Constant-current reclaiming control method and system for circular coal yard stacker-reclaimer in coal yard partition

Abstract

The invention discloses a constant-current reclaiming control method and system for a circular coal yard stacker-reclaimer in a coal yard partition, and relates to the technical field of constant-current reclaiming control. The constant-current reclaiming control method comprises the steps that data in a circular coal yard are collected, and data preprocessing is carried out; the method comprises the following steps: dividing a circular coal yard into three different stockpiling areas at intervals of 120 degrees by using an encoder and positioning equipment; each divided material stacking area is coded, and position calibration is conducted through an encoder installed on the material stacking and taking machine; according to the preprocessed data and the position calibration information, the operation parameters of the material taking machine are adjusted to adapt to the physical characteristics of the coal pile; and the current feedback data of the reclaimer is monitored and analyzed by using the information of the stacking area, the operation parameters are further adjusted in real time, and the flow is constant in the reclaiming process under the conditions of different areas and different coal types. The operation precision and efficiency of the circular coal yard stacker-reclaimer are improved, adaptive management of physical characteristics of coal piles is achieved, and flow constancy in the reclaiming process is ensured.

Description

Technical Field

[0001] The invention relates to the technical field of constant-flow material taking control, in particular to a constant-flow material taking control method and system for a circular coal yard stacker and reclaimer with coal yard divisions. Background Art

[0002] In the energy industry, especially in the field of coal management and handling, efficient coal pile management systems are essential to ensure the continuity and efficiency of energy supply. In recent years, with the rapid development of automation and information technology, the technology of circular coal yard stackers and reclaimers has made significant progress. Traditional coal pile reclaiming technology usually relies on mechanical operation and basic electronic control systems to achieve stockpile management, but these methods often fail to meet the high standards of modern industry in terms of accuracy and efficiency. Especially when dealing with different types of coal and adapting to the operating requirements under different environmental conditions, traditional technologies have shown obvious limitations.

[0003] The existing technology is particularly inadequate in ensuring the constancy of the material flow during the reclaiming process, which directly affects the fuel supply quality and combustion efficiency. For example, changes in the physical characteristics of the coal pile, such as density and humidity, and the position accuracy of the reclaimer may lead to unstable flow during the reclaiming process. In addition, the monitoring systems in the prior art mostly rely on simple feedback mechanisms and lack the ability to dynamically adapt to changes in environmental variables and coal pile conditions. Therefore, there is a need for an intelligent reclaiming control method that can adjust operating parameters in real time and optimize operations based on real-time data to improve efficiency and reduce energy waste.

[0004] In view of these shortcomings, the present invention proposes a constant flow reclaiming control method for a circular coal yard stacker and reclaimer, which uses a highly automated encoding and positioning system to divide the circular coal yard into multiple areas and adjust the operating parameters of the reclaimer according to the specific physical characteristics of each area. By real-time monitoring of the current feedback data of the reclaimer and combining PID control technology, it is possible to ensure that the flow rate of the reclaiming process is constant under different coal types and environmental conditions. Summary of the invention

[0005] In view of the above-mentioned problems, the present invention is proposed.

[0006] Therefore, the problem to be solved by the present invention is: how to solve the problem of insufficient material flow constancy in the material taking process of the existing method.

[0007] To solve the above technical problems, the present invention provides the following technical solutions: a constant flow material taking control method for a circular coal yard stacker and reclaimer with coal yard zoning, comprising: collecting data in the circular coal yard and performing data preprocessing; using an encoder and a positioning device to divide the circular coal yard into three different stockpiling areas at intervals of 120°; encoding each divided stockpiling area, and performing position calibration through an encoder installed on the stacker and reclaimer; adjusting the operating parameters of the reclaimer according to the preprocessed data and position calibration information to adapt to the physical characteristics of the coal pile; using the stockpiling area information to monitor and analyze the current feedback data of the reclaimer, and further adjusting the operating parameters in real time to ensure a constant flow rate during the material taking process under conditions of different areas and different types of coal.

[0008] As a preferred solution of the constant flow material reclaiming control method of the circular coal yard stacker and reclaimer with coal yard partition described in the present invention, the data in the circular coal yard includes position sensor signals, operating parameter signals, equipment status data and physical property data of the coal pile; the data preprocessing includes cleaning, denoising, standardization and normalization of the collected data in the circular coal yard.

[0009] As a preferred solution of the constant flow material reclaiming control method of the circular coal yard stacker and reclaimer with coal yard division as described in the present invention, the stacking area includes a rotary encoder and a positioning device installed on the stacker and reclaimer, and three physical marks are placed from the center to the outside using the center positioning point, each mark is offset by 120° relative to the previous mark, and the angle limit of each area is input to set the boundary of each area.

[0010] As a preferred solution of the constant flow material reclaiming control method for a circular coal yard stacker and reclaimer with a coal yard partitioned as described in the present invention, wherein: the encoding of each divided stockpiling area includes assigning a unique code to each 120° area, and configuring the identification area code for the rotary encoder installed on the stacker and reclaimer; the position calibration includes performing a preliminary calibration during the first setting, inputting the angle limit of each area, and matching it with the physical mark to set the boundary of each area; operating the stacker and reclaimer at different positions in the coal yard, collecting the original position data of the locator, that is, the longitude and latitude data, converting the collected longitude and latitude data into angles in a polar coordinate system relative to the center of the coal yard, using a known reference point to verify the accuracy of the locator data, and adjusting the position if there is an error.

[0011] As a preferred solution of the constant flow reclaiming control method of the circular coal yard stacker and reclaimer with coal yard partitioning of the present invention, the position calibration also includes placing the stacker and reclaimer at a known angle position in the coal yard after the positioner is calibrated, recording the encoder reading, collecting the original angle reading of the encoder under normal operating conditions, and establishing a calibration formula expressed as:

[0012] θ c=θ e ×K+C

[0013] Among them, θ c is the angle after calibration, θ e is the original angle of the encoder, K is the calibration coefficient, and C is the calibration constant. Apply the calibration formula to the encoder reading, adjust and optimize the angle accuracy, and verify the calibration effect.

[0014] As a preferred solution of the constant flow reclaiming control method of the circular coal yard stacker and reclaimer of the coal yard partition of the present invention, wherein: the operating parameters of the reclaimer include the scraper rotation range, the scraper depth and the scraper speed; the adjustment of the operating parameters of the reclaimer includes adjusting the scraper rotation range, adjusting the scraper depth and adjusting the scraper speed; the adjustment of the scraper rotation range is expressed as:

[0015]

[0016] Among them, R is the scraper rotation range, which is an angle, α is the adjustment coefficient of scraper rotation, ρ is the current density of coal pile, ρ min is the minimum value of coal pile density, H is the current humidity value, H max is the maximum possible value of humidity; the adjustment of the scraper depth is expressed as:

[0017]

[0018] Where D is the scraper depth, β is the scraper depth adjustment coefficient, S is the coal pile particle size, ∈ is a small constant, ρ max is the maximum value of the coal pile density; the adjustment scraper speed is expressed as:

[0019]

[0020] Among them, V is the scraper speed, γ is the scraper speed adjustment coefficient, and δ is a small constant.

[0021] As a preferred solution of the constant current reclaiming control method of the circular coal yard stacker and reclaimer in the coal yard partition of the present invention, the further real-time adjustment of the operating parameters includes continuously monitoring the current of the reclaimer and determining the target current. Assuming that the current and the reclaiming flow rate have a linear relationship, it can be expressed as:

[0022] I target = k·Q

[0023] Among them, I target is the target current, k is the proportionality coefficient preset according to the best operating efficiency, and Q is the target material flow rate; the difference between the actual current and the target current is calculated and expressed as:

[0024] ΔI=II target

[0025] Among them, ΔI is the current difference, and I is the current current of the reclaimer. PID control is used to adjust the operating parameters according to the current difference. There is a linear relationship between the adjustment of the operating parameters and the controller output, which is expressed as:

[0026]

[0027] R new =R+ΔR·u(t)

[0028] D new =D+ΔD·u(t)

[0029] V new =V+ΔV·u(t)

[0030] Where u(t) is the output signal of the PID controller at time t, K p is the proportional gain, K i is the integral gain, K d is the differential gain, R new is the new scraper rotation range, ΔR is the scraper rotation adjustment factor, D new is the new scraper depth, ΔD is the scraper depth adjustment factor, V new is the new scraper speed, and ΔV is the scraper speed adjustment factor.

[0031] Another object of the present invention is to provide a system for a constant flow material taking control method for a circular coal yard stacker and reclaimer in a coal yard partition, which can solve the problem of constant flow material taking control of a circular coal yard stacker and reclaimer in a coal yard partition by constructing a constant flow material taking control system for the circular coal yard stacker and reclaimer.

[0032] To solve the above technical problems, the present invention provides the following technical solutions: a constant flow material taking control system for a circular coal yard stacker and reclaimer with coal yard partitioning, comprising a data acquisition module, an area division module, a position calibration module, a preliminary adjustment module and a final adjustment module; the data acquisition module is used to collect data in the circular coal yard and perform data preprocessing; the area division module is used to use an encoder and a positioning device to divide the circular coal yard into three different stockpiling areas at intervals of 120°; the position calibration module is used to encode each divided stockpiling area and perform position calibration through an encoder installed on the stacker and reclaimer; the preliminary adjustment module is used to adjust the operating parameters of the reclaimer according to the preprocessed data and position calibration information to adapt to the physical characteristics of the coal pile; the final adjustment module is used to use the stockpiling area information to monitor and analyze the current feedback data of the reclaimer, and further adjust the operating parameters in real time to ensure a constant flow rate during the material taking process under conditions of different areas and different types of coal.

[0033] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the constant flow material taking control method of a circular coal yard stacker and reclaimer with coal yard partitions as described above are implemented.

[0034] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the constant-flow material reclaiming control method for a circular coal yard stacker-reclaimer with coal yard partitions as described above.

[0035] The beneficial effects of the present invention are as follows: the circular coal yard stacker-reclaimer constant flow reclaiming control method provided by the present invention significantly improves the operating accuracy and efficiency of the circular coal yard stacker-reclaimer by accurately dividing and coding the stockpiling area, accurately calibrating the position, and adjusting the operating parameters in real time. Through these steps, adaptive management of the physical characteristics of the coal pile is achieved, and the flow constancy of the reclaiming process is ensured, thereby optimizing energy use, reducing mechanical wear, and improving the safety and reliability of the overall operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0037] Figure 1 This is a flow chart of a constant flow material reclaiming control method for a circular coal yard stacker and reclaimer with coal yard partitions provided in the first embodiment of the present invention.

[0038] Figure 2 A structural diagram of a constant flow reclaiming control system for a circular coal yard stacker and reclaimer with coal yard partitions provided in a second embodiment of the present invention. DETAILED DESCRIPTION

[0039] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0040] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0041] Example 1, reference Figure 1, which is the first embodiment of the present invention, and provides a constant-flow material taking control method for a circular coal yard stacker and reclaimer with coal yard zoning, comprising: collecting data in the circular coal yard and performing data preprocessing; using an encoder and a positioning device to divide the circular coal yard into three different stockpiling areas at intervals of 120°; encoding each divided stockpiling area, and performing position calibration through an encoder installed on the stacker and reclaimer; adjusting the operating parameters of the reclaimer according to the preprocessed data and position calibration information to adapt to the physical characteristics of the coal pile; using the stockpiling area information to monitor and analyze the current feedback data of the reclaimer, and further adjusting the operating parameters in real time to ensure a constant flow rate during the reclaiming process under conditions of different areas and different types of coal.

[0042] S1. Collect data in the circular coal yard and perform data preprocessing.

[0043] The data in the circular coal yard include position sensor signals, operating parameter signals, equipment status data and physical property data of the coal pile.

[0044] Position sensor signals determine the stacker-reclaimer's current position and movement trajectory, which is used to ensure that the machine operates in the correct zone.

[0045] The operating parameter signals include the speed, direction, scraper depth, etc. of the reclaimer, and the operating parameters of the reclaimer are adjusted to adapt to different material characteristics and operating requirements.

[0046] Equipment status includes equipment working status, fault information, maintenance requirements, etc. It monitors equipment health, prevents failures, and ensures continuous operation.

[0047] The physical property data of the coal pile include the height and volume of the coal pile, the density and moisture of the coal pile, and the particle size distribution of the coal pile.

[0048] Data preprocessing includes cleaning, denoising, standardization and normalization of the data collected in the circular coal yard.

[0049] S2. Use encoders and positioning equipment to divide the circular coal yard into three different stockpiling areas at intervals of 120°.

[0050] The rotary encoder and positioning device installed on the stacker-reclaimer, the encoder is used to detect and transmit the angular position of the machine relative to the center of the coal yard, and the positioning device ensures the accurate geographical location of the machine. Using the center positioning point, three physical marks are placed from the center outward, each mark is offset 120° relative to the previous mark, and the angular limits of each area are entered to set the boundaries of each area.

[0051] S3. Encode each divided stockpile area and perform position calibration through the encoder installed on the stacker-reclaimer.

[0052] Each 120° area is assigned a unique code, and the rotary encoder installed on the stacker-reclaimer is configured to identify the area code.

[0053] During the first setup, a preliminary calibration is performed, the angle limits of each area are input, and matched with physical markers to set the boundaries of each area; the stacker-reclaimer is operated at different locations in the coal yard, and the original position data of the locator, i.e., the longitude and latitude data, is collected. The collected longitude and latitude data are converted into angles in the polar coordinate system relative to the center of the coal yard, and the accuracy of the locator data is verified using known reference points. If there is an error, the position is adjusted.

[0054] After the positioner is calibrated, the stacker-reclaimer is placed at a known angle in the coal yard and the encoder reading is recorded. Under normal operating conditions, the original angle reading of the encoder is collected. Assuming that the encoder reading has a certain linear deviation, the calibration formula is established as follows:

[0055] θ c =θ e ×K+C

[0056] Among them, θ c is the angle after calibration, θ e is the original angle of the encoder, K is the calibration coefficient, and C is the calibration constant; apply the calibration formula to the encoder reading, adjust and optimize the angle accuracy, and verify the calibration effect. K and C are determined by initial operation data. During the initial setting or trial operation, these values ​​can be adjusted by comparing the theoretical and actual outputs of the encoder to minimize errors.

[0057] S4. Adjust the operating parameters of the reclaimer according to the preprocessed data and position calibration information to adapt to the physical characteristics of the coal pile.

[0058] The operating parameters of the reclaimer include the scraper rotation range, scraper depth and scraper speed.

[0059] Adjusting the operating parameters of the reclaimer includes adjusting the scraper rotation range, adjusting the scraper depth and adjusting the scraper speed.

[0060] The adjustment of the scraper rotation range R not only takes into account the density ρ. A denser coal pile means a greater mass per unit volume, which requires more force for the machine to process these areas. It also takes into account the effect of humidity H on operating efficiency, where H max Indicates the possible maximum value of humidity. When humidity is high, it may be necessary to reduce the rotation range to accommodate the viscosity and increased weight of the coal pile, expressed as:

[0061]

[0062] Among them, R is the scraper rotation range, which is an angle, α is the adjustment coefficient of scraper rotation, ρ is the current density of coal pile, ρ min is the minimum value of coal pile density, H is the current humidity value, H max is the maximum possible value for humidity.

[0063] The adjustment of the scraper depth, smaller particles and high humidity will increase the viscosity of the coal pile, making deep excavation more difficult. High-density coal piles may require a reduction in excavation depth to cope with the increased physical pressure, expressed as:

[0064]

[0065] Where D is the scraper depth, β is the scraper depth adjustment coefficient, S is the coal pile particle size, ∈ is a small constant, ρ max is the maximum value of coal pile density;

[0066] The product of the adjustment of the scraper speed, density and humidity has a significant effect on the processing speed. When the coal pile is both heavy and wet, the machine should be operated at a slower speed to avoid tearing or scattering of the coal pile due to too fast movement. Larger particles may allow faster operating speeds, so the speed is proportional to the inverse of the particle size to adjust the machine operation to different physical conditions, expressed as:

[0067]

[0068] Among them, V is the scraper speed, γ is the scraper speed adjustment coefficient, and δ is a small constant.

[0069] S5. Use the stockpile area information to monitor and analyze the current feedback data of the reclaimer, and further adjust the operating parameters in real time to ensure a constant flow rate during the reclaiming process under different areas and different coal types.

[0070] Continuously monitor the current of the reclaimer to determine the target current. Assuming that there is a linear relationship between the current and the reclaiming flow rate, it can be expressed as:

[0071] I target = k·Q

[0072] Among them, I target is the target current, k is the proportional coefficient preset according to the optimal operating efficiency, and Q is the target material flow rate.

[0073] Calculate the difference between the actual current and the target current, expressed as:

[0074] ΔI=II target

[0075] Among them, ΔI is the current difference, and I is the current current of the reclaimer.

[0076] PID control is used to adjust the operating parameters according to the current difference. There is a linear relationship between the adjustment of the operating parameters and the controller output, which is expressed as:

[0077]

[0078] R new =R+ΔR·u(t)

[0079] D new =D+ΔD·u(t)

[0080] V new =V+ΔV·u(t)

[0081] Where u(t) is the output signal of the PID controller at time t, K p is the proportional gain, K i is the integral gain, K d is the differential gain, R new is the new scraper rotation range, ΔR is the scraper rotation adjustment factor, D new is the new scraper depth, ΔD is the scraper depth adjustment factor, V new is the new scraper speed, and ΔV is the scraper speed adjustment factor.

[0082] Through multiple groups of tests, the performance of the reclaimer is observed under different operating conditions, and then the optimal values ​​of these parameters are estimated using statistical or optimization methods.

[0083] K p , K i , K d Obtained through the commissioning process, initially set using traditional tuning methods, and then fine-tuned based on performance feedback from actual operation.

[0084] Example 2, reference Figure 2 , which is the second embodiment of the present invention, is different from the previous embodiment in that it provides a circular coal yard stacker and reclaimer constant flow material reclaiming control system with coal yard partitions, including: a data acquisition module, an area division module, a position calibration module, a preliminary adjustment module and a final adjustment module.

[0085] The data acquisition module is used to collect data in the circular coal yard and perform data preprocessing.

[0086] The area division module is used to divide the circular coal yard into three different stockpile areas at intervals of 120° using encoders and positioning devices.

[0087] The position calibration module is used to encode each divided stockpile area and perform position calibration through the encoder installed on the stacker-reclaimer.

[0088] The preliminary adjustment module is used to adjust the operating parameters of the reclaimer to adapt to the physical characteristics of the coal pile based on the preprocessed data and position calibration information.

[0089] The final adjustment module is used to use the stockpile area information, monitor and analyze the current feedback data of the reclaimer, and further adjust the operating parameters in real time to ensure a constant flow rate during the reclaiming process under different areas and different coal types.

[0090] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0091] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0092] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0093] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0094] Embodiment 3 is the third embodiment of the present invention. It is different from the first two embodiments in that it is used to verify the technical effects adopted in the present invention so as to verify the real effects of the method.

[0095] The method of the present invention and the traditional method are used to simulate the same circular coal yard simultaneously.

[0096] Traditional circular coal yard stackers and reclaimers usually use mechanical operation and basic electronic control systems to reclaim materials. The operating parameters of the reclaimer (such as the rotation range, depth and speed of the scraper) are usually set based on fixed values ​​and lack the ability to dynamically adapt to the physical characteristics of the coal pile (such as density, humidity, etc.). This method relies on a simple feedback mechanism and cannot adjust the operating parameters in real time, resulting in unstable reclaim flow when the physical characteristics of the coal pile change or environmental conditions change.

[0097] This embodiment uses the traditional method and the method of the present invention to perform detection simultaneously, and the detection comparison results are shown in the following Table 1:

[0098] Table 1 Comparison table between traditional method and method of the present invention

[0099]

[0100] It can be seen from the above comparative data that the method of the present invention is superior to the traditional method in terms of the stability of the material flow rate, the stability of the equipment current, the uniformity of coal consumption, the degree of equipment wear, the operating efficiency, the overall energy utilization rate and safety. These data support the significant advantages of the present invention in the field of automated coal yard stacker reclaimer control and prove its effectiveness in practical applications.

[0101] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A constant flow material reclaiming control method for a circular coal yard stacker and reclaimer with coal yard divisions, characterized in that: include, Collect data in the circular coal yard and perform data preprocessing; Using encoders and positioning equipment, the circular coal yard is divided into three different stockpiling areas at 120° intervals; Encode each divided stockpile area and calibrate the position through the encoder installed on the stacker-reclaimer; Based on the preprocessed data and position calibration information, the reclaimer operating parameters are adjusted to suit the physical characteristics of the coal pile; Using the stockpile area information, the current feedback data of the reclaimer is monitored and analyzed, and the operating parameters are further adjusted in real time to ensure a constant flow rate during the reclaiming process under different areas and different coal types.

2. The method for controlling the constant flow of coal in a circular coal yard with coal yard partitions according to claim 1, characterized in that: The circular coal yard data includes position sensor signals, operating parameter signals, equipment status data and physical property data of the coal pile; The data preprocessing includes cleaning, denoising, standardization and normalization of the data collected in the circular coal yard.

3. The method for controlling the constant flow of coal in a circular coal yard with coal yard partitions according to claim 2, characterized in that: The stockpiling area includes a rotary encoder and a positioning device installed on the stacker-reclaimer. Using the central positioning point, three physical marks are placed from the center outward, each mark is offset by 120° relative to the previous mark, and the angular limit of each area is input to set the boundary of each area.

4. The method for controlling the constant flow of coal in a circular coal yard with coal yard partitions according to claim 3, characterized in that: The coding of each divided stockpiling area includes assigning a unique code to each 120° area, and configuring the rotary encoder installed on the stacker-reclaimer to identify the area code; The position calibration includes performing a preliminary calibration when setting for the first time, inputting the angle limit of each area, and matching it with the physical mark to set the boundary of each area; Run stacker-reclaimers at different locations in the coal yard and collect the original position data of the locator, i.e., longitude and latitude data. Convert the collected longitude and latitude data into angles in the polar coordinate system relative to the center of the coal yard and use known reference points to verify the accuracy of the locator data. If there is an error, adjust the position.

5. The method for controlling the constant flow of coal in a circular coal yard with coal yard partitions according to claim 4, characterized in that: The position calibration also includes placing the stacker-reclaimer at a known angle position in the coal yard after the positioner calibration, recording the encoder reading, collecting the original angle reading of the encoder under normal operating conditions, and establishing a calibration formula expressed as, i c =θ e ×K+C Among them, θ c is the angle after calibration, θ e is the original angle of the encoder, K is the calibration coefficient, and C is the calibration constant; Apply the calibration formula to the encoder reading to adjust and optimize the angle for accuracy and verify the calibration results.

6. The method for controlling the constant flow of coal in a circular coal yard with coal yard partitions according to claim 5, characterized in that: The operating parameters of the reclaimer include the scraper rotation range, scraper depth and scraper speed; The adjustment of the operating parameters of the reclaimer includes adjusting the scraper rotation range, adjusting the scraper depth and adjusting the scraper speed; The adjustment scraper rotation range is expressed as: Among them, R is the scraper rotation range, which is an angle, α is the adjustment coefficient of scraper rotation, ρ is the current density of coal pile, ρ min is the minimum value of coal pile density, H is the current humidity value, H max is the maximum possible value of humidity; The adjustment of the scraper depth is expressed as, Where D is the scraper depth, β is the scraper depth adjustment coefficient, S is the coal pile particle size, ∈ is a small constant, ρ max is the maximum value of coal pile density; The adjustment of the scraper speed is expressed as, Among them, V is the scraper speed, γ is the scraper speed adjustment coefficient, and δ is a small constant.

7. The method for controlling the constant flow of coal in a circular coal yard with coal yard partitions according to claim 6, characterized in that: The further real-time adjustment of the operating parameters includes continuously monitoring the current of the reclaimer and determining the target current. Assuming that there is a linear relationship between the current and the reclaiming flow rate, it is expressed as: I target =k·Q Among them, I target is the target current, k is the proportionality factor preset according to the best operating efficiency, and Q is the target material flow rate; Calculate the difference between the actual current and the target current, expressed as, ΔI=I-I target Among them, ΔI is the current difference, and I is the current current of the reclaimer; PID control is used to adjust the operating parameters according to the current difference. There is a linear relationship between the adjustment of the operating parameters and the controller output, which is expressed as, R new =R+ΔR·u(t) D new =D+ΔD·u(t) V new =V+ΔV·u(t) Where u(t) is the output signal of the PID controller at time t, K p is the proportional gain, K i is the integral gain, K d is the differential gain, R new is the new scraper rotation range, ΔR is the scraper rotation adjustment factor, D new is the new scraper depth, ΔD is the scraper depth adjustment factor, V new is the new scraper speed, and ΔV is the scraper speed adjustment factor.

8. A system adopting the method for controlling the constant flow of circular coal yard stacker and reclaimer with coal yard partition as claimed in any one of claims 1 to 7, characterized in that: Including data acquisition module, area division module, position calibration module, preliminary adjustment module and final adjustment module; The data acquisition module is used to collect data in the circular coal yard and perform data preprocessing; The area division module is used to divide the circular coal yard into three different stockpiling areas at intervals of 120° using an encoder and a positioning device; The position calibration module is used to encode each divided stockpile area and perform position calibration through an encoder installed on the stacker-reclaimer; The preliminary adjustment module is used to adjust the operating parameters of the reclaimer to adapt to the physical characteristics of the coal pile based on the preprocessed data and position calibration information; The final adjustment module is used to use the stockpile area information, monitor and analyze the current feedback data of the reclaimer, and further adjust the operating parameters in real time to ensure a constant flow rate during the reclaiming process under conditions of different areas and different coal types.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method for controlling constant flow material reclaiming of a circular coal yard stacker and reclaimer in a coal yard partition according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for controlling a constant flow material taking of a circular coal yard stacker and reclaimer in a coal yard partition according to any one of claims 1 to 7 are implemented.

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