基于激光雷达组测量的全自动卸料系统研究  

Research on Automatic Unloading System Based on Laser Radar Measurement

作　　者：武徽 WU Hui(Storage and Loading Branch, China Coal Research Institute, Beijing 100013, China;CCTEG Tiandi Science & Technology Co., Ltd., Beijing 100013, China)

机构地区：[1]煤炭科学研究总院储装分院,北京100013 [2]中国煤炭科工集团天地科技股份有限公司,北京100013

出　　处：《煤矿机电》2021年第3期1-6,10,共7页Colliery Mechanical & Electrical Technology

基　　金：中国煤科集团科技创新创业资金专项(2019-TD-QN007);中国煤科集团重点项目(2019TDZD009)。

摘　　要：铁路全自动化散料装车过程中,根据低速移动的车厢与溜槽的相对位置进行自动控制放料。系统的重难点是对车厢的动态检测技术,以及根据检测结果进行的卸料控制。针对铁路装车站全自动卸料工艺的需求,采用激光雷达组对车厢的动态测量技术,并引入基于Matlab/Stateflow建立的有限状态自动机模型。根据激光雷达的回调数据对卸料过程进行了仿真和应用。模型基于PLC编程标准生成结构化文本,实现了PLC控制程序的自动生成。In the process of railway fully automatic material loading,automatic control of discharging was carried out according to the relative position of low-speed moving carriage and chute.The key and difficult points of the system were the dynamic detection technology of the carriage and the unloading control according to the test results.According to the requirement of automatic unloading process of railway loading station,the dynamic measurement technology of car by laser radar group was adopted,and the finite state automata model based on Matlab/stateflow was introduced.The unloading process was simulated and applied according to the callback data of laser radar.The model generated structured text based on PLC programming standard,and realized the automatic generation of PLC control program.

关 键 词：物料装车 激光雷达 有限状态自动机 STATEFLOW 可编程控制器(PLC) 

分 类 号：TD67[矿业工程—矿山机电]