A method for calculating the stacking height of a stacker-reclaimer based on a radar level meter

Abstract

The present invention discloses a method for calculating the stacking height of a stacker and reclaimer based on a radar level meter, which comprises the following steps: S1: judging the material flow rate according to the numerical value of a cantilever belt scale, and classifying materials of different particle sizes and moisture contents, collecting the projection length L of various materials thrown out by inertia on site, and establishing a database; S2: determining the height D1 of the cantilever from the ground: D1=Sin(In1)*B+A; wherein, A: reference height, i.e., the height of the rotation center of the large machine from the track, according to the design drawings or on-site measurements, B: cantilever length, according to the design drawings or on-site measurements, In1: cantilever pitch angle, measured in real time by a positioning detection device; S3: calculating the actual height H1 of the material: H2=H4-Cot(180°-90°-In2)*L; H1=D1-H2. When the transmitting port of the radar detection device deviates from the top position of the material pile, the material height compensation can be performed through the calculation formula of the present application to ensure the measurement accuracy, and provide accurate and reliable command parameters for the fully automatic remote operation of the stacker and reclaimer.

Description

Technical Field

[0001] The invention relates to the technical field of intelligent transformation of bulk cargo yards, and in particular to a method for calculating the stacking height of a stacker-reclaimer based on a radar level meter. Background Art

[0002] At present, domestic bulk cargo yards are undergoing intelligent transformation. By installing radar wave detection devices, satellite positioning systems, PLC control systems and other equipment, and adopting intelligent stacking path planning, 3D image processing of material piles and other technologies, the stacker-reclaimer can achieve unmanned on-site, remote and fully automated operation mode, that is, the operator in the traditional stacker-reclaimer cab is moved to the remote control room to realize the remote fully automated stacking operation of the stacker-reclaimer. In the process of remote fully automated stacking operation, the stacker-reclaimer needs to detect the height of the top of the material pile under the hopper in real time to assist the stacker-reclaimer in automatically identifying the material pile. When the material pile is piled to a certain height, the stacker-reclaimer automatically performs walking, pitching, and rotating actions to avoid the top of the current material pile and continue the stacking operation at the next drop point. At present, the main method used for stackers to detect the height of the material pile is the radar ranging method, that is, the radar equipment is installed near the hopper at the head of the stacker cantilever, and the distance to the material pile is detected by radar. Due to the inertia of the stacker-reclaimer cantilever belt throwing material, the throwing distance of materials with different flow rates, different particle sizes, and different moisture contents is different. These parameters themselves have certain errors, and the material pile height cannot be directly and accurately measured. Therefore, in response to the above problems, the present invention provides a more convenient and accurate calculation method.

[0003] The information disclosed in this background technology section is only intended to deepen the understanding of the overall background technology of the present invention, and should not be regarded as acknowledging or suggesting in any form that the information constitutes the prior art already known to those skilled in the art. Summary of the invention

[0004] The object of the present invention is to provide a method for calculating the stacking height of a stacker-reclaimer based on a radar level meter, so as to solve the technical problems existing in the prior art.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] The present invention provides a method for calculating the stacking height of a stacker-reclaimer based on a radar level meter, comprising the following steps:

[0007] S1: Determine the material flow rate based on the value of the cantilever belt scale, classify materials of different particle sizes and moisture contents, collect the projection length L of various materials thrown out by inertia on site, and establish a database;

[0008] S2: Determine the height D1 of the cantilever from the ground:

[0009] D1=Sin(In1)*B+A;where,

[0010] A: Reference height, i.e. the height of the slewing center of the crane from the track, based on the design drawings or on-site measurements, B: Cantilever length, based on the design drawings or on-site measurements, In1: Cantilever pitch angle, measured in real time by the positioning detection device;

[0011] S3: Calculate the actual height of the material H1:

[0012] H2=H4-Cot(180°-90°-In2)*L;

[0013] H1=D1-H2;

[0014] In2: material repose angle, which refers to the angle between loose materials and the horizontal plane when they are piled; L: the projection length of the material thrown out by inertia; H4: the measured height of the radar level meter; H2: the safe distance between the cantilever and the material pile.

[0015] By adopting the above technical solution, the present invention has the following beneficial effects:

[0016] When the transmitting port of the radar detection device deviates from the top of the pile, the calculation formula of the present application can be used to compensate for the material height, ensure the measurement accuracy, and provide accurate and reliable command parameters for the fully automatic remote operation of the stacker and reclaimer. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of a method for calculating the stacking height of a stacker-reclaimer based on a radar level meter provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0018] The following embodiments of the present invention are described in further detail in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0019] like Figure 1 As shown, the present invention provides a method for calculating the stacking height of a stacker and reclaimer based on a radar level meter, comprising the following steps:

[0020] S1: Determine the material flow rate based on the value of the cantilever belt scale. The flow rate is obtained through the on-site equipment belt scale, and the materials with different particle sizes and moisture contents are classified. The particle size and moisture content (specific gravity) data can be obtained through the dispatching room; collect the projection length L of various materials thrown out by inertia on site. The specific steps are: 1. Obtain the operation plan of the dispatching room to know the type and specific gravity of the operation material; 2. Obtain the flow rate through the belt scale during the operation; 3. Obtain the projection length L of the material thrown out; Establish a database;

[0021] S2: Determine the height D1 of the cantilever from the ground:

[0022] D1=Sin(In1)*B+A;where,

[0023] A: Reference height, i.e. the height of the slewing center of the crane from the track, based on the design drawings or on-site measurements, B: Cantilever length, based on the design drawings or on-site measurements, In1: Cantilever pitch angle, measured in real time by the positioning detection device;

[0024] S3: Calculate the actual height of the material H1:

[0025] H2=H4-Cot(180°-90°-In2)*L;

[0026] H1=D1-H2;

[0027] In2: material repose angle, refers to the angle between loose materials and the horizontal plane when they are piled; L: projection length of the material thrown out by inertia; H4: actual height of the radar level meter; L1: distance from the stacker-reclaimer to the pile; L2: width of the pile; H2: safe distance between the cantilever and the pile; H3: for auxiliary calculation.

[0028] The database established in step S1 in this application is shown in the following table:

[0029]

[0030] Finally, 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 aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for calculating the stacking height of a stacker and reclaimer based on a radar level meter, characterized in that: The steps include: S1: Determine the material flow rate based on the value of the cantilever belt scale, classify materials of different particle sizes and moisture contents, collect the projection length L of various materials thrown out by inertia on site, and establish a database; S2: Determine the height D1 of the cantilever from the ground: D1=Sin(In1)*B+A;where, A: Reference height, i.e. the height of the slewing center of the crane from the track, based on the design drawings or on-site measurements, B: Cantilever length, based on the design drawings or on-site measurements, In1: Cantilever pitch angle, measured in real time by the positioning detection device; S3: Calculate the actual height of the material H1: H2=H4-Cot(180°-90°-In2)*L; H1=D1-H2; In2: material repose angle, which refers to the angle between loose materials and the horizontal plane when they are piled; L: the projection length of the material thrown out by inertia; H4: the measured height of the radar level meter; H2: the safe distance between the cantilever and the material pile.

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