Reclaimer Control Method, Device, Storage Medium and Electronic Device

Abstract

The present disclosure relates to a control method, device, storage medium and electronic device for a reclaimer. The method includes: obtaining the boom length and the angle of repose of the stockpile; obtaining stockpile data and constructing a three-dimensional circular stockpile model; determining a target reclaiming area, the coordinates of the stacking point and the coordinates of the end point of the first-layer reclaiming according to the three-dimensional circular stockpile model; completing stacking and the first-layer reclaiming according to the coordinates of the stacking point and the coordinates of the end point of the first-layer reclaiming; for each subsequent layer of reclaiming within the target reclaiming area, perform the following operations: determining the coordinates of the starting point of reclaiming of the reclaimer in this layer according to the coordinates of the end point of reclaiming of the previous layer, the pitch angle difference and the boom length; determining the coordinates of the end point of reclaiming of the reclaimer in this layer according to the coordinates of the starting point of reclaiming of this layer, the coordinates of the starting point of reclaiming of the previous layer and the angle of repose; controlling the scraper conveyor of the reclaimer to reclaim from the starting point of reclaiming of this layer to the end point of reclaiming of this layer.

Description

Technical Field

[0001] The present disclosure relates to the technical field of coal mines, and specifically, to a control method, device, storage medium, and electronic device for a reclaimer. Background Art

[0002] A circular stacker-reclaimer is a large-scale environmental-friendly bulk material stacking and reclaiming machine. In a circular stockyard, the cross-section of the material is a conical shape. During the reclaiming operation, the reclaiming boom is close to the inner side of the material cone surface, and the material is scraped by a scraper conveyor and fed into the reclaiming hopper in the center of the stockyard. Currently, in most coal yards, the operation of the stacker-reclaimer is still completed in a manual on-site manner. This operation method has a low degree of automation and a low level of equipment information management, seriously affecting the accuracy of stockyard data. At the same time, the labor intensity of the stacker-reclaimer driver is high, and the operation efficiency fluctuates greatly according to the driver's fatigue degree and operation level. When encountering a novice, it often results in a low operation efficiency and even causes accidents. Summary of the Invention

[0003] The purpose of the present disclosure is to provide a control method, device, storage medium, and electronic device for a reclaimer to solve the above technical problems.

[0004] To achieve the above purpose, in a first aspect, the present disclosure provides a control method for a reclaimer, including:

[0005] Obtain the boom length of the reclaimer and the angle of repose of the circular stockpile;

[0006] Obtain the stockpile data of the circular stockpile through a laser scanner and construct a three-dimensional circular stockpile model, where the stockpile data includes the boundary information of the stockpile;

[0007] According to the three-dimensional circular stockpile model, determine a target reclaiming area, the coordinates of the butting point in the target reclaiming area, and the coordinates of the reclaiming end point of the first layer within the arc boundary range of the circular stockpile;

[0008] Complete butting and the first layer of reclaiming according to the coordinates of the butting point and the coordinates of the reclaiming end point of the first layer;

[0009] For each subsequent layer of reclaiming within the target reclaiming area, perform the following operations:

[0010] According to the coordinates of the reclaiming end point of the previous layer, the pitch angle difference, and the boom length, determine the coordinates of the reclaiming starting point of the reclaimer in this layer, where the pitch angle difference represents the pitch angle change value of the scraper conveyor between this layer and the previous layer;

[0011] According to the coordinates of the reclaiming starting point of this layer, the coordinates of the reclaiming starting point of the previous layer, and the angle of repose, determine the coordinates of the reclaiming end point of the reclaimer in this layer;

[0012] Control the scraper of the reclaimer to reclaim materials from the starting point of material reclaiming on this layer to the ending point of material reclaiming on this layer.

[0013] Optionally, the determining the coordinates of the starting point of material reclaiming of the reclaimer on this layer according to the coordinates of the ending point of material reclaiming on the upper layer, the pitch angle difference, and the length of the boom includes:

[0014] Determine the vertical drop between this layer and the upper layer according to the pitch angle difference and the length of the boom;

[0015] Determine the coordinates of the starting point of material reclaiming on this layer according to the vertical drop and the coordinates of the ending point of material reclaiming on the upper layer.

[0016] Optionally, the determining the vertical drop between this layer and the upper layer according to the pitch angle difference and the length of the boom includes:

[0017] Calculate the vertical drop based on the following calculation formula:

[0018]

[0019] In the formula, Δθ represents the pitch angle difference, s represents the length of the boom, and h represents the vertical drop.

[0020] Optionally, the determining the coordinates of the starting point of material reclaiming on this layer according to the vertical drop and the coordinates of the ending point of material reclaiming on the upper layer includes:

[0021] Determine the X coordinate and the Y coordinate in the coordinates of the ending point of material reclaiming on the upper layer, and use them as the X coordinate and the Y coordinate of the starting point of material reclaiming on this layer respectively;

[0022] Determine the difference between the Z coordinate in the coordinates of the ending point of material reclaiming on the upper layer and the vertical drop, and obtain the Z coordinate of the starting point of material reclaiming on this layer;

[0023] Obtain the coordinates of the starting point of material reclaiming on this layer according to the X coordinate and the Y coordinate of the starting point of material reclaiming on this layer and the Z coordinate of the starting point of material reclaiming on this layer.

[0024] Optionally, the determining the coordinates of the ending point of material reclaiming of the reclaimer on this layer according to the coordinates of the starting point of material reclaiming on this layer, the coordinates of the starting point of material reclaiming on the upper layer, and the angle of repose includes:

[0025] Determine the quotient of the vertical drop and the tangent value of the angle of repose;

[0026] Determine the difference between the X coordinate in the coordinates of the starting point of material reclaiming on the upper layer and the quotient, and obtain the X coordinate of the ending point of material reclaiming on this layer;

[0027] Determine the Y coordinate in the starting point coordinates of material taking on the upper layer as the Y coordinate in the ending point coordinates of material taking for this layer;

[0028] Determine the Z coordinate in the starting point coordinates of material taking for this layer as the Z coordinate in the ending point coordinates of material taking for this layer;

[0029] Obtain the ending point coordinates of material taking for this layer according to the X coordinate, Y coordinate, and Z coordinate in the ending point coordinates of material taking for this layer.

[0030] Optionally, controlling the scraper conveyor of the material taking machine to take materials from the starting point of material taking for this layer to the ending point of material taking for this layer includes:

[0031] After obtaining the ending point coordinates of material taking for each layer, determine the target rotation angle according to the coordinates of the ending point of material taking, where the target rotation angle is the arctangent value of the quotient of the ordinate and abscissa of the ending point of material taking;

[0032] Control the scraper conveyor of the material taking machine to move towards the ending point of material taking, and detect the actual rotation angle of the scraper conveyor in real time. When the actual rotation angle reaches the target rotation angle, control the scraper conveyor of the material taking machine to stop moving.

[0033] Optionally, according to the three-dimensional circular stockpile model, determining the target material taking area, the coordinates of the stacking point in the target material taking area, and the ending point coordinates of material taking for the first layer from within the arc-shaped boundary of the circular stockpile includes:

[0034] Apply the three-dimensional circular stockpile model to a three-dimensional coordinate system to obtain the coordinates of each material taking boundary point within the target material taking area;

[0035] Determine the coordinates of the stacking point and the ending point coordinates of material taking for the first layer according to the coordinates of each material taking boundary point.

[0036] In a second aspect, the present disclosure provides a material taking machine control device, including:

[0037] An acquisition module for obtaining the boom length of the material taking machine and the angle of repose of the circular stockpile;

[0038] A model module for obtaining the stockpile data of the circular stockpile through a laser scanner, constructing a three-dimensional circular stockpile model, where the stockpile data includes the boundary information of the stockpile, and for determining the target material taking area, the coordinates of the stacking point in the target material taking area, and the ending point coordinates of material taking for the first layer from within the arc-shaped boundary of the circular stockpile according to the three-dimensional circular stockpile model;

[0039] A control module, configured to complete stacking and the first layer of material fetching according to the stacking point coordinates and the material fetching end point coordinates of the first layer, and for each subsequent layer of material fetching within the target material fetching area, perform the following operations:

[0040] Determine the material fetching start point coordinates of the material fetching machine at this layer according to the material fetching end point coordinates of the previous layer, the pitch angle difference, and the boom length, where the pitch angle difference represents the pitch angle change value of the scraper conveyor between this layer and the previous layer; determine the material fetching end point coordinates of the material fetching machine at this layer according to the material fetching start point coordinates of this layer, the material fetching start point coordinates of the previous layer, and the angle of repose; control the scraper conveyor of the material fetching machine to fetch materials from the material fetching start point of this layer to the material fetching end point of this layer.

[0041] In a third aspect, the present disclosure provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the method described in any one of the first aspects are implemented.

[0042] In a fourth aspect, the present disclosure provides an electronic device, including:

[0043] A memory, on which a computer program is stored;

[0044] A processor, configured to execute the computer program in the memory to implement the steps of the method described in any one of the first aspects.

[0045] In the above technical solution, by obtaining the material pile data of the circular material pile, constructing a three-dimensional circular material pile model, according to this model, the coordinates of the stacking point of the material fetching machine in the target material fetching area and the material fetching end point coordinates of the first layer can be obtained, and after completing stacking and the first layer of material fetching according to the stacking point coordinates and the material fetching end point coordinates of the first layer, the material fetching start point coordinates and the material fetching end point coordinates of the material fetching machine at this layer can be determined through the material fetching end point coordinates of the previous layer, the pitch angle difference, the boom length, and the angle of repose, and control the scraper conveyor of the material fetching machine to fetch materials from the material fetching start point of this layer to the material fetching end point of this layer. Through this method, the material fetching path of the material fetching machine can be determined, and the material fetching machine can be controlled to fetch materials according to this path, which can greatly reduce the potential safety hazards existing in manually selecting the path, and at the same time improve the operating efficiency of the material fetching machine.

[0046] Other features and advantages of the present disclosure will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The drawings are used to provide a further understanding of the present disclosure, and constitute a part of the specification, and are used to explain the present disclosure together with the following specific implementation, but do not constitute a limitation to the present disclosure. In the drawings:

[0048] Figure 1 The flowchart of the reclaimer control method provided by an exemplary embodiment is shown;

[0049] Figure 2 The specific distribution diagram of the two-dimensional model of the circular stockpile provided by an exemplary embodiment is shown;

[0050] Figure 3 The specific schematic diagram of the reclaiming scenario of the circular stockpile provided by an exemplary embodiment is shown;

[0051] Figure 4 Another specific schematic diagram of the reclaiming scenario of the circular stockpile provided by an exemplary embodiment is shown;

[0052] Figure 5 Another specific schematic diagram of the reclaiming scenario of the circular stockpile provided by an exemplary embodiment is shown;

[0053] Figure 6 The specific schematic diagram of a reclaiming path map provided by an exemplary embodiment is shown;

[0054] Figure 7 The flowchart of the specific implementation manner of step S150 in an exemplary embodiment is shown;

[0055] Figure 8 The specific schematic diagram of the vertical drop provided by an exemplary embodiment is shown;

[0056] Figure 9 The flowchart of the specific implementation manner of step S152 in an exemplary embodiment is shown;

[0057] Figure 10 The flowchart of the specific implementation manner of step S160 in an exemplary embodiment is shown;

[0058] Figure 11 The flowchart of the specific implementation manner of step S170 in an exemplary embodiment is shown;

[0059] Figure 12 The flowchart of the specific implementation manner of step S130 in an exemplary embodiment is shown;

[0060] Figure 13 The specific schematic diagram of a three-dimensional coordinate system provided by an exemplary embodiment is shown;

[0061] Figure 14 The schematic diagram of the reclaimer control device provided by an exemplary embodiment is shown;

[0062] Figure 15 It is a block diagram of an electronic device shown according to an exemplary embodiment. Specific implementation manner

[0063] The following will describe in detail the specific embodiments of the present disclosure with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for the purpose of illustrating and explaining the present disclosure, and are not used to limit the present disclosure.

[0064] It should be noted that all actions of obtaining signals, information, or data in the present disclosure are carried out on the premise of complying with the corresponding data protection regulations and policies of the country where the location is located, and with the authorization given by the owner of the corresponding device.

[0065] To solve the above problems, the embodiments of the present disclosure provide a reclaimer control method, device, storage medium, and electronic device. By obtaining the pile data of the circular stockpile, a three-dimensional circular stockpile model is constructed. According to this model, the coordinates of the stacking point and the coordinates of the end point of the first layer of reclaiming in the target reclaiming area of the reclaimer can be obtained. After completing the stacking and the first layer of reclaiming based on the coordinates of the stacking point and the coordinates of the end point of the first layer of reclaiming, through the coordinates of the end point of the upper layer of reclaiming, the pitch angle difference, the boom length, and the angle of repose, the coordinates of the starting point of reclaiming and the coordinates of the end point of reclaiming of the reclaimer on this layer can be determined, and the scraper conveyor of the reclaimer is controlled to reclaim from the starting point of reclaiming on this layer to the end point of reclaiming on this layer. Through this method, the reclaiming path of the reclaimer can be determined, and the reclaimer can be controlled to reclaim along this path, which can greatly reduce the safety hazards existing in manual path selection and improve the operating efficiency of the reclaimer at the same time.

[0066] Figure 1 The flowchart of the reclaimer control method provided by an exemplary embodiment is shown. As Figure 1 shown, the embodiments of the present disclosure provide a reclaimer control method, which can be used in an electronic device. The method includes:

[0067] S110, obtaining the boom length of the reclaimer and the angle of repose of the circular stockpile.

[0068] Here, the boom length is determined according to the boom length of the reclaimer actually used during reclaiming; the circular stockpile can be understood as a stockpile whose top view is circular; the angle of repose characterizes the maximum angle formed between the inclined plane of the stockpile and the ground when the stockpile can maintain a natural stable state during stacking. Exemplarily, the angle of repose of a coal stockpile can be 45°, which means that the maximum angle formed between the inclined plane of the coal stockpile and the ground when the coal stockpile can maintain a natural stable state during stacking can be 45°.

[0069] Among them, the methods for obtaining the boom length and the angle of repose can be, for example, manual input.

[0070] S120, obtaining the pile data of the circular stockpile through a laser scanner and constructing a three-dimensional circular stockpile model. The pile data includes the boundary information of the stockpile.

[0071] Here, the obtained stockpile data may include, but is not limited to, the boundary information of the stockpile, the volume of the stockpile, and the height of the stockpile. Among them, the boundary information may include, but is not limited to, the coordinate points corresponding to the boundary points of the stockpile. In addition, the stockpile data of the circular stockpile may be obtained by, but is not limited to, a laser scanner.

[0072] First, all the circular stockpile data in the stockyard is obtained by a laser scanner, and a model is built based on the obtained stockpile data. Among them, the laser scanner can be installed on the boom of the reclaimer. Since the height of the boom of the reclaimer is relatively fixed, installing it at this position can achieve obtaining stockpile data by rotation. After obtaining the stockpile data, all the circular stockpiles in the stockyard are modeled during the time when the reclaimer is not operating, generating a three-dimensional circular stockpile model.

[0073] S130. According to the three-dimensional circular stockpile model, determine the target reclaiming area, the coordinates of the stacking point in the target reclaiming area, and the coordinates of the end point of the first-layer reclaiming within the arc boundary range of the circular stockpile.

[0074] After generating the three-dimensional circular stockpile model according to step S120, a two-dimensional graph that can describe the three-dimensional circular stockpile model is automatically generated. As Figure 2 shown, it shows a distribution diagram of a two-dimensional model of an exemplary circular stockpile. Figure 2 In it, the abscissa is the column, and the ordinate is the height of the stockpile. According to the actual operation habits on site, the 360° of the circular stockpile can be divided into 36 equally spaced columns.

[0075] According to the actual production requirements, move the starting reclaiming cursor line and the ending reclaiming cursor line on the two-dimensional model formed in Figure 2 , select the corresponding reclaiming area. The reclaiming area should be within the arc boundary range of the actual circular stockpile, generating a target reclaiming area. Select a stacking point and the coordinates of the end point of the first-layer reclaiming within the target reclaiming area, generating the coordinates of the stacking point and the coordinates of the end point of the first-layer reclaiming, where the stacking point and the end point of the first-layer reclaiming are at the same height.

[0076] As Figures 3 - 5 shown, it shows three exemplary circular stockpile reclaiming scenarios. It can be seen that the stacking point is one of the boundary points of the stockpile, satisfying that after constructing a three-dimensional circular stockpile model through the boundary information of the stockpile, the coordinates of the stacking point and the coordinates of the end point of the first-layer reclaiming obtained through the output of the three-dimensional circular stockpile model, and the stacking point and the end point of the first-layer reclaiming can be selected in the target reclaiming area according to actual requirements.

[0077] Exemplarily, as Figure 6A material taking path diagram as shown. After determining the target material taking area, the positions of the starting point and the ending point of material taking for each layer can be determined. According to the above method, the coordinates of the stacking point P0(X0, Y0, Z0) and the coordinates of the ending point P1(X1, Y1, Z1) of material taking for the first layer are obtained.

[0078] S140. Complete stacking and material taking for the first layer based on the coordinates of the stacking point and the coordinates of the ending point of material taking for the first layer.

[0079] Exemplarily, as Figure 6 A material taking path diagram as shown. After determining the coordinates of the stacking point P0(X0, Y0, Z0), control the boom of the scraper conveyor to move towards the stacking point P0. During the movement, first lift the boom of the scraper conveyor to a high enough position to prevent collision with the coal pile during the movement, causing potential safety hazards. After the scraper conveyor reaches the corresponding position of the stacking point P0 in the actual material pile, lower the pitching angle of the scraper conveyor to the first pitching angle and then start the scraper conveyor. When the current flowing through the scraper conveyor reaches the target current corresponding to the first pitching angle, it is determined that the scraper conveyor is already in the plane at the same height as the stacking point.

[0080] Wherein, the pitching angle represents the size of the angle formed by the scraper conveyor and the horizontal plane corresponding to the ground. The pitching angle can be obtained by acquisition. The pitching angle can be, but is not limited to, obtained by an encoder. Since the first pitching angle is a determined angle corresponding to the stacking point P0, the first pitching angle can be understood as a preset angle.

[0081] It should be noted that in order to meet the requirement of stable flow of material taking, when the scraper conveyor takes materials at different heights of the circular material pile, there are corresponding target values for the current flowing through the scraper conveyor.

[0082] Exemplarily, as Figure 6 A material taking path diagram as shown. After the scraper conveyor completes stacking at the stacking point P0, control the scraper conveyor to start taking materials from the stacking point P0 and move towards the ending point P1 of material taking for the first layer while maintaining the first pitching angle to take materials. During the movement, it is also necessary to detect the actual slewing angle of the scraper conveyor in real time. When the actual slewing angle of the scraper conveyor reaches the first target slewing angle, it indicates that the scraper conveyor reaches the ending point P1 of material taking for the first layer. At this time, control the scraper conveyor to stop taking materials. Wherein, the first target slewing angle is a determined angle corresponding to the ending point P1 of material taking for the first layer, so the first target slewing angle can be understood as a preset angle.

[0083] For each layer of material taking after the first layer of material taking is completed, it is necessary to determine the material taking path of the material taking machine by executing steps S150 - S170. The specific operations are as follows.

[0084] S150. Determine the starting coordinate of the reclaimer on this layer based on the ending coordinate of material retrieval on the previous layer, the pitch angle difference, and the boom length. The pitch angle difference represents the change value of the pitch angle of the scraper conveyor between this layer and the previous layer.

[0085] Exemplarily, as Figure 6 shown in a reclaimer path diagram. The starting coordinate P2(X2, Y2, Z2) of the reclaimer on the second layer can be determined based on the ending coordinate P1(X1, Y1, Z1) of material retrieval on the first layer, the pitch angle difference between the first layer and the second layer, and the boom length of the reclaimer.

[0086] Among them, the pitch angle difference between the first layer and the second layer is obtained by subtracting the second pitch angle from the first pitch angle. Among them, both the second pitch angle and the first pitch angle can be understood as preset angles.

[0087] S160. Determine the ending coordinate of the reclaimer on this layer based on the starting coordinate of material retrieval on this layer, the starting coordinate of material retrieval on the previous layer, and the repose angle.

[0088] Exemplarily, as Figure 6 shown in a reclaimer path diagram. The ending coordinate P3(X3, Y3, Z3) of the reclaimer on the second layer can be determined based on the starting coordinate P2(X2, Y2, Z2) of material retrieval on the second layer obtained in step S150, the starting coordinate of material retrieval on the first layer, i.e., the stacking point coordinate P0(X0, Y0, Z0), and the repose angle.

[0089] S170. Control the scraper conveyor of the reclaimer to retrieve materials from the starting point of material retrieval on this layer to the ending point of material retrieval on this layer.

[0090] For the material retrieval of each layer, the starting coordinate of material retrieval on this layer can be determined through step S150, and the ending coordinate of material retrieval on this layer can be determined through step S160. Control the scraper conveyor to start from the starting point of material retrieval on this layer, keep the pitch angle corresponding to this layer unchanged, and move to retrieve materials to the ending point of material retrieval on this layer.

[0091] Exemplarily, as Figure 6A material taking path diagram is shown. After reaching the material taking end point P1 on the first layer, stop taking materials and reduce the pitching angle of the scraper conveyor. When the pitching angle of the scraper conveyor drops to the second pitching angle, stop pitching. At this time, reach the material taking starting point P2 on the second layer, and then control the scraper conveyor to rotate in the opposite direction to take materials. During the process of moving and taking materials, it is also necessary to detect the actual rotation angle of the scraper conveyor in real time. When the actual rotation angle of the scraper conveyor reaches the second target rotation angle, it indicates that the scraper conveyor reaches the material taking end point P3 on the second layer. At this time, control the scraper conveyor to stop taking materials. Among them, the second target rotation angle is calculated according to the coordinates of the material taking end point P3(X3, Y3, Z3) on the second layer.

[0092] In addition, during the whole process of taking materials, it is also necessary to obtain the actual material taking amount. When the actual material taking amount reaches the target material taking amount, control the material taking machine to stop taking materials. Among them, the target material taking amount can be set according to actual needs.

[0093] In the above technical solution, by obtaining the material pile data of the circular material pile, constructing a three-dimensional circular material pile model, according to this model, the coordinates of the stacking point of the material taking machine in the target material taking area and the coordinates of the material taking end point on the first layer can be obtained. After completing stacking and taking materials on the first layer according to the coordinates of this stacking point and the coordinates of the material taking end point on the first layer, through the coordinates of the material taking end point on the upper layer, the pitching angle difference, the boom length, and the angle of repose, the coordinates of the material taking starting point on this layer and the coordinates of the material taking end point on this layer can be determined, and control the scraper conveyor of the material taking machine to take materials from the material taking starting point on this layer to the material taking end point on this layer. Through this method, the material taking path of the material taking machine can be determined, and control the material taking machine to take materials according to this path, which can greatly reduce the potential safety hazards existing in manual path selection, and at the same time improve the operation efficiency of the material taking machine.

[0094] Figure 7 The flowchart showing the specific implementation manner of step S150 in an exemplary embodiment is shown. As Figure 7 shown, this method includes:

[0095] S151, determine the vertical drop between this layer and the upper layer according to the pitching angle difference and the boom length.

[0096] Here, the vertical drop represents the difference in the vertical distance from the ground between two adjacent material taking layers.

[0097] Exemplarily, as Figure 8 shown, the vertical drop h between the stacking point P0 and the material taking end point P3 on the second layer is shown. Similarly, this vertical drop h can also represent the vertical drop between the material taking end point P1 on the first layer and the material taking starting point P2 on the second layer. In the figure, β represents the angle of repose of the material pile.

[0098] Specifically, calculate the vertical drop j based on the following calculation formula:

[0099]

[0100] In the formula, Δθ represents the pitch angle difference, s represents the boom length, and h represents the vertical drop.

[0101] It can be seen from this formula that for the same reclaimer, the corresponding boom length s remains unchanged. Therefore, the vertical drop h is only related to the pitch angle difference Δθ.

[0102] S152. Determine the starting coordinate of the material taking layer according to the vertical drop and the ending coordinate of the material taking point of the upper layer.

[0103] Exemplarily, as Figure 6 shown in a material taking path diagram. The starting coordinate P2(X2, Y2, Z2) of the reclaimer in the second layer can be determined according to the ending coordinate P1(X1, Y1, Z1) of the material taking point in the first layer and the vertical drop h1 between the material taking in the first layer and the material taking in the second layer.

[0104] In the above technical solution, the vertical drop between two adjacent material taking layers can be determined through the pitch angle difference between two adjacent material taking layers and the boom length of the reclaimer. According to this vertical drop and the ending coordinate of the material taking point of the upper layer among two adjacent material taking layers, the starting coordinate of the material taking point of the lower layer among two adjacent material taking layers can be determined. Through this method, the rotation path of the reclaimer can be determined, and the reclaimer can be controlled to rotate according to this path, which can greatly reduce the potential safety hazards existing in the manual selection of the rotation path and improve the operation efficiency of the reclaimer at the same time.

[0105] Figure 9 shows a flowchart of the specific implementation manner of step S152 in an exemplary embodiment. As Figure 9 shown, the method includes:

[0106] S1521. Determine the X coordinate and the Y coordinate in the ending coordinate of the material taking point of the upper layer, and use them as the X coordinate and the Y coordinate of the starting coordinate of the material taking point of this layer respectively.

[0107] Exemplarily, as Figure 6 shown in a material taking path diagram. The ending coordinate of the material taking point of the upper layer can be, for example, the ending coordinate P1 of the material taking point in the first layer. According to the ending coordinate P1(X1, Y1, Z1) of the material taking point in the first layer, X1 and Y1 are used as the X coordinate and the Y coordinate of the starting coordinate P2(X2, Y2, Z2) of the material taking point in the second layer respectively. Therefore, the starting coordinate of the material taking point in the second layer can be rewritten as P2(X1, Y1, Z2).

[0108] S1522. Determine the Z coordinate of the starting point of material extraction for this layer by subtracting the vertical drop from the Z coordinate of the ending point of material extraction for the upper layer, thereby obtaining the Z coordinate of the starting point of material extraction for this layer.

[0109] Exemplarily, as Figure 6 shown in a material extraction path diagram. The ending point of material extraction for the upper layer can be, for example, the ending point P1 of material extraction for the first layer. Based on the coordinate P1(X1, Y1, Z1) of the ending point of material extraction for the first layer and the vertical drop h determined according to step SS151, the Z coordinate of the starting point of material extraction for the second layer can be determined as Z1 - h. Therefore, the coordinate of the starting point of material extraction for the second layer can be rewritten as P2(X2, Y2, Z1 - h).

[0110] S1523. Obtain the coordinate of the starting point of material extraction for this layer based on the X coordinate and Y coordinate of the starting point of material extraction for this layer and the Z coordinate of the starting point of material extraction for this layer.

[0111] Exemplarily, as Figure 6 shown in a material extraction path diagram. Based on the X coordinate and Y coordinate of the starting point of material extraction P2 for the second layer determined according to step S1521 and the Z coordinate of the starting point of material extraction P2 for the second layer determined according to step S1522, the coordinate of the starting point of material extraction for the second layer P2(X1, Y1, Z1 - h) can be obtained.

[0112] In the above technical solution, the coordinate of the starting point of material extraction for the lower layer between two adjacent material extraction layers can be determined based on the coordinate of the ending point of material extraction for the upper layer between two adjacent material extraction layers and the vertical drop between two adjacent material extraction layers. By this method, the position of the starting point of material extraction for the lower layer between two adjacent material extraction layers can be determined, which can greatly reduce the potential safety hazards existing in manually selecting the position of the starting point of material extraction for the lower layer between two adjacent material extraction layers and can improve the operating efficiency of the material extraction machine at the same time.

[0113] Figure 10 The flowchart showing the specific implementation of step S160 in an exemplary embodiment is presented.

[0114] As Figure 10 shown, the method includes:

[0115] S161. Determine the quotient of the vertical drop and the tangent value of the angle of repose.

[0116] Here, the quotient of the vertical drop and the tangent value of the angle of repose represents the change value ΔX of the X coordinate of the ending point of material extraction for this layer relative to the X coordinate of the starting point of material extraction for the upper layer.

[0117] Specifically, calculate the change value ΔX of the X coordinate based on the following calculation formula:

[0118]

[0119] In the formula, h represents the vertical drop, β represents the angle of repose, and ΔX represents the change value of the X coordinate.

[0120] S162. Determine the difference between the X coordinate in the starting point coordinate of material taking on the upper layer and the quotient, and obtain the X coordinate in the ending point coordinate of material taking on this layer.

[0121] Exemplarily, as Figure 6 shown in a material taking path diagram. The starting point coordinate of material taking on the upper layer can be, for example, the stacking point coordinate P0(X0, Y0, Z0). Then, in the ending point coordinate P3(X3, Y3, Z3) of material taking on the second layer, X3 = X0 - ΔX. Among them, and since then in the ending point coordinate P3(X3, Y3, Z3) of material taking on the second layer:

[0122]

[0123] In the formula, h represents the vertical drop, and β represents the angle of repose.

[0124] S163. Determine the Y coordinate in the starting point coordinate of material taking on the upper layer as the Y coordinate in the ending point coordinate of material taking on this layer.

[0125] Exemplarily, as Figure 6 shown in a material taking path diagram. The starting point coordinate of material taking on the upper layer can be, for example, the stacking point coordinate P0(X0, Y0, Z0). Then, in the ending point coordinate P3(X3, Y3, Z3) of material taking on the second layer, Y3 = Y0.

[0126] S164. Determine the Z coordinate in the starting point coordinate of material taking on this layer as the Z coordinate of the ending point coordinate of material taking on this layer.

[0127] Exemplarily, as Figure 6 shown in a material taking path diagram. The starting point coordinate of material taking on this layer can be, for example, the starting point coordinate P2(X2, Y2, Z2) of material taking on the second layer. Then, in the ending point coordinate P3(X3, Y3, Z3) of material taking on the second layer, Z3 = Z2.

[0128] And it can be known from step S1522 that Z2 = Z1 - h, and Z1 = Z0. Therefore, the Z coordinate in the ending point coordinate P3(X3, Y3, Z3) of material taking on the second layer can also be obtained from the stacking point coordinate P0(X0, Y0, Z0), where Z3 = Z0 - h.

[0129] S165. Obtain the ending point coordinate of material taking on this layer according to the X coordinate, Y coordinate, and Z coordinate of the ending point coordinate of material taking on this layer.

[0130] Exemplarily, as Figure 6 shown in a material taking path diagram. The coordinates of the material taking end point of this layer can be, for example, the coordinates of the material taking end point P3(X3, Y3, Z3) of the second layer. In summary of steps S161 - S164, it can be known that the coordinates of the material taking end point P3 of the second layer can be:

[0131]

[0132] The coordinates of the material taking end point P3 of the second layer can also be:

[0133]

[0134] In the above technical solution, through the vertical drop, the angle of repose, and the coordinates of the material taking start point of the upper layer among two adjacent material taking layers, the coordinates of the material taking end point of the lower layer among two adjacent material taking layers can be obtained. By this method, the material taking end position of the next layer can be reasonably determined, which can greatly reduce the potential safety hazards existing in manually selecting the material taking end position of the next layer, and at the same time can improve the operation efficiency of the material taking machine.

[0135] Figure 11 shows a flowchart of the specific implementation manner of step S170 in an exemplary embodiment.

[0136] As Figure 11 shown, this method includes:

[0137] S171, after obtaining the coordinates of the material taking end point of each layer, determine the target rotation angle according to the coordinates of the material taking end point. The target rotation angle is the arctangent of the quotient of the ordinate and the abscissa of the material taking end point.

[0138] Based on the following calculation formula for the target rotation angle ω:

[0139]

[0140] In the formula, y represents the ordinate of the material taking end point, and x represents the abscissa of the material taking end point.

[0141] Among them, the target rotation angle of this layer represents the angle when the material taking scraper of this layer stops taking materials.

[0142] S172, control the scraper of the material taking machine to move towards the material taking end point, and continuously detect the actual rotation angle of the scraper, and when the actual rotation angle reaches the target rotation angle, control the scraper of the material taking machine to stop moving.

[0143] Exemplarily, as Figure 6A material taking path diagram as shown. The material taking end point in step S171 can be, for example, the material taking end point P1 on the first layer. When taking materials on the first layer, the scraper conveyor takes materials while maintaining the first target rotation angle. After controlling the scraper conveyor of the material taking machine to rotate from the first target rotation angle to this target rotation angle, lower the pitching angle to the second pitching angle. At this time, reach the material taking starting point P2 on the second layer, and then control the scraper conveyor to rotate and take materials in the opposite direction. During the process of moving and taking materials, the actual rotation angle of the scraper conveyor is detected in real time. When the actual rotation angle of the scraper conveyor reaches the third target rotation angle, it indicates that the scraper conveyor reaches the material taking end point P3 on the second layer. At this time, control the scraper conveyor to stop taking materials. Among them, the second target rotation angle and the third target rotation angle are both calculated by the method shown in step S171; the second pitching angle can be understood as a preset angle.

[0144] In the above technical solution, the target rotation angle determined by the coordinates of the material taking end point of each layer can be used to determine whether the scraper conveyor reaches the material taking end position of each layer. By this method, it can be determined whether the scraper conveyor reaches the material taking end position of each layer, which can greatly reduce the potential safety hazards of manual operation and improve the operation efficiency of the material taking machine at the same time.

[0145] Figure 12 The flowchart showing the specific implementation of step S130 in an exemplary embodiment is shown.

[0146] As Figure 12 shown, this method includes:

[0147] S131, Apply the three-dimensional circular stockpile model to the three-dimensional coordinate system to obtain the coordinates of each material taking boundary point within the target material taking area.

[0148] According to the three-dimensional circular stockpile model generated in step S120, apply it to the three-dimensional coordinate system. Since the three-dimensional circular stockpile model is constructed from the boundary information of the stockpile, the coordinates of each material taking boundary point can be obtained.

[0149] Figure 13 The specific schematic diagram of a three-dimensional coordinate system provided by an exemplary embodiment is shown. As Figure 13 shown, the coordinate origin O is the center point of the stockyard. Take the position of the 0 column shown to the Figure 2 as the X-axis, and the direction perpendicular to the X-axis is the Y-axis. The point P represents the position of the scraper conveyor.

[0150] S132, Determine the coordinates of the butting point and the coordinates of the material taking end point on the first layer according to the coordinates of each material taking boundary point.

[0151] According to the coordinates of each material-taking boundary point obtained in step S131, where the stacking point and the material-taking end point of the first layer are both located on the material-taking boundary. Therefore, the most suitable stacking point and the material-taking end point of the first layer can be selected from the obtained material-taking boundary points, and the coordinates of the stacking point and the material-taking end point of the first layer can be obtained.

[0152] In the above technical solution, by applying the three-dimensional circular stockpile model to the three-dimensional coordinate system, the coordinates of each material-taking boundary point can be obtained. The most suitable points are selected from these boundary points as the stacking point and the material-taking end point of the first layer, and the coordinates of the stacking point and the material-taking end point of the first layer are obtained. According to this method, the coordinates of each boundary point and the coordinates of the stacking point can be visually obtained, which can improve the operation efficiency of the reclaimer.

[0153] Figure 14 FIG. shows a schematic diagram of a reclaimer control device provided by an exemplary embodiment. As Figure 14 shown, an embodiment of the present disclosure provides a reclaimer control device. The device 500 may include:

[0154] An acquisition module 510, configured to obtain the boom length of the reclaimer and the angle of repose of the circular stockpile.

[0155] A model module 520, configured to obtain the stockpile data of the circular stockpile through a laser scanner, construct a three-dimensional circular stockpile model. The stockpile data includes the boundary information of the stockpile, and is configured to determine a target material-taking area, the coordinates of the stacking point in the target material-taking area, and the coordinates of the material-taking end point of the first layer from within the arc-shaped boundary range of the three-dimensional circular stockpile model.

[0156] A control module 530, configured to determine the coordinates of the material-taking starting point of the reclaimer on this layer according to the coordinates of the material-taking end point of the previous layer, the pitch angle difference, and the boom length. The pitch angle difference represents the pitch angle change value of the scraper conveyor between this layer and the previous layer, and is configured to determine the coordinates of the material-taking end point of the reclaimer on this layer according to the coordinates of the material-taking starting point of this layer, the coordinates of the material-taking starting point of the previous layer, and the angle of repose, and is configured to control the scraper conveyor of the reclaimer to take materials from the material-taking starting point of this layer to the material-taking end point of this layer.

[0157] Optionally, the control module 530 is further configured to determine the vertical drop between this layer and the previous layer according to the pitch angle difference and the boom length, and is configured to determine the coordinates of the material-taking starting point of this layer according to the vertical drop and the coordinates of the material-taking end point of the previous layer.

[0158] Optionally, the control module 530 is further configured to calculate the vertical drop based on the following calculation formula:

[0159]

[0160] Wherein, Δθ represents the pitch angle difference, s represents the boom length, and h represents the vertical drop.

[0161] Optionally, the control module 530 is further configured to determine the X coordinate and the Y coordinate in the coordinates of the material taking end point of the upper layer, and respectively use them as the X coordinate and the Y coordinate of the material taking start point coordinate of this layer, to determine the difference obtained by subtracting the vertical drop from the Z coordinate in the coordinates of the material taking end point of the upper layer to obtain the Z coordinate of the material taking start point coordinate of this layer, and to obtain the material taking start point coordinate of this layer according to the X coordinate and the Y coordinate of the material taking start point coordinate of this layer and the Z coordinate of the material taking start point coordinate of this layer.

[0162] Optionally, the control module 530 is further configured to determine the quotient of the vertical drop and the tangent value of the angle of repose, to determine the difference obtained by subtracting the quotient from the X coordinate in the coordinates of the material taking start point of the upper layer to obtain the X coordinate in the coordinates of the material taking end point of this layer, to determine the Y coordinate in the coordinates of the material taking start point of the upper layer as the Y coordinate in the coordinates of the material taking end point of this layer, to determine the Z coordinate in the coordinates of the material taking start point of this layer as the Z coordinate of the material taking end point of this layer, and to obtain the material taking end point coordinate of this layer according to the X coordinate of the material taking end point coordinate of this layer, the Y coordinate of the material taking end point coordinate of this layer, and the Z coordinate of the material taking end point coordinate of this layer.

[0163] Optionally, after obtaining the coordinates of the material taking end point of each layer, the control module 530 is further configured to determine the target rotation angle according to the coordinates of the material taking end point, where the target rotation angle is the arctangent value of the quotient of the ordinate and the abscissa of the material taking end point, and to control the scraper of the reclaimer to move towards the material taking end point, and to detect the actual rotation angle of the scraper in real time, and to control the scraper of the reclaimer to stop moving when the actual rotation angle reaches the target rotation angle.

[0164] The model module 520 is further configured to apply the three-dimensional circular stockpile model to the three-dimensional coordinate system to obtain the coordinates of each material taking boundary point within the target material taking area, and to determine the coordinates of the stacking point and the coordinates of the material taking end point of the first layer according to the coordinates of each material taking boundary point.

[0165] Regarding the device in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0166] Figure 15 is a block diagram of an electronic device shown according to an exemplary embodiment. For example, the electronic device 600 may be provided as a server. Refer to Figure 15, the electronic device 600 includes a processor 601, the number of which can be one or more, and a memory 602 for storing computer programs executable by the processor 601. The computer programs stored in the memory 602 may include one or more modules each corresponding to a set of instructions. In addition, the processor 601 may be configured to execute the computer program to perform the above-mentioned material handling machine control method.

[0167] In addition, the electronic device 600 may further include a power supply component 603 and a communication component 604. The power supply component 603 may be configured to perform power management of the electronic device 600, and the communication component 604 may be configured to enable communication of the electronic device 600, for example, wired or wireless communication. In addition, the electronic device 600 may further include an input / output (I / O) interface 605. The electronic device 600 may operate based on an operating system stored in the memory 602.

[0168] In another exemplary embodiment, there is also provided a computer-readable storage medium including program instructions, which when executed by a processor implement the steps of the above-mentioned material handling machine control method. For example, the non-transitory computer-readable storage medium may be the above-mentioned memory 602 including program instructions, and the above-mentioned program instructions may be executed by the processor 601 of the electronic device 600 to complete the above-mentioned material handling machine control method.

[0169] In another exemplary embodiment, there is also provided a computer program product, which includes a computer program executable by a programmable device, and the computer program has a code portion for performing the above-mentioned material handling machine control method when executed by the programmable device.

[0170] The preferred embodiments of the present disclosure have been described in detail above in conjunction with the accompanying drawings. However, the present disclosure is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0171] In addition, it should be noted that, in the above specific embodiments, the various specific technical features described can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the present disclosure will not separately describe various possible combination methods.

[0172] In addition, any combination can be made between various different embodiments of the present disclosure as long as it does not violate the idea of the present disclosure, and it should also be regarded as the content disclosed by the present disclosure.

Claims

1. A control method for a material taking machine, characterized in that Including: Obtaining the boom length of the reclaimer and the angle of repose of the circular stockpile; Obtaining the stockpile data of the circular stockpile through a laser scanner and constructing a three-dimensional circular stockpile model, where the stockpile data includes the boundary information of the stockpile; According to the three-dimensional circular stockpile model, determining a target reclaiming area, the coordinates of the stacking point in the target reclaiming area, and the coordinates of the reclaiming end point of the first layer within the arc boundary range of the circular stockpile; Completing stacking and the first-layer reclaiming according to the coordinates of the stacking point and the coordinates of the reclaiming end point of the first layer; For each subsequent layer of reclaiming within the target reclaiming area, the following operations are performed: According to the coordinates of the reclaiming end point of the previous layer, the pitch angle difference, and the boom length, determining the coordinates of the reclaiming starting point of the reclaimer for this layer, where the pitch angle difference represents the pitch angle change value of the scraper conveyor between this layer and the previous layer; According to the coordinates of the reclaiming starting point of this layer, the coordinates of the reclaiming starting point of the previous layer, and the angle of repose, determining the coordinates of the reclaiming end point of the reclaimer for this layer; Controlling the scraper conveyor of the reclaimer to reclaim from the reclaiming starting point of this layer to the reclaiming end point of this layer; The determining the coordinates of the reclaiming starting point of the reclaimer for this layer according to the coordinates of the reclaiming end point of the previous layer, the pitch angle difference, and the boom length includes: Determining the vertical drop between this layer and the previous layer according to the pitch angle difference and the boom length; Determining the coordinates of the reclaiming starting point of this layer according to the vertical drop and the coordinates of the reclaiming end point of the previous layer; The determining the vertical drop between this layer and the previous layer according to the pitch angle difference and the boom length includes: Calculating the vertical drop based on the following calculation formula: Wherein, represents the pitch angle difference, represents the boom length, represents the vertical drop.

2. The method according to claim 1, characterized in that, The determining the coordinates of the reclaiming starting point of this layer according to the vertical drop and the coordinates of the reclaiming end point of the previous layer includes: Determining the X coordinate and Y coordinate in the coordinates of the reclaiming end point of the previous layer, and respectively using them as the X coordinate and Y coordinate of the reclaiming starting point of this layer; Determining the difference between the Z coordinate in the coordinates of the reclaiming end point of the previous layer minus the vertical drop to obtain the Z coordinate of the reclaiming starting point of this layer; Obtaining the coordinates of the reclaiming starting point of this layer according to the X coordinate and Y coordinate of the reclaiming starting point of this layer and the Z coordinate of the reclaiming starting point of this layer.

3. The method according to claim 1, wherein The determining the coordinates of the reclaiming end point of the reclaimer for this layer according to the coordinates of the reclaiming starting point of this layer, the coordinates of the reclaiming starting point of the previous layer, and the angle of repose includes: Determining the quotient of the vertical drop and the tangent value of the angle of repose; Determining the difference between the X coordinate in the coordinates of the reclaiming starting point of the previous layer minus the quotient to obtain the X coordinate of the reclaiming end point of this layer; Determining the Y coordinate in the coordinates of the reclaiming starting point of the previous layer as the Y coordinate of the reclaiming end point of this layer; Determining the Z coordinate of the reclaiming starting point of this layer as the Z coordinate of the reclaiming end point of this layer; Obtaining the coordinates of the reclaiming end point of this layer according to the X coordinate, Y coordinate, and Z coordinate of the reclaiming end point of this layer.

4. The method according to claim 1, wherein Controlling the scraper conveyor of the reclaimer to reclaim materials from the material reclaiming starting point of this layer to the material reclaiming ending point of this layer includes: After obtaining the coordinates of the material reclaiming ending point of each layer, determining a target rotation angle according to the coordinates of the material reclaiming ending point, where the target rotation angle is the arctangent value of the quotient of the ordinate and abscissa of the material reclaiming ending point; Controlling the scraper conveyor of the reclaimer to move towards the material reclaiming ending point, and real-time detecting the actual rotation angle of the scraper conveyor, and when the actual rotation angle reaches the target rotation angle, controlling the scraper conveyor of the reclaimer to stop moving.

5. The method according to claim 1, characterized in that Determining a target reclaiming area, the coordinates of the stacking point in the target reclaiming area, and the coordinates of the material reclaiming ending point of the first layer from within the arc-shaped boundary of the circular stockpile according to the three-dimensional circular stockpile model includes: Applying the three-dimensional circular stockpile model to a three-dimensional coordinate system to obtain the coordinates of each material reclaiming boundary point within the target reclaiming area; Determining the coordinates of the stacking point and the coordinates of the material reclaiming ending point of the first layer according to the coordinates of each material reclaiming boundary point.

6. A control device for a material handling machine, characterized in that, A device for executing the reclaimer control method according to any one of claims 1-5, the device includes: An acquisition module, configured to acquire the boom length of the reclaimer and the angle of repose of the circular stockpile; A model module, configured to obtain the stockpile data of the circular stockpile through a laser scanner and construct a three-dimensional circular stockpile model, where the stockpile data includes the boundary information of the stockpile, and is configured to determine a target reclaiming area, the coordinates of the stacking point in the target reclaiming area, and the coordinates of the material reclaiming ending point of the first layer from within the arc-shaped boundary of the circular stockpile according to the three-dimensional circular stockpile model; A control module, configured to complete stacking and the first-layer material reclaiming according to the coordinates of the stacking point and the coordinates of the material reclaiming ending point of the first layer, and for each subsequent layer of material reclaiming within the target reclaiming area, perform the following operations: Determining the coordinates of the material reclaiming starting point of the reclaimer in this layer according to the coordinates of the material reclaiming ending point of the previous layer, the pitch angle difference, and the boom length, where the pitch angle difference represents the pitch angle change value of the scraper conveyor in this layer and the previous layer; determining the coordinates of the material reclaiming ending point of the reclaimer in this layer according to the coordinates of the material reclaiming starting point of this layer, the coordinates of the material reclaiming starting point of the previous layer, and the angle of repose; controlling the scraper conveyor of the reclaimer to reclaim materials from the material reclaiming starting point of this layer to the material reclaiming ending point of this layer.

7. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by a processor, it implements the steps of the method according to any one of claims 1-5.

8. An electronic device, characterized in that, Including: A memory, on which a computer program is stored; A processor, configured to execute the computer program in the memory to implement the steps of the method according to any one of claims 1-5.

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