A collision prevention method for a near-track bucket wheel stacker-reclaimer

Abstract

The present invention discloses a near-track bucket wheel stacker-reclaimer anti-collision method, which includes the following steps: establishing a simplified anti-collision protection model for two near-track bucket wheel stackers, wherein the stacker-reclaimer in the simplified model includes a rotation center and three strip areas, the three strip areas being a forearm, a counterweight, a tail car, and a belt, and the track width in the model is less than the forearm length; marking multiple key parameters of the two stackers on the horizontal plane and the vertical plane in the simplified model, and calculating multiple characteristic distances based on the key parameters; comparing the calculated multiple characteristic distances with corresponding preset safety thresholds to determine the collision situation between the current stacker-reclaimer and the adjacent stacker-reclaimer, and making corresponding control strategies. The present invention is suitable for application environments where the distance between adjacent tracks of stackers is relatively short, and the tail car belt and counterweight of the stacker-reclaimer are taken into consideration for the anti-collision of the stacker-reclaimer, thereby achieving a good anti-collision warning effect.

Description

Technical Field

[0001] The present invention relates to metallurgical engineering, and in particular to an anti-collision method for a near-track bucket wheel stacker-reclaimer. Background Art

[0002] Currently, large-scale raw material yards in my country's large-scale metallurgical, industrial, and mining enterprises primarily utilize bucket-wheel stackers and reclaimers for stockpiling and reclaiming operations. The high demand for raw materials has led to the creation of large stockpiles, accompanied by numerous stackers and reclaimers and operators. With the continuous rise in the cost of ore and other raw materials, effectively reducing labor costs, maximizing the working environment, stabilizing productivity, and minimizing production losses caused by manual intervention have become common challenges for all large raw material yards.

[0003] Achieving unmanned, automated stacker-reclaimer operation is key to achieving this goal. One of the technical challenges is ensuring fully automated operation and safe production in an unmanned environment. Preventing collisions between adjacent stackers and reclaimers is one of the most important tasks in safe production.

[0004] In the application environment targeted by the existing technology, the distance between the tracks where the stacker and reclaimer are located is large (greater than the length of the stacker and reclaimer's front arm). There is no possibility of collision between the stacker and reclaimer and the stacker and reclaimer's tail car (and the belt) between different tracks. Therefore, the anti-collision design does not take into account the collision protection between the stacker and reclaimer's front arm, the stacker and reclaimer's tail car, and the stacker and reclaimer's counterweight.

[0005] However, when the distance between the tracks is small (less than the distance between the stacker-reclaimer arms), collisions between the stacker-reclaimer arms, the stacker-reclaimer tail car, and the stacker-reclaimer counterweights on different tracks become possible, making the collision situation more complex and the collision probability higher. Existing collision avoidance methods cannot meet the collision avoidance requirements in a near-track environment. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a collision prevention method for a near-track bucket wheel stacker-reclaimer in view of the defects in the prior art.

[0007] The technical solution adopted by the present invention to solve its technical problem is:

[0008] The present invention provides a near-track bucket wheel stacker-reclaimer anti-collision method, the method comprising the following steps:

[0009] A simplified model of collision protection was established for two near-track bucket-wheel stacker-reclaimers. In the simplified model, the stacker-reclaimer consists of a rotation center and three strip-shaped areas: the forearm, counterweight, tail car, and belt. In this model, the track width is smaller than the forearm length.

[0010] In the simplified model, multiple key parameters of the two stackers and reclaimers on the horizontal and vertical planes are marked, and multiple characteristic distances are calculated based on the key parameters;

[0011] The calculated multiple characteristic distances are compared with the corresponding preset safety thresholds to determine the collision situation between the current stacker and the adjacent stacker and reclaimer, and make corresponding control strategies.

[0012] Furthermore, the forearm and the counterweight of the present invention are on the same straight line, and the straight line where the tail car and the belt are located and the straight line where the forearm is located intersect at the rotation center at a certain angle.

[0013] Furthermore, the key parameters on the horizontal plane of the present invention include:

[0014] Stacker-reclaimer forearm length L F , unit is m;

[0015] Stacker-reclaimer counterweight length L C , unit is m;

[0016] The length L of the stacker-reclaimer's tail car and belt projection on the horizontal plane B , unit is m;

[0017] The width of adjacent tracks w, in meters;

[0018] The horizontal angle θ between the stacker-reclaimer front arm and the X-axis, in degrees;

[0019] The end point of the stacker-reclaimer front arm away from the rotation center is marked as A, and the end points of the two stackers are marked as A1 and A2 respectively;

[0020] The endpoint of the stacker-reclaimer counterweight away from the rotation center is marked as B, and the endpoints of the two stackers are marked as B1 and B2 respectively;

[0021] The end point of the stacker-reclaimer tail car and the belt away from the rotation center is marked as C, and the end points of the two stackers are marked as C1 and C2 respectively;

[0022] The rotation center point of the stacker-reclaimer is denoted as D, and the rotation center points of the two stackers-reclaimers are denoted as D1 and D2 respectively.

[0023] Furthermore, the key parameters on the vertical plane of the present invention include:

[0024] The angle α between the tail truck belt of the stacker-reclaimer and the horizontal plane is in degrees;

[0025] The angle β between the stacker-reclaimer front arm and the horizontal plane, in degrees;

[0026] The height H of the stacker-reclaimer front arm end close to the rotation center from the ground F .

[0027] Furthermore, the characteristic distance of the present invention includes:

[0028] Feature distance 1: the effective distance from point A1 to line segment A2B2;

[0029] Feature distance 2: the effective distance from point A1 to line segment C2D2;

[0030] Feature distance 3: the effective distance from point B1 to line segment A2B2;

[0031] Feature distance 4: effective distance from point B1 to line segment C2D2;

[0032] Feature distance 5: effective distance from point C1 to line segment A2B2;

[0033] Feature distances 6 to 8: the distances from point A1 to points A2, B2, and C2, respectively;

[0034] Feature distances 9-10: the distances from point B1 to points A2 and B2 respectively;

[0035] Feature distance 11: distance from point C1 to point A2;

[0036] The "effective distance from a point to an edge" refers to the distance from a point to the line where the specified line segment is located. When the foot of the perpendicular falls on the specified line segment, the distance from the point to the foot of the perpendicular is considered to be the effective distance; if the foot of the perpendicular is not on the line segment, the distance is considered invalid.

[0037] Furthermore, the method of calculating the characteristic distance by key parameters of the present invention is:

[0038] The feature distance is calculated by L F , L B , L C , θ, w and the position of the stacker-reclaimer rotation center are calculated.

[0039] Furthermore, the method of the present invention for determining the collision between the current stacker and the adjacent stacker is as follows:

[0040] Collision judgment is divided into the following two categories:

[0041] Case 1: When characteristic distances 1, 3, and 6 to 11 are smaller than the corresponding safety thresholds, there is no need to further calculate the spatial collision distance, and the stacker-reclaimer is directly protected and controlled.

[0042] Case 2: When feature distances 2, 4, and 5 are smaller than the safety threshold, the spatial collision distance needs to be further calculated. When the spatial collision distance is smaller than the spatial collision threshold, protective control is implemented for the stacker / reclaimer.

[0043] Spatial collision distance refers to the vertical distance from the bottom of the collision endpoint to the collision edge when the stacker-reclaimer collision endpoint contacts the collision edge.

[0044] The present invention provides a near-track bucket wheel stacker-reclaimer anti-collision control system, which includes the following units:

[0045] The anti-collision simplified model establishment unit is used to establish a simplified anti-collision protection model for two near-track bucket wheel stacker-reclaimers. In the simplified model, the stacker-reclaimer includes a rotation center and three strip areas, which are the forearm, counterweight, tail car and belt. In this model, the track width is less than the forearm length.

[0046] A characteristic distance calculation unit is used to mark multiple key parameters of the two stackers and reclaimers on the horizontal plane and the vertical plane in the simplified model, and calculate multiple characteristic distances based on the key parameters;

[0047] The collision judgment unit is used to compare the calculated multiple characteristic distances with the corresponding preset safety thresholds, judge the collision situation between the current stacker and the adjacent stacker and the reclaimer, and make corresponding control strategies.

[0048] The beneficial effects produced by the present invention are:

[0049] This invention provides a collision avoidance method for bucket-wheel stackers operating near rails. For two bucket-wheel stackers operating near rails, where the rail width is less than the forearm length, a simplified collision avoidance model is established. The model then determines collision scenarios by calculating key parameters and characteristic distances. This method is suitable for applications where the distance between adjacent stackers is short. It incorporates the stacker's tailcar belt and counterweight into the collision avoidance process, eliminates the need for sensor hardware such as cameras, and can account for spatial collisions. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0051] Figure 1 is a horizontal screenshot of a simplified model of a stacker-reclaimer according to an embodiment of the present invention;

[0052] Figure 2 is a vertical plane cutout of two adjacent track stackers and reclaimers according to an embodiment of the present invention;

[0053] Figure 3 is a horizontal section of two adjacent track stackers and reclaimers according to an embodiment of the present invention;

[0054] Figure 4 is the posture of the stacker-reclaimer on two adjacent tracks of an embodiment of the present invention;

[0055] Figure 5 This is the spatial collision situation of the embodiment of the present invention. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0057] In the near-track bucket-wheel stacker-reclaimer collision avoidance method of the present invention, to achieve collision avoidance protection for adjacent track stackers, it is necessary to calculate the minimum distance between two potentially colliding stackers. Due to the complexity of the stacker-reclaimer model, it is necessary to simplify the model. The simplified stacker-reclaimer primarily consists of a rotation center and three strip-shaped regions: the forearm, counterweight, tailcar, and belt.

[0058] The screenshot of the stacker-reclaimer after the simplified model is as follows: Figure 1 As shown, the key parameters of the present invention in the horizontal plane are marked in the figure, wherein:

[0059] L F is the forearm length of the bucket wheel stacker-reclaimer (referred to as stacker-reclaimer), in meters;

[0060] L C is the counterweight length of the stacker-reclaimer, in m;

[0061] L B The length of the stacker-reclaimer tail car and belt projected on the horizontal plane, in meters;

[0062] w is the width of adjacent tracks, in meters;

[0063] θ is the horizontal angle between the stacker-reclaimer front arm and the X-axis, in degrees;

[0064] The end point of the stacker-reclaimer front arm away from the rotation center is marked as A;

[0065] The end point of the stacker-reclaimer counterweight away from the rotation center is marked as B;

[0066] The end point of the stacker-reclaimer tail car and the belt away from the rotation center is marked as C;

[0067] The rotation center point of the stacker-reclaimer is marked as D.

[0068] A screenshot of the vertical plane is as follows Figure 2 As shown in the figure, the key parameters of the present invention in the vertical plane are marked, wherein:

[0069] α is the angle between the tail car belt of the stacker-reclaimer and the horizontal plane, in degrees;

[0070] β is the angle between the stacker-reclaimer front arm and the horizontal plane, in degrees;

[0071] H F It is the height from the ground to the end of the stacker-reclaimer's front arm close to the rotation center.

[0072] The present invention is aimed at the application environment where the track width is less than the forearm length (ie w<L F In this environment, there is a possibility of collision between the stacker-reclaimer front arm, counterweight and tail truck.

[0073] Figure 3 This is a horizontal shot of two adjacent track stackers and reclaimers.

[0074] The invention determines the collision between the current stacker-reclaimer and the adjacent stacker-reclaimer by calculating 11 characteristic distances, including:

[0075] 1. The effective distance from point A1 to line segment A2B2;

[0076] 2. The effective distance from point A1 to line segment C2D2;

[0077] 3. The effective distance from point B1 to line segment A2B2;

[0078] 4. The effective distance from point B1 to line segment C2D2;

[0079] 5. The effective distance from point C1 to line segment A2B2;

[0080] 6-8, the distances from point A1 to points A2, B2, and C2 respectively;

[0081] 9-10, the distances from point B1 to points A2 and B2 respectively;

[0082] 11. The distance from point C1 to point A2.

[0083] The "effective distance from a point to an edge" refers to the distance from a point to the line where the specified line segment is located. When the foot of the perpendicular falls on the specified line segment, the distance from the point to the foot of the perpendicular is considered to be the effective distance; if the foot of the perpendicular is not on the line segment, the distance is considered invalid.

[0084] Since the stacker-reclaimer has a short counterweight and most of the vertical space is much higher than the tail truck, there is no possibility of collision between points B and C.

[0085] The calculation of the above 11 characteristic distances can be done by L F , L B , L C , θ, w and the position of the stacker-reclaimer rotation center are calculated.

[0086] The above 11 characteristic distances are compared with 11 pre-set safety thresholds to determine the current possible collision situation and the control decisions that need to be made.

[0087] Collision judgment can be divided into the following two categories:

[0088] Case 1: When characteristic distances 1, 3, and 6 to 11 are smaller than the corresponding safety thresholds, there is no need to further calculate the spatial collision distance, and protective control is directly implemented for the stacker-reclaimer.

[0089] Case 2: When feature distances 2, 4, and 5 are smaller than the safety threshold, the spatial collision distance needs to be further calculated. When the spatial collision distance is smaller than the spatial collision threshold, protective control is implemented for the stacker / reclaimer.

[0090] The spatial collision distance refers to Figure 3 As shown in , when the stacker-reclaimer collision end point contacts the collision edge, the vertical distance from the bottom end of the collision end point to the collision edge.

[0091] In another specific embodiment of the present invention, the working principle of the present invention is explained by taking an actual situation of a stacker-reclaimer in a blast furnace material yard as an example.

[0092] like Figure 4 As shown, the stackers and reclaimers on two adjacent tracks are in the posture shown in the figure, where:

[0093] The track distance is 12m, that is, w=12; the forearm length of the stacker-reclaimer is 33m, that is, L F =33; the projected length of the tail car and the belt on the horizontal plane is 48m, that is, L B =48; the length of the stacker-reclaimer counterweight is 17m, i.e. L C =17; the distance between the forearm and the center of rotation is 8.5m, that is, H F =8.5.

[0094] The forearm rotation angle of stacker-reclaimer 1 is 12°, the forearm pitch angle is 0°, and the angle between the tail car belt and the horizontal plane is 15°, that is, θ1 = 12, α1 = 15, and β1 = 0. The forearm rotation angle of stacker-reclaimer 2 is 55°, the forearm pitch angle is 0°, and the angle between the tail car and the horizontal plane is 15°, that is, θ1 = 55, α1 = 15, and β1 = 0.

[0095] Taking the center of the track below as the X-axis and the leftmost side of the track as the X-axis origin, we can get the coordinates of each point in this scenario:

[0096] D1 (120.0, 0), A1 (152.28, 6.86), B1 (103.37, -3.53), C1 (72.0, 0);

[0097] D2 (180.0, 12), A2 (198.92, 39.03), B2 (170.24, -1.93), C2 (132.0, 12).

[0098] Calculate 11 characteristic distance values ​​for stacker-reclaimer 1:

[0099] Eigenvalue 1: does not exist;

[0100] Eigenvalue 2: 5.14;

[0101] Eigenvalue 3: does not exist;

[0102] Eigenvalue 4: does not exist;

[0103] Eigenvalue 5: does not exist;

[0104] Eigenvalue 6: 51.83;

[0105] Eigenvalue 7: 19.99;

[0106] Eigenvalue 8: 20.92;

[0107] Eigenvalue 9: 104.60;

[0108] Eigenvalue 10: 66.89;

[0109] Eigenvalue 11: 132.79.

[0110] Assume that the safety thresholds of the 11 eigenvalues ​​are all 6, and the spatial safety threshold is 4.

[0111] Only when the eigenvalue 2 is less than the corresponding safety threshold. According to the situation classification, when the eigenvalue 2 is less than the corresponding safety threshold, it is necessary to continue calculating the spatial collision distance. At this time, the spatial collision situation is as follows Figure 5 shown.

[0112] At this time, the spatial collision distance is 5.02m, which is greater than the set spatial safety threshold. Therefore, the system determines that there is a risk of spatial collision when point A of stacker-reclaimer 1 intersects with the horizontal plane of line segment CD, and then executes the protection measures for the stacker-reclaimer.

[0113] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all such improvements and changes should fall within the scope of protection of the appended claims of the present invention.

Claims

1. A near-track bucket wheel stacker-reclaimer anti-collision method, characterized in that: The method comprises the following steps: A simplified model of collision protection was established for two near-track bucket-wheel stacker-reclaimers. In this simplified model, the stacker-reclaimer consists of a rotation center and three strip-shaped areas: the forearm, counterweight, tail car, and belt. In this simplified model, the track width is smaller than the forearm length. In the simplified model, multiple key parameters of the two stackers and reclaimers on the horizontal and vertical planes are marked, and multiple characteristic distances are calculated based on the key parameters; Compare the calculated multiple characteristic distances with the corresponding preset safety thresholds to determine the collision between the current stacker and the adjacent stacker and reclaimer, and make corresponding control strategies; Key parameters on the horizontal plane include: Stacker-reclaimer forearm length L F , unit is m; Stacker-reclaimer counterweight length L C , unit is m; The length L of the stacker-reclaimer's tail car and belt projection on the horizontal plane B , unit is m; The width of adjacent tracks w, in m; The horizontal angle θ between the stacker-reclaimer front arm and the X-axis, in degrees; The end point of the stacker-reclaimer front arm away from the rotation center is marked as A, and the end points of the two stackers are marked as A1 and A2 respectively; The endpoint of the stacker-reclaimer counterweight away from the rotation center is marked as B, and the endpoints of the two stackers are marked as B1 and B2 respectively; The end point of the stacker-reclaimer tail car and the belt away from the rotation center is marked as C, and the end points of the two stackers are marked as C1 and C2 respectively; The rotation center of the stacker-reclaimer is denoted as D, and the rotation centers of the two stackers-reclaimers are denoted as D1 and D2 respectively; Key parameters in the vertical plane include: The angle α between the tail car and belt of the stacker-reclaimer and the horizontal plane is in degrees; The angle β between the stacker-reclaimer front arm and the horizontal plane, in degrees; The height H of the stacker-reclaimer front arm end close to the rotation center from the ground F ; Feature distances include: Feature distance 1: the effective distance from point A1 to line segment A2B2; Feature distance 2: the effective distance from point A1 to line segment C2D2; Feature distance 3: the effective distance from point B1 to line segment A2B2; Feature distance 4: effective distance from point B1 to line segment C2D2; Feature distance 5: effective distance from point C1 to line segment A2B2; Feature distances 6-8: the distances from point A1 to points A2, B2, and C2, respectively; Feature distances 9-10: the distances from point B1 to points A2 and B2 respectively; Feature distance 11: distance from point C1 to point A2; The "effective distance from a point to an edge" refers to the distance from the point to the line on which the specified line segment lies. If the foot of the perpendicular falls on the specified line segment, the distance is considered effective. If the foot of the perpendicular does not fall on the line segment, the distance is considered invalid. The method for determining the collision between the current stacker-reclaimer and the adjacent stacker-reclaimer is as follows: Collision judgment is divided into the following two categories: Case 1: When characteristic distances 1, 3, and 6 to 11 are less than the corresponding safety thresholds, there is no need to further calculate the spatial collision distance, and protective control is directly implemented for the stacker-reclaimer. Case 2: When feature distances 2, 4, and 5 are smaller than the safety threshold, the spatial collision distance needs to be further calculated. When the spatial collision distance is smaller than the spatial collision threshold, protective control is implemented for the stacker / reclaimer. Spatial collision distance refers to the vertical distance from the bottom of the collision endpoint to the collision edge when the stacker-reclaimer collision endpoint contacts the collision edge.

2. The anti-collision method for a near-rail bucket wheel stacker and reclaimer according to claim 1, characterized in that: The forearm and the counterweight are on the same straight line, and the straight line where the tail car and the belt are located and the straight line where the forearm is located intersect at the rotation center at a certain angle.

3. The anti-collision method for a near-rail bucket wheel stacker and reclaimer according to claim 1, characterized in that: The method for calculating feature distance through key parameters is: The feature distance is calculated by L F , L B , L C , θ, w and the position of the stacker-reclaimer rotation center are calculated.

4. A near-rail bucket wheel stacker-reclaimer anti-collision control system, adopting the near-rail bucket wheel stacker-reclaimer anti-collision method according to any one of claims 1 to 3, characterized in that: The system includes the following units: The anti-collision simplified model establishment unit is used to establish a simplified anti-collision protection model for two near-track bucket wheel stacker-reclaimers. In the simplified model, the stacker-reclaimer includes a rotation center and three strip areas, which are the forearm, counterweight, tail car and belt. In this simplified model, the track width is less than the forearm length. A characteristic distance calculation unit is used to mark multiple key parameters of the two stackers and reclaimers on the horizontal plane and the vertical plane in the simplified model, and calculate multiple characteristic distances based on the key parameters; The collision judgment unit is used to compare the calculated multiple characteristic distances with the corresponding preset safety thresholds, judge the collision situation between the current stacker and the adjacent stacker and the reclaimer, and make corresponding control strategies.

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