港口料堆扫描成像与堆取料中央控制方案设计
发布时间：2018-08-24 12:18
【摘要】：随着科技的发展，港口煤炭自动堆取料技术的研究越来越受到国内外业界的关注，如何改善港口堆取料工作环境，提高港口煤炭装卸业的自动化水平是本课题出发点，本文设计研究了港口料堆扫描成像与堆取料中央控制方案，实现了港口煤炭自动堆取料作业、实时监控的功能目标。 首先，对系统总体组成框架进行设计。根据功能规划，将系统分为激光扫描实时成像、自动堆取料指令控制和中央控制管理软件三个模块。并按照功能需求，对系统所需软硬件进行配置选型。 其次，对激光扫描实时成像模块进行研究。实现对LMS100激光扫描仪参数配置和扫描控制，料场料堆三维坐标空间转换，并进行原始点云优化处理的算法设计，采用矩形分割的方法更新料堆信息库，实现料场料堆实时和整体模型的成像显示。 再次，对自动堆取料控制模块进行设计。简述料机在PLC控制过程中的几个影响参数，主要包括料机高度，悬臂长度，俯仰、回旋角等，PLC通过与安装在料机走行机构、俯仰机构和回旋机构的三个编码器进行数据交互，并设计自动堆取料控制指令方案，实现系统料机自动堆取料作业的控制功能。 最后，对中央控制管理软件进行开发。主要实现包括扫描仪参数配置，扫描状态监测和过程控制，，PLC通讯参数设置和通讯连接，自动堆取料任务下达和控制，料堆数据处理精度控制，料堆实时三维模型成像显示以及系统运行状况的监控和工作日志的查阅与保存等功能。
[Abstract]:With the development of science and technology, more and more attention has been paid to the research of port coal automatic stacking technology. How to improve the working environment and improve the automation level of port coal loading and unloading industry is the starting point of this topic. In this paper, the scanning imaging of port stacks and the central control scheme of stacks are designed and studied, and the function target of automatic stacker and material collection operation and real-time monitoring is realized. First of all, the overall framework of the system is designed. According to the function planning, the system is divided into three modules: laser scanning real time imaging, automatic heaping command control and central control management software. And according to the functional requirements, the system required software and hardware configuration selection. Secondly, the laser scanning real-time imaging module is studied. The algorithm of parameter configuration and scanning control of LMS100 laser scanner, 3D coordinate space transformation of material field stack, and optimization processing of original point cloud are realized. The information base of the stack is updated by rectangular partition method. The real-time and integral model imaging display of the material field stack is realized. Thirdly, the control module is designed. This paper briefly describes several influence parameters of the PLC control process, mainly including the height of the feed machine, the length of the cantilever, the pitch, the angle of rotation, and so on. The data are interacted with the three encoders installed in the feeding machine, the pitching mechanism and the rotary mechanism. And design the control command scheme of automatic heaping and collecting to realize the control function of automatic stowage and collecting operation of the system feeder. Finally, the central control management software is developed. The main implementation includes scanner parameter configuration, scan status monitoring and process control, PLC communication parameter setting and communication connection, automatic stack collection task delivery and control, and data processing precision control. The functions of real-time 3D model imaging display, system operation monitoring and log checking and saving are also presented.
【学位授予单位】：燕山大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TP273;U693
本文编号：2200795
[Abstract]:With the development of science and technology, more and more attention has been paid to the research of port coal automatic stacking technology. How to improve the working environment and improve the automation level of port coal loading and unloading industry is the starting point of this topic. In this paper, the scanning imaging of port stacks and the central control scheme of stacks are designed and studied, and the function target of automatic stacker and material collection operation and real-time monitoring is realized. First of all, the overall framework of the system is designed. According to the function planning, the system is divided into three modules: laser scanning real time imaging, automatic heaping command control and central control management software. And according to the functional requirements, the system required software and hardware configuration selection. Secondly, the laser scanning real-time imaging module is studied. The algorithm of parameter configuration and scanning control of LMS100 laser scanner, 3D coordinate space transformation of material field stack, and optimization processing of original point cloud are realized. The information base of the stack is updated by rectangular partition method. The real-time and integral model imaging display of the material field stack is realized. Thirdly, the control module is designed. This paper briefly describes several influence parameters of the PLC control process, mainly including the height of the feed machine, the length of the cantilever, the pitch, the angle of rotation, and so on. The data are interacted with the three encoders installed in the feeding machine, the pitching mechanism and the rotary mechanism. And design the control command scheme of automatic heaping and collecting to realize the control function of automatic stowage and collecting operation of the system feeder. Finally, the central control management software is developed. The main implementation includes scanner parameter configuration, scan status monitoring and process control, PLC communication parameter setting and communication connection, automatic stack collection task delivery and control, and data processing precision control. The functions of real-time 3D model imaging display, system operation monitoring and log checking and saving are also presented.
【学位授予单位】：燕山大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TP273;U693
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