The invention discloses a full-automatic slag salvaging unmanned traveling crane system for a rotational flow well. The system comprises a main control device, a PLC, a large and small vehicle positioning device, a large and small vehicle traveling device, a grab bucket lifting and positioning device and a visual monitoring device. The invention further provides a full-automatic slag salvaging control method for the rotational flow well. The method includes the following steps that S1, the large and small vehicle traveling device is moved to enable a grab bucket to be located at the rotationalflow well; S2, the grab bucket is lowered, the weight change of the grab bucket is sensed, and the grab bucket is opened immediately after the grab bucket is detected to enter water in cooperation with the visual monitoring device; S3, the weight change of the grab bucket is sensed, and the grab bucket is closed when the grab bucket is determined to make contact with slag; and S4, the grab bucketis lifted and moved to a slag stacking area for deslagging. The three-dimensional position of the grab bucket of a traveling crane can be detected in real time, and the running and working state of the traveling crane can be monitored; the state of the grab bucket is visually tracked on line, the position of the grab bucket is judged in real time, and the execution condition of an operation instruction is monitored; the system has the functions of automatic cruise, centralized control of the whole crane, remote monitoring, video linkage, automatic deviation rectification, safe path and the like.
本发明公开了旋流井全自动捞渣无人行车系统,包括主控制装置、PLC控制器、大小车定位装置、大小车行走装置、抓斗升降定位装置和视觉监测装置。本发明还提供了提供了旋流井全自动捞渣控制方法:S1、移动大小车行走装置使抓斗位于旋流井位置;S2、降下抓斗,感知抓斗重量变化并配合视觉监测装置检测到抓斗入水后,即时张开抓斗;S3、感知抓斗重量变化,确定抓斗触渣闭合抓斗;S4、提升抓斗并移动到堆渣区域进行排渣。本发明能实时检测行车抓斗三维位置,监控行车运行工作状态;视觉在线跟踪抓斗状态,实时判断抓斗位置,并监控作业指令的执行情况;具有自动巡航、整车集控、远程监控、视频联动、自动纠偏、安全路径等功能。
Full-automatic slag salvaging unmanned traveling crane system for rotational flow well
旋流井全自动捞渣无人行车系统
2021-01-19
Patent
Elektronische Ressource
Chinesisch
IPC: | B66C Krane , CRANES |
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