Automatic material leveling control method, device, equipment and storage medium for bucket wheel excavator

Abstract

The present invention discloses a method, device, equipment, and computer-readable storage medium for controlling automatic material leveling of a bucket wheel excavator. The method comprises the following steps: reading the initial position, final position, initial angle α, and final angle θ of the bucket wheel excavator's movement in a material stacking state; setting the final position of the material stacking as the initial position for automatic material leveling operation; adjusting the pitch height of the bucket wheel excavator according to the material stack height to automatically level the top layer of the material stack; first starting the cantilever belt material stacking operation, then starting the bucket wheel material retrieving operation, controlling the bucket wheel to rotate for material leveling; when the rotation angle of the bucket wheel excavator changes from α to θ, controlling the bucket wheel excavator to advance a preset distance, then controlling the bucket wheel excavator to rotate in the opposite direction for material leveling, until the rotation angle of the bucket wheel excavator returns to α, and repeating this process until the bucket wheel excavator reaches the initial position for material stacking movement. The method, device, equipment, and computer storage medium provided by the present invention realize the automatic material leveling function of the bucket wheel excavator and improve the efficiency of the automatic material retrieving of the bucket wheel excavator.

Description

Technical Field

[0001] The present invention relates to the field of cantilever bucket wheel stacker-reclaimers for stacking or extracting and removing solid granular bulk materials, and in particular to an automatic material leveling control method, device, equipment and computer-readable storage medium of a bucket wheel machine. Background Art

[0002] With the increasing maturity of unmanned bucket wheel excavator systems, remote automatic reclaiming systems are achieving increasingly precise stockpile positioning, gradually replacing manual reclaiming operations. However, this also places higher demands on the efficiency of unmanned bucket wheel excavators. In automatic reclaiming mode, bucket wheel excavators must be able to meet the rated power output, maintain a constant material flow, and maintain efficient and stable operation. This places certain demands on the regularity of the stockpile. Most bucket wheel excavator stockpile operations utilize fixed-point rotary stacking. When the stockpile reaches a predetermined height, it rotates to form a long, fan-shaped strip. While automatic stacking can create a long, fan-shaped strip, the top layer of the stockpile can exhibit varying degrees of unevenness due to the characteristics of bulk materials. This makes it difficult for bucket wheel excavators to achieve a constant material flow when reclaiming the top layer of the stockpile, whether in manual or remote automatic mode.

[0003] From the above, it can be seen that how to achieve constant material flow taking operation at the top layer of the material pile is a problem that needs to be solved at present. Summary of the Invention

[0004] The purpose of the present invention is to provide an automatic material leveling control method, device, equipment and computer-readable storage medium for a bucket wheel excavator to solve the problem in the prior art of unstable material flow caused by the uneven material surface on the top layer of the material pile.

[0005] In order to solve the above technical problems, the present invention provides an automatic leveling control method for a bucket wheel machine, comprising: obtaining the initial position of the bucket wheel machine in the stacking state, the end position of the bucket wheel machine in the stacking state, the initial angle α of the stacking rotation and the end angle θ of the stacking rotation stored in the bucket wheel machine PLC; when the bucket wheel machine completes the stacking operation, the end position of the bucket wheel machine in the stacking operation is set as the initial position of the bucket wheel machine's automatic leveling operation, and the initial angle α of the stacking rotation and the end position of the stacking operation are read as the posture data of the initial position of the bucket wheel machine's automatic leveling operation; according to the measured material pile height The bucket wheel machine is adjusted to a preset leveling height, and after starting the cantilever belt stacking operation, the bucket wheel material taking operation is started; the bucket wheel machine is controlled to rotate for leveling, and when the rotation angle of the bucket wheel machine is changed from α to θ, the bucket wheel machine is controlled to advance a preset distance, and the bucket wheel machine is controlled to rotate in the opposite direction for leveling, until the rotation angle of the bucket wheel machine is restored to α; it is determined whether the current position of the bucket wheel machine is the initial position for the stacking movement; if not, step S104 is executed in a loop until the current position of the bucket wheel machine is the initial position for the stacking movement, and the automatic leveling operation of the bucket wheel machine is completed.

[0006] Preferably, the step of obtaining the initial position of stacking movement, the terminal position of stacking movement, the initial angle α of stacking rotation, and the terminal angle θ of stacking rotation of the bucket wheel machine in the stacking state stored in the bucket wheel machine PLC includes:

[0007] The bucket wheel machine is controlled to perform stacking operations using a fixed-point stacking method, and the bucket wheel machine PLC is used to store the stacking travel initial position, the stacking travel terminal position, the stacking rotation initial angle α, and the stacking rotation terminal angle θ of the bucket wheel machine.

[0008] Preferably, the controlling the bucket wheel machine to perform the stacking operation using the fixed-point stacking method, and using the bucket wheel machine PLC to store the stacking travel initial position, the stacking travel terminal position, the stacking rotation initial angle α, and the stacking rotation terminal angle θ of the bucket wheel machine includes:

[0009] The bucket wheel machine PLC stores the posture data of the bucket wheel machine at the initial position fixed point a of the stacking operation to obtain the stacking travel initial position and the stacking rotation initial angle α;

[0010] Control the bucket wheel machine to stack materials at the fixed point a. When the material pile height at the fixed point a reaches a preset height, control the bucket wheel machine to rotate rightward γ degrees to obtain the next fixed point for stacking materials until the bucket wheel machine rotates to the fixed point b. The rotation angle of the bucket wheel machine at the fixed point b is the stacking rotation termination angle θ.

[0011] The bucket wheel excavator is controlled to retreat a preset distance to a fixed point d for stockpiling. When the stockpile height at the fixed point d reaches the preset height, the bucket wheel excavator is controlled to rotate γ degrees to the left to obtain the next fixed point for stockpiling, until the bucket wheel excavator rotates to the fixed point c. The rotation angle of the bucket wheel excavator at the fixed point c is the initial rotation angle α for stockpiling.

[0012] Determine whether the fixed point c is the end position of the bucket wheel machine's stacking operation. If so, use the bucket wheel machine PLC to store the stacking travel end position to end the bucket wheel machine's stacking operation.

[0013] Preferably, adjusting the bucket wheel excavator to a preset leveling height according to the measured material pile height comprises:

[0014] After the bucket wheel machine completes the stacking operation, the height of the material pile is measured using an ultrasonic level meter;

[0015] Comparing the height of the material pile, the pitch height of the bucket wheel excavator is adjusted to the preset leveling height so as to automatically level the top layer of the material pile.

[0016] Preferably, after starting the cantilever belt stacking operation, starting the bucket wheel reclaiming operation includes:

[0017] Start the cantilever belt stacking operation, and stack the materials on the cantilever belt from the cantilever head to the material yard;

[0018] The bucket wheel is started to reclaim materials, and the materials taken by the bucket wheel are dropped from the chute to the cantilever belt.

[0019] The present invention also provides an automatic material leveling control device for a bucket wheel excavator, comprising:

[0020] An acquisition module 100 is used to acquire the initial position of the stacking movement, the terminal position of the stacking movement, the initial angle α of the stacking rotation, and the terminal angle θ of the stacking rotation of the bucket wheel machine in the stacking state stored in the bucket wheel machine PLC;

[0021] The reading module 200 is used to set the end position of the bucket wheel machine's stacking operation as the initial position of the bucket wheel machine's automatic leveling operation when the bucket wheel machine completes the stacking operation, and read the stacking rotation initial angle α and the stacking walking end position as the posture data of the initial position of the bucket wheel machine's automatic leveling operation;

[0022] An operation module 300 is used to adjust the bucket wheel machine to a preset leveling height according to the measured material pile height, and start the bucket wheel reclaiming operation after starting the cantilever belt stacking operation;

[0023] The material leveling module 400 is used to control the bucket wheel machine to perform material leveling rotation. When the rotation angle of the bucket wheel machine changes from α to θ, the bucket wheel machine is controlled to advance a preset distance and to rotate in the reverse direction to level the material until the rotation angle of the bucket wheel machine returns to α.

[0024] A judgment module 500 is used to judge whether the current position of the bucket wheel excavator is the initial position of the pile travel;

[0025] The loop module 600 is used to cyclically execute the steps of controlling the bucket wheel machine to rotate for leveling the material if the current position is not the initial position for the material stacking movement. When the rotation angle of the bucket wheel machine changes from α to θ, the bucket wheel machine is controlled to advance a preset distance, and the bucket wheel machine is controlled to rotate in the opposite direction for leveling the material until the rotation angle of the bucket wheel machine is restored to α and the current position of the bucket wheel machine is the initial position for the material stacking movement, thereby completing the automatic leveling operation of the bucket wheel machine.

[0026] Preferably, the operation module includes:

[0027] a measuring unit, configured to measure the height of the material pile using an ultrasonic level meter after the bucket wheel excavator completes the material pile operation;

[0028] The adjustment unit is used to compare the height of the material pile and adjust the pitch height of the bucket wheel excavator to the preset leveling height so as to automatically level the top layer of the material pile.

[0029] Preferably, the operation module further includes:

[0030] The first starting unit is used to start the cantilever belt stacking operation, and stack the material on the cantilever belt from the cantilever head to the material yard;

[0031] The second starting unit is used to start the bucket wheel to take the material, and drop the material taken by the bucket wheel from the chute to the cantilever belt.

[0032] The present invention also provides an automatic material leveling control device for a bucket wheel excavator, comprising:

[0033] The memory is used to store computer programs; the processor is used to implement the steps of the above-mentioned automatic leveling control method of a bucket wheel excavator when executing the computer program.

[0034] The present invention also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the above-mentioned method for automatic leveling control of a bucket wheel excavator are implemented.

[0035] The present invention provides an automatic leveling control method for a bucket wheel excavator. The bucket wheel excavator's PLC stores the bucket wheel excavator's travel distance and stacking rotation range during a stacking state. The travel distance includes the initial stacking travel position and the final stacking travel position, and the stacking rotation range includes the initial stacking rotation angle α and the final stacking rotation angle θ. After the bucket wheel excavator completes its stacking operation, the height of the material pile is measured, and the final position of the bucket wheel excavator's stacking operation is set as the initial position of the automatic leveling operation. Specifically, at the initial automatic leveling operation position, the bucket wheel excavator's rotation angle is α, and the trolley's travel distance is the final stacking travel position. After adjusting the bucket wheel excavator's pitch height to a preset leveling height based on the material pile height, the cantilever belt stacking operation is first initiated, followed by the bucket wheel reclaiming operation. This allows the uneven top layer of the material pile to be leveled. Furthermore, the material retrieved by the bucket wheel can fill the uneven surface of the previous layer during stacking, ensuring that the leveling process is free of overload. The bucket wheel machine is controlled to rotate for leveling the material. When the rotation angle of the bucket wheel machine changes from α to θ, the bucket wheel machine is controlled to advance a preset distance, and the bucket wheel machine is controlled to rotate in the opposite direction for leveling the material until the rotation angle of the bucket wheel machine returns to α. This is repeated until the bucket wheel machine reaches the initial position of the material pile movement, and the automatic leveling operation of the bucket wheel machine is completed. The present invention realizes the automatic leveling function of the top layer of the material pile without adding any detection elements by increasing the leveling process flow of the bucket wheel machine, reading the material pile height, the range of the material pile rotation angle, and the material pile movement distance, and solves the problem of unstable material flow caused by the uneven material surface of the top layer of the material pile. By adding the automatic leveling function, the present invention can make the semi-automatic material retrieving of the bucket wheel machine operated on site more practical and efficient. When applied to the unmanned system of the bucket wheel machine, it can greatly improve the operating efficiency of the bucket wheel machine, and also reduce the frequency of human intervention of the bucket wheel machine in the automatic retrieving state. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0037] Figure 1 This is a flow chart of a first specific embodiment of the automatic material leveling control method for a bucket wheel excavator provided by the present invention;

[0038] Figure 2 This is a schematic diagram of the process flow of automatic stacking of bucket wheel excavator;

[0039] Figure 3 This is a schematic diagram of the process flow of automatic material leveling of a bucket wheel excavator;

[0040] Figure 4 This is a flow chart of a second specific embodiment of the automatic material leveling control method for a bucket wheel excavator provided by the present invention;

[0041] Figure 5 This is a structural block diagram of an automatic material leveling control device for a bucket wheel excavator provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0042] The core of the present invention is to provide an automatic material leveling control method, device, equipment and computer-readable storage medium for a bucket wheel machine, which realizes the automatic material leveling function of the bucket wheel machine, solves the problem of unstable material flow caused by the uneven material surface on the top layer of the material pile, and improves the efficiency of automatic material leveling of the bucket wheel machine.

[0043] In order to enable those skilled in the art to better understand the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0044] Please refer to Figure 1 , Figure 1 This is a flow chart of a first specific embodiment of the automatic leveling control method for a bucket wheel excavator provided by the present invention; the specific operating steps are as follows:

[0045] Step S101: obtaining the initial position of the bucket wheel machine in the stacking state, the terminal position of the bucket wheel machine in the stacking state, the initial angle α of the stacking rotation, and the terminal angle θ of the stacking rotation stored in the bucket wheel machine PLC;

[0046] When the bucket wheel excavator is performing stacking operation, the material is transferred from the tail car belt to the cantilever belt, and the cantilever belt stacks the material and sends the material from the cantilever head to the material yard. Figure 2 As shown, the bucket wheel machine adopts the fixed-point rotation stacking method for stacking, and the fixed point a is the initial position of the bucket wheel machine's stacking operation. The bucket wheel machine PLC stores the bucket wheel machine's current travel distance as the end point distance of the automatic leveling travel, and stores the bucket wheel machine's rotation angle at the fixed point a as the bucket wheel machine's stacking rotation initial angle α.

[0047] When the bucket wheel reaches the preset height at point a, it rotates right by an angle of γ. This angle can be set via the host computer or touch screen. The smaller the angle, the flatter the top layer of the pile. The bucket wheel then rotates by an angle of γ to reach the next point for stacking. When the pile reaches the preset height again, the bucket wheel continues to rotate right, then by another angle of γ, continuing stacking until it reaches point b. The bucket wheel PLC stores the current rotation angle as the end angle θ for stacking rotation. When the pile reaches the preset height at point b, the bucket wheel retreats a distance s to point d. When the pile reaches the preset height at point d, the bucket wheel reverses and rotates left by an angle of γ. When the pile reaches point c, where the rotation angle α is reached, the pile reaches the preset height, and the bucket wheel retreats. This cycle repeats until the bucket wheel reaches point g, completing the stacking operation. When the bucket wheel machine finishes piling, the bucket wheel machine PLC stores the current position and posture of the bucket wheel machine, that is, the bucket wheel machine's travel distance, rotation angle, amplitude height and material pile height.

[0048] In the present invention, an ultrasonic material level meter can be used to measure the height of the material pile.

[0049] Step S102: When the bucket wheel machine completes the stacking operation, the end position of the bucket wheel machine's stacking operation is set as the initial position of the bucket wheel machine's automatic leveling operation, and the stacking rotation initial angle α and the stacking travel end position are read as the posture data of the initial position of the bucket wheel machine's automatic leveling operation;

[0050] Step S103: adjusting the bucket wheel machine to a preset leveling height according to the measured material pile height, and starting the bucket wheel reclaiming operation after starting the cantilever belt material stacking operation;

[0051] After the stacking operation is completed, the ultrasonic level meter is used to measure the height of the material pile, and the height of the material pile is compared to adjust the automatic leveling height of the bucket wheel machine so that when the bucket wheel machine performs the automatic leveling operation, the raised part of the top layer of the material pile is moved to the recessed part.

[0052] During the automatic leveling operation, in order to avoid excessive accumulation of materials on the cantilever belt when the bucket wheel is running, the cantilever belt stacking operation is started first, and then the bucket wheel retrieving operation is started.

[0053] Step S104: Control the bucket wheel machine to rotate for leveling the material. When the rotation angle of the bucket wheel machine changes from α to θ, control the bucket wheel machine to move forward a preset distance, and control the bucket wheel machine to rotate in the reverse direction for leveling the material until the rotation angle of the bucket wheel machine returns to α.

[0054] Step S105: determining whether the current position of the bucket wheel excavator is the initial position for stacking;

[0055] Step S106: If not, then step S104 is executed in a loop until the current position of the bucket wheel machine is the initial position of the stacking movement, and the automatic leveling operation of the bucket wheel machine is completed.

[0056] The process flow of the automatic leveling operation of the bucket wheel machine is as follows: Figure 3 As shown, the attitude data of the bucket wheel machine at the end of the stacking operation, namely the stacking initial rotation angle α and the stacking travel end position, are read as the attitude data of the initial position of the bucket wheel machine's automatic leveling operation. When the bucket wheel machine reaches the preset position, the cantilever belt stacking operation is first started, and then the bucket wheel reclaiming operation is started. After the bucket wheel leveling is started, the cantilever turns right. When the bucket wheel reaches the fixed point h, that is, the rotation angle is θ, the bucket wheel machine advances, the advance distance is s, and after entering the position, it turns left. When the bucket wheel reaches the fixed point e, that is, the rotation angle is α, the bucket wheel machine advances, and the cycle repeats. When the bucket wheel reaches the fixed point a, that is, the starting position of the stacking operation, the bucket wheel machine's automatic leveling ends.

[0057] It should be noted that the operator can implement the automatic material leveling control method of the bucket wheel excavator provided by the present invention through the touch screen in the driver's cab. The control method provided by the present invention can also be applied to the unmanned control room of the bucket wheel excavator, and the operator can complete the automatic material leveling control operation of the bucket wheel excavator through the host computer.

[0058] The automatic material leveling control method for a bucket wheel excavator provided in an embodiment of the present invention realizes the function of automatically leveling the top layer of the material pile by reading the material pile height, material pile rotation angle range, and material pile travel distance in both the manual semi-automatic stacking mode and the remote automatic stacking mode of the bucket wheel excavator without adding any detection components. The method provided in this embodiment can utilize the idle time after the bucket wheel excavator finishes stacking to control the bucket wheel excavator to automatically complete the material leveling operation, making the material strips more regular. Constant material flow can be achieved in both manual and unmanned automatic retrieving modes, greatly improving the working efficiency of the bucket wheel excavator when retrieving materials from the top layer.

[0059] Based on the above embodiment, after the bucket wheel excavator is adjusted to the predetermined position for automatic material leveling, the cantilever belt stacking operation is activated, and the material on the cantilever belt is stacked and delivered to the material yard via the cantilever head. The bucket wheel reclaiming operation is activated, and the material picked up by the bucket wheel is dropped from the chute onto the cantilever belt. This material leveling process can smooth the uneven surface of the top layer of the material pile. At the same time, the material taken up can also fill the uneven surface of the previous material when it is stacked, ensuring that the material leveling process does not cause overloading.

[0060] Please refer to Figure 4 , Figure 4 This is a flow chart of a second specific embodiment of the automatic leveling control method for a bucket wheel excavator provided by the present invention; the specific operating steps are as follows:

[0061] Step S401: Control the bucket wheel machine to perform a stacking operation using a fixed-point stacking method, and use the bucket wheel machine PLC to store the stacking travel initial position, the stacking travel terminal position, the stacking rotation initial angle α, and the stacking rotation terminal angle θ of the bucket wheel machine;

[0062] Step S402: reading the stacking material moving initial position, the stacking material moving terminal position, the stacking material rotation initial angle α, and the stacking material rotation terminal angle θ;

[0063] Step S403: setting the end position of the bucket wheel machine's stacking operation as the initial position of the bucket wheel machine's automatic leveling operation, and reading the stacking rotation initial angle α and the stacking travel end position as the posture data of the bucket wheel machine's automatic leveling operation initial position;

[0064] Step S404: After the bucket wheel machine completes the stacking operation, the height of the material pile is measured using an ultrasonic level meter;

[0065] Step S405: comparing the height of the material pile, adjusting the pitch height of the bucket wheel excavator to the preset leveling height, so as to automatically level the top layer of the material pile;

[0066] Step S406: starting the cantilever belt stacking operation, and stacking the material on the cantilever belt from the cantilever head to the material yard;

[0067] Step S407: starting the bucket wheel to reclaim materials, and dropping the materials reclaimed by the bucket wheel from the chute to the cantilever belt;

[0068] The bucket wheel is running to reclaim materials and the cantilever belt is running to stack materials. The raised part of the top layer of materials in the pile is taken to the cantilever belt, and the cantilever belt is running to stack materials. The taken-up materials are then stacked to the front to turn the uneven material surface of the top layer over. In the turning process, the bucket wheel excavator can not only make the raised materials on the top layer flat, but also fill the sunken areas. Then, through the stacking rotation angle, the top layer of materials can be accurately leveled along the edge of the pile.

[0069] Step S408: Control the bucket wheel machine to rotate for leveling the material. When the rotation angle of the bucket wheel machine changes from α to θ, control the bucket wheel machine to move forward a preset distance, and control the bucket wheel machine to rotate in the reverse direction for leveling the material until the rotation angle of the bucket wheel machine returns to α.

[0070] Step S409: determining whether the current position of the bucket wheel excavator is the initial position for stacking and moving;

[0071] Step S410: If the current position is the initial position of the pile movement, the automatic leveling operation of the bucket wheel excavator is terminated.

[0072] The present invention stores data and detects the height of the pile during the bucket wheel machine's stacking operation, adds bucket wheel reclaiming operation and cantilever belt stacking operation processes, and realizes the function of automatically leveling the pile without adding any detection components. The control method provided by the embodiment of the present invention is applied to the unmanned control of the bucket wheel machine. It can use the idle time after the bucket wheel machine finishes stacking to allow the bucket wheel machine to automatically perform the leveling operation, ensuring the constant material flow of the bucket wheel machine during the automatic reclaiming operation, improving the efficiency of the bucket wheel machine's automatic reclaiming, and solving the problem that the bucket wheel machine's unmanned system cannot meet actual production needs at the top of the reclaiming pile, making the bucket wheel machine unmanned operation more intelligent, practical, and stable.

[0073] Please refer to Figure 5 , Figure 5 This is a structural block diagram of an automatic leveling control device for a bucket wheel excavator provided by an embodiment of the present invention; the specific device may include:

[0074] An acquisition module 100 is used to acquire the initial position of the stacking movement, the terminal position of the stacking movement, the initial angle α of the stacking rotation, and the terminal angle θ of the stacking rotation of the bucket wheel machine in the stacking state stored in the bucket wheel machine PLC;

[0075] The reading module 200 is used to set the end position of the bucket wheel machine's stacking operation as the initial position of the bucket wheel machine's automatic leveling operation when the bucket wheel machine completes the stacking operation, and read the stacking rotation initial angle α and the stacking walking end position as the posture data of the initial position of the bucket wheel machine's automatic leveling operation;

[0076] An operation module 300 is used to adjust the bucket wheel machine to a preset leveling height according to the measured material pile height, and start the bucket wheel reclaiming operation after starting the cantilever belt stacking operation;

[0077] The operation module 300 includes:

[0078] a measuring unit, configured to measure the height of the material pile using an ultrasonic level meter after the bucket wheel excavator completes the material pile operation;

[0079] An adjustment unit is used to compare the height of the material pile and adjust the pitch height of the bucket wheel excavator to the preset leveling height so as to automatically level the top layer of the material pile;

[0080] The first starting unit is used to start the cantilever belt stacking operation, and stack the material on the cantilever belt from the cantilever head to the material yard;

[0081] The second starting unit is used to start the bucket wheel to take the material, and drop the material taken by the bucket wheel from the chute to the cantilever belt.

[0082] The material leveling module 400 is used to control the bucket wheel machine to perform material leveling rotation. When the rotation angle of the bucket wheel machine changes from α to θ, the bucket wheel machine is controlled to advance a preset distance and to rotate in the reverse direction to level the material until the rotation angle of the bucket wheel machine returns to α.

[0083] A judgment module 500 is used to judge whether the current position of the bucket wheel excavator is the initial position of the pile travel;

[0084] The loop module 600 is used to cyclically execute the steps of controlling the bucket wheel machine to rotate for leveling the material if the current position is not the initial position for the material stacking movement. When the rotation angle of the bucket wheel machine changes from α to θ, the bucket wheel machine is controlled to advance a preset distance, and the bucket wheel machine is controlled to rotate in the opposite direction for leveling the material until the rotation angle of the bucket wheel machine is restored to α and the current position of the bucket wheel machine is the initial position for the material stacking movement, thereby completing the automatic leveling operation of the bucket wheel machine.

[0085] The automatic leveling control device of the bucket wheel machine of this embodiment is used to implement the aforementioned automatic leveling control method of the bucket wheel machine. Therefore, the specific implementation method of the automatic leveling control device of the bucket wheel machine can be seen in the embodiment part of the automatic leveling control method of the bucket wheel machine in the previous text. For example, the acquisition module 100, the reading module 200, the operation module 300, the leveling module 400, the judgment module 500, and the circulation module 600 are respectively used to implement steps S101, S102, S103, S104, S105 and S106 in the above-mentioned automatic leveling control method of the bucket wheel machine. Therefore, its specific implementation method can refer to the description of the corresponding embodiments of each part, and will not be repeated here.

[0086] A specific embodiment of the present invention also provides an automatic material leveling control device for a bucket wheel machine, comprising: a memory for storing a computer program; and a processor for implementing the steps of the above-mentioned automatic material leveling control method for a bucket wheel machine when executing the computer program.

[0087] A specific embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the above-mentioned method for automatic leveling control of a bucket wheel excavator are implemented.

[0088] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from the other embodiments. Reference can be made to the descriptions of the identical or similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and the relevant parts can be referred to the descriptions of the methods.

[0089] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0090] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0091] The above describes in detail the automatic leveling control method, device, equipment, and computer-readable storage medium for a bucket wheel excavator provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only intended to help understand the method and core concept of the present invention. It should be noted that for those skilled in the art, without departing from the principles of the present invention, various improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A method for automatically leveling a bucket wheel excavator, characterized in that: include: Step S101: Obtain the initial position of the stacking movement, the end position of the stacking movement, and the initial angle of the stacking rotation stored in the bucket wheel machine PLC in the stacking state and the end angle of pile rotation ; The method of obtaining the initial position of the bucket wheel machine stored in the bucket wheel machine PLC, the stacking walking end position, the stacking rotation initial angle , Stack rotation end angle Previous include: Control the bucket wheel machine to use the fixed-point stacking method to perform stacking operations, and use the bucket wheel machine PLC to store the initial position of the stacking movement, the end position of the stacking movement, and the initial angle of the stacking rotation of the bucket wheel machine and the stack rotation termination angle ; The bucket wheel machine is controlled to use a fixed-point stacking method to perform stacking operations, and the bucket wheel machine PLC is used to store the initial position of the stacking movement, the end position of the stacking movement, and the initial angle of the stacking rotation of the bucket wheel machine. and the stack rotation termination angle include: The bucket wheel machine PLC is used to store the posture data of the bucket wheel machine at the initial position of the stacking operation point a, and the initial position of the stacking operation and the initial angle of the stacking operation are obtained. ; Control the bucket wheel machine to pile materials at the fixed point a. When the material pile height at the fixed point a reaches a preset height, control the bucket wheel machine to rotate right one by one. The next fixed point is obtained for stacking until the bucket wheel machine rotates to the fixed point b, wherein the rotation angle of the bucket wheel machine at the fixed point b is the stacking rotation termination angle ; The bucket wheel machine is controlled to retreat a preset distance to the fixed point d for stacking. When the height of the material pile at the fixed point d reaches the preset height, the bucket wheel machine is controlled to rotate left one by one. The next fixed point is obtained for stacking until the bucket wheel machine rotates to the fixed point c, wherein the rotation angle of the bucket wheel machine at the fixed point c is the initial rotation angle of the stacking ; Determine whether the fixed point c is the end position of the bucket wheel machine's stacking operation. If so, use the bucket wheel machine PLC to store the end position of the stacking operation and end the bucket wheel machine's stacking operation. Step S102: When the bucket wheel machine completes the stacking operation, the end position of the bucket wheel machine's stacking operation is set as the initial position of the bucket wheel machine's automatic leveling operation, and the initial angle of the stacking rotation is read. and the stacking walking end position as the posture data of the initial position of the bucket wheel machine's automatic leveling operation; Step S103: adjusting the bucket wheel machine to a preset leveling height according to the measured material pile height, and starting the bucket wheel reclaiming operation after starting the cantilever belt material stacking operation; Step S104: Control the bucket wheel machine to rotate horizontally. When the rotation angle of the bucket wheel machine is Convert to After that, the bucket wheel machine is controlled to advance a preset distance, and the bucket wheel machine is controlled to rotate in the reverse direction to level the material until the rotation angle of the bucket wheel machine is restored to ; Step S105: determining whether the current position of the bucket wheel excavator is the initial position for stacking; Step S106: If not, then step S104 is executed in a loop until the current position of the bucket wheel machine is the initial position of the stacking movement, and the automatic leveling operation of the bucket wheel machine is completed.

2. The control method according to claim 1, wherein: The step of adjusting the bucket wheel excavator to a preset leveling height according to the measured material pile height comprises: After the bucket wheel machine completes the stacking operation, the height of the material pile is measured using an ultrasonic level meter; Comparing the height of the material pile, the pitch height of the bucket wheel excavator is adjusted to the preset leveling height so as to automatically level the top layer of the material pile.

3. The control method according to claim 2, wherein: After starting the cantilever belt stacking operation, starting the bucket wheel reclaiming operation includes: Start the cantilever belt stacking operation, and stack the materials on the cantilever belt from the cantilever head to the material yard; The bucket wheel is started to reclaim materials, and the materials taken by the bucket wheel are dropped from the chute to the cantilever belt.

4. An automatic leveling control device for a bucket wheel excavator, characterized in that: include: The acquisition module (100) is used to obtain the initial position of the stacking movement, the end position of the stacking movement, and the initial angle of the stacking rotation of the bucket wheel machine in the stacking state stored in the bucket wheel machine PLC. and the end angle of pile rotation ; The reading module (200) is used to set the end position of the bucket wheel machine's stacking operation as the initial position of the bucket wheel machine's automatic leveling operation when the bucket wheel machine completes the stacking operation, and read the initial angle of rotation of the stacking operation. and the stacking walking end position as the posture data of the initial position of the bucket wheel machine's automatic leveling operation; An operation module (300) is used to adjust the bucket wheel machine to a preset leveling height according to the measured material pile height, and start the bucket wheel material retrieving operation after starting the cantilever belt material stacking operation; The flat material module (400) is used to control the bucket wheel machine to perform flat material rotation. When the rotation angle of the bucket wheel machine is Convert to After that, the bucket wheel machine is controlled to advance a preset distance, and the bucket wheel machine is controlled to rotate in the reverse direction to level the material until the rotation angle of the bucket wheel machine is restored to ; A judgment module (500) is used to judge whether the current position of the bucket wheel excavator is the initial position of the pile movement; A loop module (600) is used for looping the control of the bucket wheel machine to rotate the material if the current position is not the initial position of the pile walking. Convert to After that, the bucket wheel machine is controlled to advance a preset distance, and the bucket wheel machine is controlled to rotate in the reverse direction to level the material until the rotation angle of the bucket wheel machine is restored to until the current position of the bucket wheel machine is the initial position of the stacking movement, completing the automatic leveling operation of the bucket wheel machine.

5. The control device according to claim 4, wherein: The operation module includes: a measuring unit, configured to measure the height of the material pile using an ultrasonic level meter after the bucket wheel excavator completes the material pile operation; The adjustment unit is used to compare the height of the material pile and adjust the pitch height of the bucket wheel excavator to the preset leveling height so as to automatically level the top layer of the material pile.

6. The control device according to claim 5, wherein: The operation module also includes: The first starting unit is used to start the cantilever belt stacking operation, and stack the material on the cantilever belt from the cantilever head to the material yard; The second starting unit is used to start the bucket wheel to take the material, and drop the material taken by the bucket wheel from the chute to the cantilever belt.

7. An automatic leveling control device for a bucket wheel excavator, characterized in that: include: memory for storing computer programs; A processor is used to implement the steps of the automatic leveling control method of a bucket wheel excavator as described in any one of claims 1 to 3 when executing the computer program.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the automatic material leveling control method for a bucket wheel excavator as described in any one of claims 1 to 3.

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