NOUFERROUS METALLURGICAL EQUIPMENT

For the application scenario where the automation level of traditional waste grab cranes in waste-to-energy power plants is not high, a set of intelligent scheduling and control system for waste crane operations has been developed. Absolute encoders are installed on the wheels of the crane‘s trolley and bridge to obtain real-time position coordinates of the trolley and bridge. An absolute encoder is also mounted on the axis of the hoisting cable drum to acquire the lifting height of the grab. Ultrasonic ranging sensors are employed to monitor the material level at the feeding port, providing accurate and reliable control basis for the scheduling software to generate feeding tasks. Two LiDAR sensors are installed on both sides of the long edge of the waste storage bunker to scan the material surface in real time, acquiring point cloud data within the bunker and generating a color model of the waste surface. Through algorithms, coordinates of suitable points for grabbing and stacking are calculated. Meanwhile, the scheduling software enables collaborative operations based on the status information of the two cranes. Finally, the relevant technologies were applied to the waste-to-energy plant, achieving the expected results.