Reaearch On Unmanned Reclaiming Control Technology Of Bucket Wheel Reclaimer

With the rapid development of bulk material transportation systems,such as thermal power plants,port terminals,cement,steel,mines,etc.,bucket wheel reclaimers began to develop towards large-scale and automation.At present,most domestic ports and other fields using bucket wheel reclaimer still use manual operation for reclaiming.Some advanced ports such as Huanghua port,Caofeidian port and Tianjin port have used unmanned reclaiming mode for operation,but there are often problems such as large modeling error,collision and unstable reclaiming flow in use.Therefore,in view of this problem,it is suggested that The key control technology of unmanned reclaiming of bucket wheel is studied,which mainly includes the following parts:Firstly,the overall control scheme of the unmanned reclaiming system is designed.It mainly includes the design of hardware system and software system architecture with ab PLC as the core.The function is to collect,process and automatically control the field signal.Aiming at the problem of material modeling and 3D visualization management system,a laser scanner is installed on the arm of material modeling to realize the data processing and 3D visualization of scanning point cloud.Develop MFC program,use SQL Server database to store point cloud data,call GDI graphic equipment interface to draw yard management diagram and call OpenGL to realize 3D point cloud data model visualization,so as to provide model for unmanned reclaimer.Secondly,for the anti-collision problem,the anti-collision algorithm of chassis contour is designed on the basis of GPS pseudo range differential positioning.The arm,counterweight and chassis of the reclaimer are modeled and anti-collision feature points are selected.The distance between the calculated anti-collision feature points and the set anti-collision threshold are compared.The alarm and prohibition signal information of the reclaimer are given.The anti-collision control process is designed to achieve the stability of the reclaimer And accurate anti-collision,provide security protection for unmanned reclaiming control.At last,according to the process of unmanned reclaiming operation,the reclaiming strategy is designed.At the same time,the modeling of reclaimer’s rotary reclaiming track geometry and bucket wheel’s Reclaiming track geometry is studied,the relationship between the actual reclaiming capacity and the rotation speed of reclaimer is established,and the rotary stepping speed controller is designed to realize the stable and fast function of reclaiming flow.