| With the development of science and technology, port coal unmanned automatichandling technology research get more and more domestic and foreign industry’s concerns,how to improve the handling environment and enhance the automation level of port is thesubject of the starting point, the paper develops an automatic handling scheme ofstockyard stacker-reclaimer. it realizes the functional targets of unmanned handling,real-time monitoring and automatic measuring of coal storage.First, the paper gives a design of system overall framework. According to theplanning function, the system is divided into laser scanning imaging system, PLCautomatic handling system and central control system. then it introduces the selection ofthe system hardware and software configuration by functional requirements.Next, the aspect of laser scanning imaging has been studied in chapter3. the systemimplements LMS100laser scanner parameters configuration, scan controlling andthree-dimensional coordinate space conversion of material pile, then it designs the originalpoint cloud optimization algorithm, details the method of database updating by rectangledivided and achieves the real-time and overall model imaging displayed of stockyardwindrow.Thirdly, the paper programs the aspect of automatic material piling and taking. itsketches several affecting parameters of the stacker-reclaimer in PLC control process,includes machine height, cantilever length, pitch angle and rotate angle and so on.Through the data exchange and fusion with three encoders install on the stacker-reclaimer,PLC can realizes the function of real-time control for the machine and make automaticstacker-reclaimer control strategy, which is the base to realize automatic stacker-reclaimercontrol system.Finally, the central control management software has been developed. It mainlyincludes scanner parameters configuration, scanning condition monitoring and processcontrolling, PLC communication parameters setting and communication connection,automatic handling task order, data precision controlling, real-time three-dimensional model of windrow display, system running status monitor, work log preserving and otherfunctions. |
