The invention relates to an unmanned travelling system and method for automatic slag salvaging and loading of a rotational flow well. The unmanned travelling system comprises an embedded module, a PLC, a laser distance measuring sensor and a plurality of encoders, wherein the laser distance measuring sensor and the encoders are connected with the PLC; the two laser distance measuring sensors are installed on the middle line of the trolley along the two running rails, laser needs to avoid blocking of a grab bucket and is perpendicular to the ground of a slag loading position, and the two laser distance measuring sensors are used for scanning the boundaries of a truck compartment; the PLC collects data of the laser distance measuring sensor, packages synchronously sampled laser distance data and driving position coordinates and sends the packaged data to the embedded module, and the embedded module calculates the length, width and height of a truck compartment and compartment slag loading position coordinates and then sends the coordinates back to the PLC; the PLC reads multi-circle absolute value encoder data of the large wheel, the small wheel, the grab bucket lifting winding drum and the grab bucket opening and closing winding drum, so that position coordinate positioning and calibration of the heights of the large vehicle, the small vehicle and the grab bucket of the traveling crane are achieved, and the opening and closing states of the grab bucket are detected.

    本发明涉及一种用于旋流井自动捞渣和装车的无人行车系统和方法,包括嵌入式模块和PLC控制器,与PLC控制器连接的激光测距传感器和若干编码器;两个激光测距传感器安装在小车沿两条行驶轨道的中线上,激光要避开抓斗遮挡且与装渣位的地面垂直,两个激光测距传感器用于扫描卡车车厢边界;PLC控制器采集激光测距传感器数据,并将同步采样的激光距离数据和行车位置坐标打包发送给嵌入式模块,嵌入式模块计算出卡车车厢的长宽高和车厢装渣位置坐标,再传回给PLC控制器;PLC控制器读取大车轮、小车轮、抓斗起升卷筒和抓斗开闭卷筒的多圈绝对值编码器数据,以实现对行车大车、小车、抓斗高度的位置坐标定位和校准,以及抓斗开闭状态检测。


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    Title :

    Unmanned travelling system and method for automatic slag salvaging and loading of rotational flow well


    Additional title:

    一种用于旋流井自动捞渣和装车的无人行车系统和方法


    Contributors:
    WU QIAOSHUN (author) / YIN YEHUA (author) / YIN LEI (author) / CHENG JIE (author) / SHEN ZHIYAN (author) / DONG CHAOYUN (author) / GUO ZUNJIE (author) / FENG ZHAOSONG (author)

    Publication date :

    2022-11-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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