本文關(guān)鍵詞： 激光掃描 三維建模 微波雷達(dá) 組態(tài)軟件 PLC控制　出處：《燕山大學(xué)》2012年碩士論文　論文類型：學(xué)位論文

【摘要】：在國內(nèi)外煤炭碼頭中，堆料機(jī)是重要的堆場作業(yè)設(shè)備。它的主要功能是將卸車機(jī)卸下的煤炭堆存到堆場上，方便取料機(jī)進(jìn)行取料裝船作業(yè)。堆料機(jī)的操作模式一直以來都是人工手動操作，勞動強(qiáng)度大，自動化程度低，作業(yè)效率根據(jù)司機(jī)的疲勞程度、操作水平等起伏較大，容易出現(xiàn)作業(yè)質(zhì)量事故等問題。因此，設(shè)計出一套全自動、全天候智能堆料的控制系統(tǒng)對減少司機(jī)數(shù)量、降低勞動強(qiáng)度、提高作業(yè)效率和作業(yè)質(zhì)量方面都有著重大的意義。 本文以黃驊港3號堆料機(jī)為原型，設(shè)計了一套智能化的無人堆料系統(tǒng)，該系統(tǒng)由激光掃描與雷達(dá)測距三維建模系統(tǒng)、智能堆料控制及空間防碰撞系統(tǒng)、PLC控制系統(tǒng)、以及遠(yuǎn)程人機(jī)界面監(jiān)控系統(tǒng)等組成。主要原理為通過激光掃描儀、雷達(dá)等檢測手段將煤堆的三維點(diǎn)云信息實(shí)時的采集到服務(wù)器上，經(jīng)過濾波、規(guī)格化、數(shù)學(xué)擬合等算法處理，將點(diǎn)云信息轉(zhuǎn)化為標(biāo)準(zhǔn)的三維煤堆模型；然后再通過模擬司機(jī)控制堆料機(jī)思維的行為編程，通過OPC接口將應(yīng)該操作的指令直接發(fā)給PLC；PLC接收到指令數(shù)據(jù)后，通過自身的智能自動作業(yè)程序控制堆料機(jī)進(jìn)行相應(yīng)的啟停皮帶、行走、俯仰、回轉(zhuǎn)等動作，最終實(shí)現(xiàn)了全天候無人值守的全自動作業(yè)。由于現(xiàn)場無人職守，堆料機(jī)作業(yè)指令的啟動和停止由遠(yuǎn)程翻車機(jī)集控室的翻車機(jī)司機(jī)完成，通過遠(yuǎn)程RSVIEW人機(jī)界面，翻車機(jī)司機(jī)可以完成堆料機(jī)自動作業(yè)的啟動、停止工作，，遇到特殊情況時，可以遠(yuǎn)程半自動完成堆料作業(yè)。為保障堆場大機(jī)的安全性，本系統(tǒng)還開發(fā)了一套堆取料機(jī)空間防碰撞子系統(tǒng)，該子系統(tǒng)通過在堆、取料機(jī)上安裝rtk-gps定位系統(tǒng)，實(shí)現(xiàn)了空間的精確定位，再通過開發(fā)的智能防碰撞軟件，在兩個或多個大機(jī)之間有碰撞危險時，向相應(yīng)大機(jī)發(fā)出報警或停止指令，實(shí)現(xiàn)了堆取料機(jī)的安全運(yùn)行。 本系統(tǒng)經(jīng)過黃驊港接近兩年的實(shí)際成功應(yīng)用，證明技術(shù)先進(jìn)、穩(wěn)定可靠，具有很高的推廣價值。
[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.
【學(xué)位授予單位】：燕山大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2012
【分類號】：TH246;TP273

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本文編號：1453313