到指令数据后，通过自身的智能自动作业程序控制堆料机进行相应的启停皮带、行走、俯仰、回转等动作，最终实现了全天候无人值守的全自动作业。由于现场无人职守，堆料机作业指令的启动和停止由远程翻车机集控室的翻车机司机完成，通过远程RSVIEW人机界面，翻车机司机可以完成堆料机自动作业的启动、停止工作，，遇到特殊情况时，可以远程半自动完成堆料作业。为保障堆场大机的安全性，本系统还开发了一套堆取料机空间防碰撞子系统，该子系统通过在堆、取料机上安装rtk-gps定位系统，实现了空间的精确定位，再通过开发的智能防碰撞软件，在两个或多个大机之间有碰撞危险时，向相应大机发出报警或停止指令，实现了堆取料机的安全运行。本系统经过黄骅港接近两年的实际成功应用，证明技术先进、稳定可靠，具有很高的推广价值。
[Abstract]:In the domestic and foreign coal wharf, the stacker is an important equipment for yard operation, and its main function is to store the coal unloaded by the truck unloader on the yard. The operation mode of the stacker has always been manual operation, the labor intensity is large, the degree of automation is low, the working efficiency is based on the fatigue degree of the driver. The operation level and so on fluctuates greatly, easy to appear the work quality accident and so on. Therefore, designs a set of automatic, all-weather intelligent stacking material control system to reduce the number of drivers and reduce the labor intensity. It is of great significance to improve the work efficiency and work quality. In this paper, a set of intelligent unmanned stowage system is designed based on Huanghua Port No.3 stacker. The system is composed of three dimensional modeling system of laser scanning and radar ranging, intelligent stowage control and space anti-collision system. PLC control system, and remote man-machine interface monitoring system, etc. The main principle is to collect the three-dimensional point cloud information of coal pile to the server through laser scanner, radar and other detection means in real time, after filtering. Normalization, mathematical fitting and other algorithms to transform the point cloud information into a standard three-dimensional coal pile model; Then by simulating the driver to control the behavior of the heap-machine thinking programming, through the OPC interface should be the operation of the instructions sent directly to the PLCs; After receiving the instruction data, PLC controls the stacker to start and stop belt, walk, pitch, rotate and so on through its own intelligent automatic operation program. Finally, the all-weather unattended automatic operation is realized. Because there is no one on the spot, the start and stop of the stacker operation instruction is completed by the dumper driver in the centralized control room of the remote dumper. Through the remote RSVIEW man-machine interface, the driver of the dumper can start the automatic operation of the stacker, stop the work, and meet the special situation. In order to ensure the safety of the yard machine, the system also developed a space anti-collision subsystem of the heap-taker, which passed through the heap. The rtk-gps positioning system is installed on the feeder to realize the precise positioning of the space. Then, through the intelligent anti-collision software developed, there is a collision risk between two or more large computers. The alarm or stop instruction was sent to the main machine to realize the safe operation of the heap-picker. The system has been successfully applied in Huanghua Port for nearly two years. It is proved that the technology is advanced, stable and reliable, and has high popularization value.
【学位授予单位】：燕山大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH246;TP273

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