Automatic stacking method for rocker-arm bucket wheel stacker-reclaimer

Abstract

The present invention relates to an automatic stacking method for a rocker-type bucket wheel stacker and reclaimer, comprising: obtaining target stacking position information, a material stacking angle, and the coordinates of the highest point of the target stacking position; determining a stacking method and a stacking boundary based on a set maximum pitch angle of the stacker boom, a minimum distance between the stacker boom and the material pile, and the obtained target stacking position information and material stacking angle; setting an initial positioning posture of the stacker and reclaimer based on the coordinates of the highest point of the target stacking position and using a corresponding strategy to control the stacker to automatically move to the initial stacking point to begin stacking; and automatically stacking according to a corresponding stacking method based on the real-time detected distance between the boom and the material pile and the set initial direction. The present invention effectively improves the space utilization rate of the material yard. By automatically calculating the stacking boundary, it can ensure that the material stacking does not exceed the stacking position boundary, causing material overflow or occupying necessary channels.

Description

Technical Field

[0001] The present invention relates to the field of stacking materials, and in particular to an automatic stacking method for a rocker-arm bucket wheel stacker-reclaimer. Background Art

[0002] Currently, in industries such as metallurgy, electricity, and construction, raw material yards or coal yards that use rocker-arm bucket wheel stackers for material stacking and reclaiming operations have or are in the process of upgrading their equipment and control systems to enable unmanned on-site operation of the stackers. These yards have adopted measures such as precise positioning, laser scanning, anti-collision ultrasonic radar, and video surveillance to achieve remote control of the stackers. The strategy for enabling the stackers to automatically complete stacking and reclaiming tasks is crucial for effectively improving the level of remote control automation, operational efficiency, and standardizing operational processes.

[0003] Commonly seen stacking methods such as fixed-point walking single stacking, fixed-point layered stacking, continuous rotation stacking, rotational layered stacking, fixed-point rotation walking stacking, etc. only indicate one stacking process. When the stacker-reclaimer is actually controlled, it is usually only applicable to stacking new materials. In the actual production process, stacking and reclaiming operations are carried out alternately, the surface contour of the material pile is extremely irregular, and the proportion of new material stacking operations is very small. Where to start when replenishing the pile, which stacking method to adopt, and how to automatically control it have become urgent problems to be solved. Summary of the Invention

[0004] In order to solve the above problems, the present invention proposes an automatic stacking method for a rocker-arm bucket wheel stacker-reclaimer.

[0005] The specific plan is as follows:

[0006] An automatic stacking method for a rocker-type bucket wheel stacker-reclaimer comprises the following steps:

[0007] S1: Get the location information of the target stack;

[0008] S2: Obtain the three-dimensional point cloud data corresponding to the target pile location, and obtain the working material stacking angle θ and the coordinates of the highest point of the material pile corresponding to the target pile location based on the three-dimensional point cloud data;

[0009] S3: Calculate the maximum stack height z not limited by the stacker boom pitch height m And the maximum stack height z m Distance y from the cantilever rotation center of the stacker-reclaimer m :

[0010]

[0011]

[0012] Where W represents the width of the target stack, h wIt indicates the height of the retaining wall on the side of the stockpile away from the stacker-reclaimer, and l indicates the distance between the side of the stockpile close to the stacker-reclaimer and the cantilever rotation center;

[0013] S4: Calculate the maximum stack height z limited by the stacker-reclaimer boom pitch height lim :

[0014] z lim =L·sinβ′ max +H0-h′ min

[0015] Among them, L is the length from the cantilever rotation center to the cantilever belt blanking end, H0 is the vertical distance between the cantilever pitch center and the bottom of the pile, β′ max Indicates the set maximum cantilever pitch angle, h′ min Indicates the minimum vertical distance between the cantilever and the pile;

[0016] S5: According to z m With z lim Select the stacking method based on the size relationship, and calculate the range of blanking points corresponding to the selected stacking method;

[0017] S6: Calculate the stacking posture range of the stacker-reclaimer according to the range of the material drop points;

[0018] S7: Calculate the initial posture of the stacker-reclaimer according to the coordinates of the highest point of the stack;

[0019] S8: Control the stacker-reclaimer to run to the initial posture and start stacking;

[0020] S9: Carry out fixed-point stockpiling. When the vertical distance between the cantilever and the stockpile is h<h′ min When h≥h′ min +h′ s Stop the cantilever pitching action until the cantilever pitch angle β ≥ β max ; where h′ s Indicates the height of a single fixed-point pile, β max Indicates the maximum value of the cantilever pitch angle;

[0021] S10: When β ≥ β max After that, the vertical distance between the cantilever and the pile satisfies h<h′ min Once, execute a walking action or a rotating action, and the stopping condition of each action is h≥h′ min +h′ s .

[0022] Furthermore, in step S2, it is set that when the obtained angle is out of the valid range of the material stacking angle due to a new stack or point cloud data anomaly, the material stacking angle takes the historical record value of the material stacking angle of this type. If there is no historical record value, the minimum valid value is taken.

[0023] Furthermore, the method for selecting the stacking method in step S5 is: when z m ≤z lim When z m >z lim The stacking method adopts fixed-point rotary walking stacking.

[0024] Furthermore, when the fixed-point walking method is used for stacking, the range of the drop point ([x min , x max ],[y min ,y max ],[z min , z max ]) is calculated as:

[0025]

[0026]

[0027] y max =y min =y m

[0028] z max =z m

[0029] z min =z0+min(h′ s )

[0030] When adopting the fixed-point rotary walking method to stack materials, the range of the drop point ([x min , x max ],[y min ,y max ],[z min , z max ]) is calculated as:

[0031]

[0032]

[0033] y max =y m +(z m -z lim )cotθ

[0034] y min =ym -(z m -z lim )cotθ

[0035] z max =z lim

[0036] z min =z0+min(h′ s )

[0037] Among them, x max 、x min They represent the maximum and minimum values ​​of the blanking point range in the x-axis direction, and the y-axis direction. max 、y min They represent the maximum and minimum values ​​of the blanking point range in the y-axis direction, and z max 、z min They represent the maximum and minimum values ​​of the drop point range in the z-axis direction, x1 represents the starting position of the target pile in the x-axis direction, x2 represents the end position of the target pile in the x-axis direction, z0 represents the coordinate of the highest point of the pile in the z-axis direction, h represents the vertical distance between the cantilever and the pile, and min(.) represents the minimum value.

[0038] Furthermore, the attitude range of the stacker-reclaimer ([X min , X max ],[α min , α max ],[β min , β max ]) is calculated as:

[0039] β min =sin -1 ((z min +h′ min -H0) / L)

[0040] β max =sin -1 ((z max +h′ min -H0) / L)

[0041] α min =sin -1 (y min / (L·cosβ max ))

[0042] α max =sin -1 (y max / (L·cosβ max ))

[0043] Xmin =x min -L·cosβ max ·cosα

[0044] X min =x max -L·cosβ max ·cosα

[0045] Among them, β max , β min Respectively represent the maximum and minimum values ​​of the cantilever pitch angle, α max , α min They represent the maximum and minimum values ​​of the angle between the cantilever and the x-axis, respectively. max 、X min They represent the maximum and minimum values ​​of the cantilever rotation center in the x-direction coordinate respectively.

[0046] Furthermore, the calculation formula of the initial stacking posture (X0, α0, β0) of the stacker-reclaimer is:

[0047] β0=sin -1 ((z min +h′ min +h′ s -H0) / L)

[0048] α0=sin -1 (y0 / (L·cosβ0))

[0049] X0=x0-L·cosβ0·cosα0

[0050] Among them, X0 represents the initial coordinate of the cantilever rotation center in the x-axis coordinate, α0 represents the initial angle between the cantilever and the x-axis direction, β0 represents the initial value of the cantilever pitch angle, and h′ s Indicates the height of a single fixed-point pile.

[0051] Furthermore, step S8 includes: when β0>β ini When β0≤β ini When , the walking and rotating actions are performed first, and the pitching action is performed after the walking and rotating actions are in place, where β0 represents the initial value of the cantilever pitch angle, β ini Indicates the current value of the boom pitch angle.

[0052] Furthermore, if the stacking method is fixed-point walking stacking, the walking action is performed according to the set walking direction until X≥X max Or X≤X min If the stacking method is fixed-point rotary stacking, the rotation action is performed according to the set initial rotation direction until β≥βmax Or β≤β min After that, a walking action is executed and the rotation direction is automatically set to the opposite direction.

[0053] Furthermore, it also includes S11: detecting the vertical distance h between the cantilever and the pile of materials. The process of detecting by the laser scanning system includes: obtaining point cloud data including the cantilever drop point in real time by the laser scanning system when the stacker-reclaimer is stationary; obtaining the drop point height and the posture of the stacker-reclaimer based on the point cloud data, and then calculating the vertical distance h between the cantilever and the pile of materials.

[0054] Furthermore, the method further includes S11: detecting a vertical distance h between the cantilever and the pile of materials. The process of detecting the distance h by using the ranging radar includes:

[0055] When the ranging radar is installed on the right side of the cantilever belt, if the cantilever rotates to the right or the cantilever moves backward on the right stacker / reclaimer or the cantilever moves forward on the left stacker / reclaimer, the vertical distance h between the cantilever and the pile is calculated using the following formula:

[0056] h=h t -l1·tanθ

[0057] Among them, h t Indicates the radar detection distance, l1 indicates the horizontal distance between the ranging radar and the cantilever belt drop point;

[0058] If the boom rotates to the left or the boom moves forward on the right side of the stacker / reclaimer or moves backward on the left side of the stacker / reclaimer, the condition for each walking action or rotation action is h<h′ min Change to dh t >0, the stopping condition of each action is h≥h′ min +h′ s Change to h t ≥min(h t )+h′ s , where min(h t ) represents the minimum value detected by the ranging radar after the walking action or the rotation action starts, d(h t ) represents h t The derivative of .

[0059] The present invention adopts the above technical solution to realize the automated operation of the stacker-reclaimer, and can start stacking from the highest point of the pile, effectively improving the space utilization rate of the material yard; it can dynamically determine the stacking method, avoiding manual selection of the stacking method or manual selection of an inappropriate stacking method each time; it can dynamically calculate the stacking travel mechanism and cantilever movement range of the stacker-reclaimer within the allowable range of the stacking position, avoiding material overflow or occupation of necessary channels. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 Flowchart of an embodiment of the present invention.

[0061] Figure 2 Schematic diagram of the projection of the material yard space on the xy plane when stacking materials in this embodiment.

[0062] Figure 3 Schematic diagram of the projection of the material yard space on the xz plane when stacking materials in this embodiment.

[0063] Figure 4 Schematic diagram of the projection of the stockyard space on the yz plane during fixed-point stacking in this embodiment.

[0064] Figure 5 Schematic diagram of the projection of the stockyard space on the yz plane during the fixed-point rotary stacking in this embodiment.

[0065] Figure 6 This is a schematic diagram of the vertical distance detection radar between the cantilever and the pile installed on one side (right side) of the cantilever in this embodiment. DETAILED DESCRIPTION

[0066] To further illustrate various embodiments, the present invention provides accompanying drawings. These drawings form part of the present disclosure and are primarily used to illustrate the embodiments and, in conjunction with the relevant description in the specification, to explain the operating principles of the embodiments. By referring to these drawings, those skilled in the art will be able to understand other possible implementations and the advantages of the present invention.

[0067] The present invention will now be further described with reference to the accompanying drawings and specific embodiments.

[0068] The embodiment of the present invention provides an automatic stacking method for a rocker-type bucket wheel stacker and reclaimer, such as Figure 1 As shown, the method includes the following steps:

[0069] S1: Obtain the location information of the target stack.

[0070] refer to Figure 2-6 The stockyard has a stockpile management system that can obtain the location information of the target stockpile according to the stockpile operation task. In this embodiment, the location information is set to include the starting position x1 and the ending position x2 of the stockpile in the x-axis direction. The x-axis direction is the travel direction of the stacker-reclaimer.

[0071] S2: Obtain the three-dimensional point cloud data corresponding to the target pile location, and obtain the working material stacking angle θ and the coordinates of the highest point of the material pile corresponding to the target pile location (x0, y0, z0) based on the three-dimensional point cloud data.

[0072] The material yard is equipped with a laser scanning system that can provide 3D point cloud data of all material piles in the material yard. Based on the 3D point cloud data corresponding to the target pile location, the stacking angle θ of the working material can be obtained.

[0073] Furthermore, this embodiment provides that when the angle obtained due to a new stack or point cloud data anomaly is outside the valid material stacking angle range, the material stacking angle can be set to the historical value of the material stacking angle for that type of material. If no historical value is available, the minimum valid value is used to ensure that the material does not exceed the stacking boundary. The valid range of the material stacking angle must be set in advance and includes the maximum and minimum valid values.

[0074] S3: Calculate the maximum stack height z not limited by the stacker boom pitch height m And the maximum stack height z m Distance y from the cantilever rotation center of the stacker-reclaimer m :

[0075]

[0076]

[0077] Where W represents the width of the target stack, h w It indicates the height of the retaining wall on the side of the stockpile away from the stacker-reclaimer, and l indicates the distance between the side of the stockpile close to the stacker-reclaimer and the cantilever rotation center.

[0078] S4: Calculate the maximum stack height z limited by the stacker-reclaimer boom pitch height lim :

[0079] z lim =L·sinβ′ max +H0-h′ min

[0080] Among them, L is the length from the cantilever rotation center to the cantilever belt blanking end, H0 is the vertical distance between the cantilever pitch center and the bottom of the pile, β′ max Indicates the set maximum cantilever pitch angle, h′ min Indicates the minimum vertical distance between the cantilever and the pile.

[0081] S5: According to z m With z lim According to the size relationship, select the stacking method and calculate the range of blanking points corresponding to the selected stacking method.

[0082] The method for selecting the stacking method in this embodiment is: when z m ≤z lim When the stacking method is fixed point walking stacking, the materials are stacked in a herringbone shape; when z m >z lim The stacking method adopts fixed-point rotary walking stacking.

[0083] When using the fixed-point walking method to stack materials, the range of the drop point ([x min , x max ],[y min ,y max ],[z min , z max ]) is calculated as:

[0084]

[0085]

[0086] y max =y min =y m

[0087] z max =z m

[0088] z min =z0+min(h′ s )

[0089] When adopting the fixed-point rotary walking method to stack materials, the range of the drop point ([x min , x max ],[y min ,y max ],[z min , z max ]) is calculated as:

[0090]

[0091]

[0092] y max =y m +(z m -z lim )cotθ

[0093] y min =y m -(z m -z lim )cotθ

[0094] z max =z lim

[0095] z min =z0+min(h′ s )

[0096] Among them, x max 、x min They represent the maximum and minimum values ​​of the blanking point range in the x-axis direction, and the y-axis direction.max 、y min They represent the maximum and minimum values ​​of the blanking point range in the y-axis direction, and z max 、z min They represent the maximum and minimum values ​​of the drop point range in the z-axis direction, x1 represents the starting position of the target pile in the x-axis direction, x2 represents the end position of the target pile in the x-axis direction, z0 represents the coordinate of the highest point of the pile in the z-axis direction, and min(.) represents the minimum value.

[0097] S6: Calculate the stacking posture range of the stacker-reclaimer according to the range of the material drop point ([X min , X max] , [α min , α max ],[β min , β max ]):

[0098] β min =sin -1 ((z min +h′ min -H0) / L)

[0099] β max =sin -1 ((z max +h′ min -H0) / L)

[0100] α min =sin -1 (y min / (L·cosβ max ))

[0101] α max =sin -1 (y max / (L·cosβ max ))

[0102] X min =x min -L·cosβ max ·cosα

[0103] X min =x max -L·cosβ max ·cosα

[0104] Among them, β max , β min Respectively represent the maximum and minimum values ​​of the cantilever pitch angle, α max , α min They represent the maximum and minimum values ​​of the angle between the cantilever and the x-axis, respectively.max 、X min They represent the maximum and minimum values ​​of the cantilever rotation center in the x-direction coordinate respectively.

[0105] S7: Calculate the initial posture (X0, α0, β0) of the stacker-reclaimer according to the coordinates of the highest point of the stack:

[0106] β0=sin -1 ((z min +h′ min +h′ s -H0) / L)

[0107] α0=sin -1 (y0 / (L·cosβ0))

[0108] X0=x0-L·cosβ0·cosα0

[0109] Among them, X0 represents the initial coordinate of the cantilever rotation center in the x-axis coordinate, α0 represents the initial angle between the cantilever and the x-axis direction, β0 represents the initial value of the cantilever pitch angle, and h′ s Indicates the height of a single fixed-point pile.

[0110] S8: Control the stacker-reclaimer to run to the initial posture and start stacking.

[0111] Set the current posture of the stacker-reclaimer to (X ini , α ini , β ini ), where X ini Indicates the current coordinate of the cantilever rotation center in the x-direction, α ini Indicates the current angle between the cantilever and the x-axis, β ini Indicates the current value of the cantilever pitch angle. ini When β0≤β ini When the machine is in the position of moving, the walking and turning actions are performed first, and the pitching action is performed after the walking and turning actions are in place.

[0112] S9: Carry out fixed-point stockpiling. When the vertical distance between the cantilever and the stockpile is h<h′ min When h≥h′ min +h′ s Stop the cantilever pitching action until the cantilever pitch angle β ≥ β max ; where h′ s Indicates the height of a single fixed-point pile, β max Indicates the maximum value of the cantilever pitch angle.

[0113] The vertical distance h between the cantilever and the pile can be obtained by a height detection device configured in the material yard.

[0114] S10: When β ≥ β max After that, the vertical distance between the cantilever and the pile satisfies h<h′ min Once, execute a walking action or a rotating action, and the stopping condition of each action is h≥h′ min +h′ s .

[0115] In this embodiment, if the stacking mode is fixed-point walking stacking, the walking action is performed according to the set walking direction until X≥X max (set to move forward) or X≤X min (set to backward walking); if the stacking mode is fixed-point rotary walking stacking, the rotation action is performed according to the set initial rotation direction until β≥β max (Set the rotation direction to right) or β≤β min (Set the rotation direction to left), execute a walking action, and the rotation direction is automatically set to the opposite direction.

[0116] Furthermore, this embodiment also includes step S11: detecting and correcting the vertical distance h between the cantilever and the pile of materials.

[0117] When the configured laser scanning system is capable of acquiring point cloud data including the cantilever drop point in real time when the stacker-reclaimer is stationary, the vertical distance h between the cantilever and the pile is calculated based on the height of the drop point and the posture of the stacker-reclaimer obtained according to the point cloud data.

[0118] For stackers and reclaimers equipped with ranging radars at the front end of the boom and on one side of the boom belt, the measured distance is not the actual vertical distance between the boom and the pile due to the uncertainty of the pile surface. In this case, the detection value cannot be directly used for the stacker and reclaimer's travel or rotation control. When the ranging radar is installed on the right side of the boom belt, if the boom rotates to the right or the boom moves backward on the right stacker and reclaimer or the boom moves forward on the left stacker and reclaimer, the detection value is ahead; if the boom rotates to the left or the boom moves forward on the right stacker and reclaimer or the cantilever moves backward on the left stacker and reclaimer, the detection value is behind. When the detection value is ahead, the vertical distance between the boom and the pile is:

[0119] h=h t -l1·tanθ

[0120] Among them, h t It represents the radar detection distance, and l1 is the horizontal distance between the ranging radar and the cantilever belt dropping point.

[0121] When the detection value lags, the condition for each execution of the walking action or the rotation action is h<h′ min Change to dh t>0, the stopping condition of each action is h≥h′ min +h′ s Change to h t ≥min(h t )+h′ s ,min(h t ) is the minimum value detected by the ranging radar after the walking action or the rotation action starts, d(h t ) represents h t The derivative of .

[0122] The embodiment of the present invention realizes the automated operation of the stacker-reclaimer, which is applicable to both stacking new materials and supplementing existing materials. Stacking can start from the highest point of the material pile, effectively improving the space utilization rate of the material yard; the stacking mode can be dynamically determined to avoid manual selection of the stacking mode or manual selection of an inappropriate stacking mode each time the materials are stacked; and the range of motion of the stacking travel mechanism and the cantilever of the stacker-reclaimer can be dynamically calculated within the allowable range of the stacking position, to avoid material overflow or occupation of necessary channels.

[0123] Although the present invention has been particularly shown and described in conjunction with preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made to the present invention without departing from the spirit and scope of the invention as defined in the appended claims, and all such changes are within the scope of protection of the present invention.

Claims

1. An automatic stacking method for a rocker-type bucket wheel stacker and reclaimer, characterized in that: The following steps are involved: S1: Get the location information of the target stack; S2: Obtain the three-dimensional point cloud data corresponding to the target pile location, and obtain the working material stacking angle θ and the coordinates of the highest point of the material pile corresponding to the target pile location based on the three-dimensional point cloud data; S3: Calculate the maximum stack height z not limited by the stacker boom pitch height m And the maximum stack height z m Distance y from the cantilever rotation center of the stacker-reclaimer m : Where W represents the width of the target stack, h w It indicates the height of the retaining wall on the side of the stockpile away from the stacker-reclaimer, and l indicates the distance between the side of the stockpile close to the stacker-reclaimer and the cantilever rotation center; S4: Calculate the maximum stack height z limited by the stacker-reclaimer boom pitch height lim : With lim =L sinβ′ max +H0-h′ min Among them, L is the length from the cantilever rotation center to the cantilever belt blanking end, H0 is the vertical distance between the cantilever pitch center and the bottom of the pile, β′ max Indicates the set maximum cantilever pitch angle, h′ min Indicates the minimum vertical distance between the cantilever and the pile; S5: According to z m With z lim Select the stacking method based on the size relationship, and calculate the range of blanking points corresponding to the selected stacking method; S6: Calculate the stacking posture range of the stacker-reclaimer according to the range of the material drop points; S7: Calculate the initial posture of the stacker-reclaimer according to the coordinates of the highest point of the stack; S8: Control the stacker-reclaimer to run to the initial posture and start stacking; S9: Carry out fixed-point stockpiling. When the vertical distance between the cantilever and the stockpile is h <h′ min When h≥h′ min +h′ s Stop the cantilever pitching action until the cantilever pitch angle β ≥ β max ; where h′ s Indicates the height of a single fixed-point pile, β max Indicates the maximum value of the cantilever pitch angle; S10: When β ≥ β max After that, the vertical distance between the cantilever and the pile meets h <h′ min Once, execute a walking action or a rotating action, and the stopping condition of each action is h≥h′ min +h′ s ; S11: Detecting the vertical distance h between the cantilever and the pile. The process of detecting by using the ranging radar includes: When the ranging radar is installed on the right side of the cantilever belt, if the cantilever rotates to the right or the cantilever moves backward on the right stacker / reclaimer or the cantilever moves forward on the left stacker / reclaimer, the vertical distance h between the cantilever and the pile is calculated using the following formula: h=h t -l1·tanθ Among them, h t Indicates the radar detection distance, l1 indicates the horizontal distance between the ranging radar and the cantilever belt drop point; If the boom turns left or the boom moves forward on the right stacker / reclaimer or moves backward on the left stacker / reclaimer, the condition for each walking action or rotation action is determined by h <h′ min Change to d(h t )>0, the stopping condition of each action is h≥h′ min +h′ s Change to h t ≥min(h t )+h′ s , where min(h t ) represents the minimum value detected by the ranging radar after the walking action or the rotation action starts, d(h t ) represents h t The derivative of .

2. The automatic stacking method of a rocker-type bucket wheel stacker and reclaimer according to claim 1, characterized in that: In step S2, it is set that when the angle obtained is out of the valid range of the material stacking angle due to a new stack or abnormal point cloud data, the material stacking angle takes the historical value of the material stacking angle of this type. If there is no historical value, the minimum valid value is taken.

3. The automatic stacking method of a rocker-type bucket wheel stacker and reclaimer according to claim 1, characterized in that: The method for selecting the stacking method in step S5 is: when z m ≤z lim When z m >z lim The stacking method adopts fixed-point rotary walking stacking.

4. The automatic stacking method of a rocker-type bucket wheel stacker and reclaimer according to claim 1, characterized in that: When using the fixed-point walking method to stack materials, the range of the drop point ([x min ,x max ],[y min ,y max ],[z min ,z max ]) is calculated as: and max =and min =and m With max =z m With min =z0+min(h′ s ) When adopting the fixed-point rotary walking method to stack materials, the range of the drop point ([x min ,x max ],[y min ,y max ],[z min ,z max ]) is calculated as: y max =y m +(z m -z lim )cotθ y min =y m -(z m -z lim )cotθ With max =z lim With min =z0+min(h′ s ) Among them, x max 、x min They represent the maximum and minimum values ​​of the blanking point range in the x-axis direction, and the y-axis direction. max 、y min They represent the maximum and minimum values ​​of the blanking point range in the y-axis direction, and z max 、z min They represent the maximum and minimum values ​​of the drop point range in the z-axis direction, x1 represents the starting position of the target pile in the x-axis direction, x2 represents the end position of the target pile in the x-axis direction, z0 represents the coordinate of the highest point of the pile in the z-axis direction, and min(.) represents the minimum value.

5. The automatic stacking method of a rocker-type bucket wheel stacker and reclaimer according to claim 4, characterized in that: The attitude range of the stacker-reclaimer ([X min ,X max ],[α min ,α max ],[β min ,β max ]) is calculated as: b min =sin -1 ((z min +h′ min -H0) / L) b max =sin -1 ((z max +h′ min -H0) / L) a min =sin -1 (y min / (l·cosβ max )) a max =sin -1 (y max / (L·cosβ max )) X min =x min -L·cosβ max cosα X max =x max -L·cosβ max cosα Among them, β min Indicates the minimum value of the cantilever pitch angle, α max , α min They represent the maximum and minimum values ​​of the angle between the cantilever and the x-axis, α represents the angle between the cantilever and the x-axis, and X max 、X min They represent the maximum and minimum values ​​of the cantilever rotation center in the x-direction coordinate respectively.

6. The automatic stacking method of a rocker-type bucket wheel stacker and reclaimer according to claim 5, characterized in that: The calculation formula for the initial stacking posture (X0, α0, β0) of the stacker-reclaimer is: β0=sin -1 ((With min +h′ min +h′ s -H0) / L) α0=sin -1 (y0 / (L·cosβ0)) X0=x0-L·cosβ0·cosα0 Among them, X0 represents the initial coordinate of the cantilever rotation center in the x-direction coordinate, α0 represents the initial angle between the cantilever and the x-axis direction, β0 represents the initial value of the cantilever pitch angle, x0 represents the x-direction coordinate of the highest point of the pile corresponding to the target pile, and y0 represents the y-direction coordinate of the highest point of the pile corresponding to the target pile.

7. The automatic stacking method of a rocker-type bucket wheel stacker and reclaimer according to claim 1, characterized in that: Step S8 includes: when β0>β ini When β0≤β ini When , the walking and rotating actions are performed first, and the pitching action is performed after the walking and rotating actions are in place, where β0 represents the initial value of the cantilever pitch angle, β ini Indicates the current value of the boom pitch angle.

8. The automatic stacking method for a rocker-type bucket wheel stacker and reclaimer according to claim 5, characterized in that: If the stacking method is fixed-point walking stacking, the walking action is performed according to the set walking direction until X≥X max Or X≤X min If the stacking method is fixed-point rotary stacking, the rotation action is performed according to the set initial rotation direction until β≥β max Or β≤β min After that, a walking action is executed and the rotation direction is automatically set to the opposite direction.

9. The automatic stacking method of a rocker-type bucket wheel stacker and reclaimer according to claim 1, characterized in that: In S11, the vertical distance h between the cantilever and the pile is detected. The detection process using the laser scanning system includes: obtaining point cloud data including the cantilever drop point in real time through the laser scanning system when the stacker-reclaimer is stationary; obtaining the drop point height and the stacker-reclaimer posture based on the point cloud data, and then calculating the vertical distance h between the cantilever and the pile.

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