The Research And Design Of Automated System For Stand-alone Bucket Wheel Stacker-reclaimer

Bucket wheel stacker reclaimer is an efficient transport handling equipment usedin port, power station, and open-pit bulk material. Automated control ofstacker-reclaimer can reduce the operators, and improve the economic efficiency andthe overall competitiveness of enterprises.This paper explains the need of automated control to stacker-reclaimer, anddescribes the development of the bucket wheel stacker reclaimer control and relatedtechnologies at domestic and foreign. We explain the work principles of stand-aloneautomated system, the system targets to be achieved and the structure of hardware andsoftware system.This paper studies the identification and modeling of stockpile three-dimensional.The stockpile3D recognition basis for automated control, and provide the necessaryinformation for automatic reclaimer control. We use rotational station and2D laserscanner to obtain the three-dimensional data of the stockpile. The rotational stationuse stepper motor as a rotating device and accomplished the hardware and softwaredesign of stepper motor drive equipment. The paper introduces the methods to reducethe large scanner point cloud data acquired by the scanner. After study theoptimization algorithm, we select the cell-based algorithms to remove noise data, toreduce the massive amounts of data, which is the basis for stacker-reclaimerautomatic control. Bowls algorithm is used to reconstruction the3D modeling withthe de-noising and the reduction of point cloud data.This paper discusses the full automatic control for stand-alone stacker-reclaimerand the stacking and reclaiming process. It can automatically compute the entry pointin reclaimer of the pile, locate the stacker reclaimer, constant flow of reclaimer andthe control of boundary velocity. We use ultrasonic ranging technology for stackerautomation. The paper analyzes the cover of bucket, overload, collision and otherunusual circumstances that may occurs in the process of stack and reclaimer, and alsotakes the corresponding control strategies to prevent such accidents.The realization of control system network in stacker-reclaimer is analyzed,which is used the industrial computer (IPC) and Siemens S7-300PLC as the mainequipment, and the industrial Ethernet and PROFIBUS-DP the fieldbuscommunication technology. Based on SPC3chip, we realize the smart slave which can take such equipment that can’t directly access to PROFIBUS-DP into the network andcomplete the whole design of communication system.