Automatic coke reclaiming with 3D stock pile imaging system

摘要

In steel works, especially steel works that has blast furnace, there are many sorts of raw material piles in the open-air storage near unloading harbor. Those piles may be raw materials like iron ore or coal, and intermediate by-product like coke or sintered iron ore. Because those stock piles have to be moved for using, automatic reclaiming is necessary. As for the iron ore stock yard, a previous research for automatic reclaiming was done and its application was also reported. In this case, main reclaimer control system, which is integrated system of imbedded controller and PLC, takes charge of the whole operations of automatic reclaiming which includes motion control of reclaimer(Fig. 1), 3D laser scanner control, stock pile image processing, reclaiming operation sequence control, etc. So as to achieve those whole operations in one central platform, real time task managing was complex, and the hardware and software system became bulky. As a result, maintenance problem was tricky. In the aspect of decision making algorithm, this previous system adopted very complex image processing approaches and redundant inverse kinematics solving problem approach.