Anti-collision control method and system for stacker-reclaimer

Abstract

The invention discloses an anti-collision control method and system for a stacker-reclaimer. The anti-collision control method comprises the steps that a basic geometry comprising a mechanical structure is extracted according to the geometrical characteristics of the stacker-reclaimer, a key point is generated on the surface of the basic geometry, and the relative coordinates p1 of the key point are obtained; an anti-collision combination model of the stacker-reclaimer is established, and a three-dimensional space world coordinate p2 of the key point is calculated according to the combinationmode of the combination model and the mechanical size of the stacker-reclaimer; a three-dimensional space world coordinate p3 of the key point after walking, rotating and pitching actions of the stacker-reclaimer is calculated, and a world coordinate Q of a surface point of an anti-collision related object in a three-dimensional space is obtained; the spatial distance between the three-dimensionalspace world coordinates P of all the key points and the world coordinates Q of the surface points of the anti-collision related object in the three-dimensional space is calculated, and a minimum value of the spatial distance is obtained; and anti-collision control is conducted according to the minimum value of the spatial distance and a set safety distance.

Description

technical field [0001] The invention relates to the technical field of anti-collision analysis of a stacker-reclaimer, in particular to an anti-collision control method and system for a stacker-reclaimer. Background technique [0002] The stacker-reclaimer, also known as the bucket-wheel stacker-reclaimer, is a high-efficiency continuous loading and unloading machine, widely used in bulk material storage yards such as bulk cargo terminals, mines, and power plants. [0003] In a modern bulk material storage yard, multiple stackers and reclaimers need to work together. Due to the large range of movement of the stackers and reclaimers, there is a large gap between stackers and reclaimers that are close to the cooperative operation, between stackers and reclaimers and fixed structures, and between stackers and reclaimers. There is a great risk of mutual collision between the material machine and the stockpile. Once a collision occurs, it may cause serious machine damage and pers...

AI Technical Summary

Problems solved by technology

There are two main types of automatic anti-collision control technologies for stacker-reclaimers, plane projection method and three-dimensional model method, but the above two methods have the following defects: plane projection method, which is to project the cantilever of the stacker-reclaimer onto the horizontal plane, and then Calculate the minimum distance between two projections in the plane. Although this algorithm is simple, it cannot accurately calculate the minimum space distance between stackers and reclaimers, and some effective working space is wasted, especially when working on the same stack. The working range of the stacker and reclaimer is limited, which affects the efficiency of stacking and reclaiming operations

The three-dimensional model method, which considers factors such as the cantilever rotation and pitch of the stacker-reclaimer, establishes a three-dimensional mathematical model of the cantilever of the stacker-reclaimer. This method needs to solve multivariate equations. The algorithm is complex and the amount of calculation is large, and it is very difficult for practical application.

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