CN-119434374-B - Unattended control method of soil discharging machine

CN119434374BCN 119434374 BCN119434374 BCN 119434374BCN-119434374-B

Abstract

An unattended control method of a soil discharging machine belongs to the technical field of ore exploitation. The method comprises the steps of determining the position and the pose of a dumping machine after receiving a current dumping task, establishing a three-dimensional model of a dumping field according to the three-dimensional shape of a stockpile, extracting outline characteristics of the dumping field, calculating the rotation angle of a dumping arm of the dumping machine corresponding to a dumping boundary, comparing the rotation angle with the rotation angle obtained by measurement, and controlling the dumping arm to automatically move towards the other direction when the moving position of the dumping arm approaches to the position corresponding to the dumping boundary, so as to perform the next operation action. The whole process realizes automatic control, reduces the labor intensity, improves the working efficiency and ensures the personal safety of workers.

Inventors

LI JIE
Xin Fengyang
ZENG XIANGYU
LIU ZENGXU
TIAN FENGLIANG
ZHANG YIFEI
HUANG JUNTING
ZHANG LINGFEI
ZHANG JIANING

Assignees

中煤科工集团沈阳设计研究院有限公司

Dates

Publication Date: 20260508
Application Date: 20241030

Claims (4)

1. The unattended control method of the dumping machine is characterized by comprising the following steps of determining the position and the pose of the dumping machine after receiving a current dumping task, establishing a three-dimensional model of a dumping field according to the three-dimensional shape of a stockpile, extracting outline characteristics of the dumping field, calculating the rotation angle of a dumping arm of the dumping machine corresponding to a dumping boundary, comparing the rotation angle with the rotation angle obtained by measurement, and controlling the dumping arm to automatically move towards the other direction when the moving position of the dumping arm approaches to the position corresponding to the dumping boundary, so as to perform the next operation action; The method for determining the position of the soil discharging machine comprises the steps of installing a positioning device on a track bridge of the soil discharging machine, and performing positioning calculation to obtain the position information of the soil discharging machine after the positioning device receives GNSS satellite signals and differential correction data sent by a reference station arranged in a soil discharging field; The method for determining the rotation angle of the discharging arm comprises the steps of installing an electronic tag for collecting the absolute rotation angle of the discharging arm every 90 degrees at the fixed position of a rotary platform of each discharging machine by taking the track direction of the discharging arm and the discharging trolley of the discharging machine as 0 degrees, calibrating the position coinciding with the track of the discharging trolley of the discharging machine as a reference zero point of an encoder, calculating the actual angle of the discharging machine by the encoder in the process of rotating, reading the absolute position information of the electronic tag every time when the discharging arm of the discharging machine rotates, obtaining the absolute rotation angle of the current discharging machine, and comparing the absolute rotation angle with the position information calculated by the encoder to obtain the final rotation angle of the discharging arm; the steps of determining the three-dimensional shape of a material pile and establishing a three-dimensional model of a dumping site are that point cloud data of the material pile of the dumping site are obtained through scanning, and the obtained point cloud data are used for regenerating the three-dimensional model of the material pile of the dumping site; The extraction of the profile features of the dump is to detect the boundary of the dump area through a protection strategy and a boundary identification strategy of the dump, and extract the profile features of the dump by using a point cloud self-adaptive variable threshold segmentation algorithm.
2. The unattended operation control method of a dumping plough as claimed in claim 1, wherein the dumping plough pose comprises a dumping arm rotation angle and a dumping arm pitching angle.
3. The unattended control method of the dumping plough as claimed in claim 1, wherein the dumping plough protection strategy is a first layer of mechanical protection, a second layer of soft limit protection, a third layer of ultrasonic protection and a fourth layer of system protection.
4. The unattended operation control method of a dumping machine according to claim 1, wherein the automatic dumping strategy comprises a rotary dumping method and a fixed-point dumping method, wherein the fixed-point dumping method is adopted for the required dumping pile with regular shape, and the rotary dumping method is adopted for the dumping pile with irregular shape.

Description

Unattended control method of soil discharging machine Technical Field The invention belongs to the technical field of ore exploitation, and particularly relates to an unattended control method of a dumping plough. Background The dumping plough is a key device in strip mine stripping operation production. In strip mine stripping operation, materials are collected by an electric shovel and a single bucket truck or a wheel bucket excavator, the materials are transported by a belt conveyor, a dumping machine is positioned at the terminal of a stripping transportation system, stripped earth and stones are unloaded to a receiving arm through a discharging tail car, then are carried to a dumping arm by the belt conveyor on the dumping arm, and finally are dumped to a dumping site by the belt conveyor on the dumping arm. The operator of the soil discharging machine operates a control room on the soil discharging machine, so that on-site noise and dust are polluted, the working condition environment is bad, and the body health is not facilitated. At present, the soil discharging operation of the soil discharging machine is operated by staff on the soil discharging machine in a control room, and the on-site working condition environment is complex and severe, the manual labor intensity is high, the working efficiency is low, the safety is poor and the occupational hazard is high. Disclosure of Invention Aiming at the defects existing in the prior art, the invention aims to provide an unattended control method of a soil discharging machine, which solves the problems that the soil discharging operation of the existing soil discharging machine must be controlled on the soil discharging machine by workers, the operation environment is bad, the safety of the workers cannot be ensured, and the working efficiency is low. The technical scheme includes that the unattended control method of the dumping machine is characterized by comprising the following steps of determining the position and the pose of the dumping machine after receiving a current dumping task, building a three-dimensional model of a dumping field according to the three-dimensional shape of a stockpile, extracting outline characteristics of the dumping field, calculating the rotation angle of a dumping arm of the dumping machine corresponding to a dumping boundary, comparing the rotation angle with the rotation angle obtained by measurement, and controlling the dumping arm to automatically move towards the other direction when the moving position of the dumping arm approaches to the position corresponding to the dumping boundary, so as to perform next operation action. Further, the method for determining the position of the soil discharging machine comprises the steps of installing a positioning device on a track bridge of the soil discharging machine, and performing positioning calculation to obtain the position information of the soil discharging machine after the positioning device receives GNSS satellite signals and differential correction data sent by a reference station arranged in a soil discharging field. Further, the position of the soil discharging machine comprises a rotation angle of the discharging arm and a pitching angle of the discharging arm. The method for determining the rotation angle of the discharging arm comprises the steps of installing an electronic tag for collecting the absolute rotation angle of the discharging arm every 90 degrees at a fixed position of a rotary platform of each discharging machine according to the track direction of the discharging arm and the discharging trolley of the discharging machine being 0 degrees, calibrating the position which coincides with the track of the discharging trolley of the discharging machine as a reference zero point of an encoder, calculating the actual angle of the discharging machine by the encoder in the rotation process, reading the absolute position information of the electronic tag every time the discharging arm of the discharging machine rotates, obtaining the absolute rotation angle of the current discharging machine, and comparing the absolute rotation angle with the position information calculated by the encoder to obtain the final rotation angle of the discharging arm. Further, the steps of determining the three-dimensional shape of the material pile and establishing the three-dimensional model of the dumping site are to obtain point cloud data of the material pile of the dumping site through scanning, and the obtained point cloud data is used for regenerating the three-dimensional model of the material pile of the dumping site. Further, the extraction of the profile features of the dump is to detect the boundary of the dump area through a protection strategy and a boundary identification strategy of the dump, and extract the profile features of the dump through a point cloud self-adaptive variable threshold segmentation algorithm. Further, the protection strategy of the soil di