A method and equipment for dynamic stockpile maintenance in a rectangular material yard

Abstract

This invention discloses a method and equipment for dynamic stockpile maintenance in a rectangular material yard. The method includes the following steps: acquiring calculated stockpile positions for a single stockpiling operation; stockpile position data including stockpile intervals and material types; comparing and overwriting the calculated stockpile positions with existing stockpile positions to form new stockpile positions; acquiring three-dimensional point cloud data of the new stockpile position and its adjacent stockpile positions; correcting the new stockpile position using point cloud stockpiling data; and saving the corrected stockpile position as an existing stockpile position. This invention combines and verifies the recorded existing stockpile position information, the calculated stockpile position information obtained from the stockpiling operation process data, and the stockpile interval information obtained by automatic stockpiling from the three-dimensional point cloud, automatically completing the dynamic stockpile maintenance of the rectangular material yard. This avoids the shortcomings of theoretical calculations, and also avoids the problem of incorrect stockpiling due to other mechanical equipment in the material yard or adjacent stockpiles being too close, which can be caused by relying solely on laser scanning point cloud data.

Description

Technical Field

[0001] This invention belongs to the field of material yard storage management technology, specifically relating to a method and equipment for dynamic storage maintenance of rectangular material yards. Background Technology

[0002] In raw material yards of metallurgical, power, and bulk cargo terminals, stockpile management is essential. In rectangular stockpiles with non-fixed stockpile locations, the areas and types of materials within the stockpiles constantly change with stacking and reclaiming operations, and the shape of the stockpiles becomes highly irregular after repeated stacking and reclaiming. In many conventional stockpiles, the stockpile map only reflects the approximate location and layout order of various material stockpiles. During operations, stacker-reclaimer operators locate target stockpiles based on the layout order, material color, and personal experience. In unmanned stockpiles with remote monitoring of stacker-reclaimers, precise positioning of the stacker-reclaimers and the establishment of a 3D model of the stockpile provide necessary information for stockpile management. Stockpile maintenance can be completed manually or automatically using the 3D model; however, the interference data in the 3D model itself increases the probability of errors in automatic stockpile allocation. With the popularization of unmanned and intelligent stockpile technologies, a reliable and automated maintenance method is needed for the stockpile locations in rectangular stockpiles. Summary of the Invention

[0003] The purpose of this invention is to provide a method and equipment for dynamic stockpiling maintenance of rectangular stockyards, thereby completing the dynamic stockpiling maintenance of rectangular stockyards.

[0004] To achieve the above objectives, the technical solution of the present invention is as follows:

[0005] A method for dynamic stockpile maintenance in a rectangular material yard, comprising the following steps:

[0006] Obtain the calculated stockpile location for a single stockpile operation; the stockpile location data includes the stockpile area and material type;

[0007] The calculated stack location is compared and overwritten with the existing stack location to form a new stack location;

[0008] Acquire the 3D point cloud data of the new stack location and its adjacent stack locations, use the point cloud stacking data to correct the new stack location, and save the corrected stack location as an existing stack location.

[0009] Furthermore, obtaining the calculated stack location for a single stacking operation includes:

[0010] The material stacking range for a single stacking operation is obtained based on the stacker's position, the vertical distance between the stacker's cantilever end and the material stacking surface, and the material stacking angle. The stacker's position includes the position of the stacker's cantilever rotation center in the traveling direction, the cantilever rotation angle, the cantilever pitch angle, the vertical distance between the cantilever pitch center and the ground, and the cantilever length.

[0011] By combining the types of materials in the stockpile, the calculated stockpile location for a single stockpile operation is obtained.

[0012] Furthermore, the material type is obtained based on the material information at the starting point of the operation.

[0013] Furthermore, the calculation of the stack location for a single stacking operation is specifically as follows:

[0014] The theoretical range of material accumulation is calculated in real time during material stacking. :

[0015]

[0016]

[0017] In the formula, This refers to the position of the stacker boom's cantilever rotation center in the traveling direction. The swing angle of the cantilever. The pitch angle of the cantilever. The vertical distance between the cantilever pitch center and the ground. The length of the cantilever. This is the vertical distance between the end of the stacker's cantilever and the surface of the stockpile. The angle at which materials are stacked;

[0018] Obtain the stockpile area for a single stockpile operation :

[0019]

[0020]

[0021] In the formula, This is the starting position of the heap. This is the end position of the stack.

[0022] Obtain the types of materials in the stockpile The calculated stacking position for a single stacking operation is obtained. .

[0023] Furthermore, the calculated stack location is compared and overwritten with existing stack locations to form a new stack location, including:

[0024] Let the calculated stack position be... ;in, To calculate the starting position of the stack location, To calculate the end position of the stack, To calculate the types of materials in the stack;

[0025] Record the existing heap positions as ;in, This represents the starting position of the i-th heap position. This represents the end position of the i-th heap position. Let n be the material type in the i-th stack location, and n be the total number of existing stack locations.

[0026] Traverse existing heap positions , and the calculation of heap position contrast:

[0027] like or ,but remain unchanged. Continue the comparison;

[0028] like and ,but remain unchanged. quilt Overwrite, delete , Continue the comparison;

[0029] like and Then, we can further compare the types of materials:

[0030] A) If ,but and merged into ,delete , Continue the comparison;

[0031] B) If ,but remain unchanged. Replace with new heap position , , Continue the comparison;

[0032] like and Then, we can further compare the types of materials:

[0033] A) If ,but and merged into ,delete , Continue the comparison;

[0034] B) If ,but remain unchanged. Replace with new heap position , , Continue the comparison;

[0035] like and Then, we can further compare the types of materials:

[0036] A) If ,but ,delete End of comparison;

[0037] B) If ,but remain unchanged. It becomes 2 heap positions and End of comparison.

[0038] Furthermore, the new heap positions are revised as follows:

[0039] A) Let the new heap position be... Take the material pile interval between the two piles adjacent to the new pile location. and ;

[0040] B) Obtaining the interval The stacking intervals identified by the 3D point cloud k=0,1,2;

[0041] C) If there are heap space pairs ,further:

[0042] i) If there are heap position pairs Then take ;

[0043] ii) If there are heap position intervals Then take ;

[0044] D) If there are heap space pairs ,further:

[0045] i) If there are heap position pairs Then take ;

[0046] ii) If there are heap position intervals Then take .

[0047] A dynamic storage yard maintenance device for implementing the above-described dynamic storage yard maintenance method includes:

[0048] The stacking location information system is used to store and query existing stacking location information;

[0049] A laser scanning system is used to provide three-dimensional point cloud data of material piles in the material yard and to perform pile segmentation.

[0050] A height detection device is used to detect the vertical distance between the end of the stacker boom and the surface of the stacked material;

[0051] The material stacking angle module is used to store or calculate the stacking angle of various types or stacking positions of materials.

[0052] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0053] This invention combines and verifies the existing stacking location information recorded, the calculated stacking location information obtained from the stacking operation process data, and the stacking interval information obtained by automatic stacking from the three-dimensional point cloud. It automatically completes the dynamic stacking location maintenance of the rectangular material yard, avoiding the shortcomings of theoretical calculations and the problem of incorrect stacking due to other mechanical equipment or adjacent stacks being too close to each other in the material yard, which can be caused by relying solely on laser scanning point cloud data. Attached Figure Description

[0054] Figure 1 This is a flowchart of the rectangular material yard dynamic stacking maintenance method of the present invention;

[0055] Figure 2 This is a schematic diagram of the projection of the material yard space onto the xy plane during the stockpiling process according to the present invention;

[0056] Figure 3 This is a schematic diagram of the projection of the material yard space onto the xz plane during the stockpiling process according to the present invention. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0058] The present invention provides an automatic maintenance method for dynamic stacking positions in rectangular material yards, such as... Figure 1 As shown, it includes:

[0059] During the stockpiling operation, data such as the stockpiler's travel position, cantilever rotation angle, cantilever pitch angle, and vertical distance between the cantilever and the stockpile are tracked and recorded. After the operation is completed, the calculated stockpile position range is calculated based on the stacking angle of the materials. The material type of the stockpile is obtained based on the material information at the starting point of the operation, thus obtaining the theoretical calculated stockpile position for a single stockpiling operation. ;

[0060] Traverse the existing heap positions and calculate the heap positions respectively. By comparing, the stack locations are merged, split, or adjusted to form new stack locations;

[0061] For each newly generated stack location, the stack location information identified by the 3D point cloud within the new stack location and its two adjacent stack location intervals is used for correction, and the corrected new stack location is saved.

[0062] Furthermore, based on the positional range of the stacker-reclaimer and the material stacking angle during the stacking operation, the material pile interval for a single stacking operation is obtained. The material type of the pile is acquired from the starting point of the operation, thus yielding the calculated pile position for a single stacking operation. The calculated pile position is compared with existing pile positions in terms of interval and material type. Through merging, splitting, or adjustment, the calculated pile position and its adjacent new pile positions are generated. The generated new pile positions are then corrected using the pile position information identified from the 3D point cloud within the intervals of the new pile position and its two adjacent pile positions.

[0063] The prerequisites for the applicability of this invention are:

[0064] 1) A system for storing and retrieving existing stockpile location information, including the starting position of the stockpile location. Finish line and material varieties , recorded as ;

[0065] 2) The stockyard or stacker-reclaimer is equipped with a laser scanning system to provide three-dimensional point cloud data of the stockyard stockpile and has an automatic stockpile separation function;

[0066] 3) Equipped with a height detection device for the material drop point of the stacker-reclaimer cantilever, which can obtain the vertical distance between the cantilever and the material pile. ;

[0067] 4) The stacking angle of each type or stockpile material is known or obtained through calculation. .

[0068] The automatic maintenance method for rectangular stockpile locations of the present invention integrates the stacker crane's position and orientation, material stacking angle, existing stockpile information, and 3D point cloud stacking information during operation to achieve automatic maintenance of rectangular stockpile locations. The method includes:

[0069] 1) such as Figure 2 and Figure 3 As shown, the theoretical range of material accumulation is calculated in real time during stockpiling. :

[0070]

[0071]

[0072] in, This refers to the position of the stacker boom's cantilever rotation center in the traveling direction. The swing angle of the cantilever. The pitch angle of the cantilever. The distance between the cantilever pitch center and the ground. The length of the cantilever. This is the measured value of the vertical distance between the cantilever end and the material pile surface. The angle at which the material is stacked.

[0073] 2) Calculate the theoretical calculation range for a single stockpiling operation. Obtain the types of work materials The theoretically calculated stack position is obtained. ,in:

[0074]

[0075]

[0076] The type of material used as the starting point for the operation.

[0077] 3) Traverse existing heap positions , and the calculation of heap position contrast:

[0078] like or ,but remain unchanged. Continue the comparison;

[0079] like and ,but remain unchanged. quilt Overwrite, delete , Continue the comparison;

[0080] like and Then, we can further compare the types of materials:

[0081] A) If ,but and merged into ,delete , Continue the comparison;

[0082] B) If ,but remain unchanged. Replace with new heap position , , Continue the comparison.

[0083] like and Then, we can further compare the types of materials:

[0084] A) If ,but and merged into ,delete , Continue the comparison;

[0085] B) If ,but remain unchanged. Replace with new heap position , , Continue the comparison.

[0086] like and Then, we can further compare the types of materials:

[0087] A) If ,but ,delete End of comparison;

[0088] B) If ,but remain unchanged. It becomes 2 heap positions and End of comparison.

[0089] 4) A maximum of 3 new stack positions will be generated after the comparison is completed. , , For each new heap location (denoted as...) Make the following corrections:

[0090] A) Take and Interval between two adjacent heap positions and ;

[0091] B) Obtaining the interval The interval of the stack position (hereinafter referred to as the scanned stack position) identified by the three-dimensional point cloud. There are three in total: , and ;

[0092] C) If it exists ,further:

[0093] i) If it exists Then take ;

[0094] ii) If it exists Then take ;

[0095] D) If it exists ,further:

[0096] i) If it exists Then take ;

[0097] ii) If it exists Then take ;

[0098] E) In other cases, since the scanned stockpile does not have the function of distinguishing material types, the calculated stockpile position shall prevail.

[0099] Example:

[0100] In this embodiment, the stacker-reclaimer equipment parameters are as follows:

[0101]

[0102] Step 1: Calculate the theoretical range of material accumulation in real time during the stockpiling process. :

[0103]

[0104]

[0105] Step 2: Upon completion of the stockpiling operation, calculate the theoretical calculation range of the stockpile for a single stockpiling operation. Obtain the types of work materials The theoretically calculated stack position is obtained. ,in:

[0106]

[0107]

[0108] The type of material used as the starting point for the operation.

[0109] Step 3: Take

[0110] Step 4: In the existing heap space Winning With calculation of stack position contrast:

[0111] Step 5: If or ,but remain unchanged. If the above steps are not executed, proceed to step 4; otherwise, proceed to step 6.

[0112] Step 6: If and ,but remain unchanged. quilt Overwrite, delete , If the above steps are not executed, proceed to step 4; otherwise, proceed to step 7.

[0113] Step 7: If and Then, we can further compare the types of materials:

[0114] A) If ,but and merged into ,delete , If the above steps are not executed, proceed to step 4; otherwise, proceed to step 8.

[0115] Step 8:

[0116] B) If ,but remain unchanged. Replace with new heap position , If you do not execute step 4, then execute step 9.

[0117] Step 9: If and Then, we can further compare the types of materials:

[0118] A) If ,but and merged into ,delete , If the above steps are not executed, proceed to step 4; otherwise, proceed to step 10.

[0119] Step 10:

[0120] B) If ,but remain unchanged. Replace with new heap position , If the above steps are not executed, proceed to step 4; otherwise, proceed to step 11.

[0121] Step 11: If and Then, we can further compare the types of materials:

[0122] A) If ,but ,delete If the comparison ends, proceed to step 13; otherwise, proceed to step 12.

[0123] Step 12:

[0124] B) If ,but remain unchanged. It becomes 2 heap positions and End of comparison;

[0125] Step 13: The comparison completes, generating a maximum of 3 new heap positions. , , For each new heap location (denoted as...) Make the following corrections:

[0126] A) Take and Interval between two adjacent heap positions and ;

[0127] B) Obtaining the interval The interval of the stack position (hereinafter referred to as the scanned stack position) identified by the three-dimensional point cloud. ;

[0128] Step 14:

[0129] C) If it exists ,further:

[0130] i) If it exists Then take ;

[0131] ii) If it exists Then take ;

[0132] Step 15:

[0133] D) If it exists ,further:

[0134] i) If it exists Then take ;

[0135] ii) If it exists Then take ;

[0136] E) In other cases, since the scanned stockpile does not have the function of distinguishing material types, the calculated stockpile position shall prevail.

[0137] Step 16: Save the corrected stack location.

[0138] In summary, this invention provides a method and equipment for automatic dynamic maintenance of stacking positions in a rectangular stockyard. The method includes: calculating stacking positions based on the stacker's operational posture range, the vertical distance between the stacker's cantilever end and the stockpile surface, and the material stacking angle; comparing the calculated stacking position with existing stacking positions in terms of range and material type to form a new stacking position; acquiring three-dimensional point cloud data within the range of the new stacking position and adjacent stacking positions; correcting the new stacking position using the point cloud data; and storing the corrected stacking position as an existing stacking position. This invention combines the stacker-reclaimer's posture during the stacking process with laser-scanned three-dimensional point cloud data for automatic maintenance of stacking positions in a rectangular stockyard. This avoids the shortcomings of theoretical calculations with inherent biases and also avoids errors in stacking based solely on laser-scanned point cloud data due to other mechanical equipment or adjacent stockpiles being too close together.

[0139] It should be noted that, depending on the implementation needs, the various steps / components described in this application can be broken down into more steps / components, or two or more steps / components or parts of the operation of steps / components can be combined into new steps / components to achieve the purpose of this invention.

[0140] Those skilled in the art will readily understand that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for dynamic stockpile maintenance in a rectangular material yard, characterized in that, The method includes the following steps: Obtain the calculated stockpile location for a single stockpile operation; the stockpile location data includes the stockpile area and material type; The calculated stack location is compared and overwritten with the existing stack location to form a new stack location; Acquire the 3D point cloud data of the new stack location and its adjacent stack locations, use the point cloud stacking data to correct the new stack location, and save the corrected stack location as an existing stack location; The calculation of the stack location for a single stacking operation includes: The stockpile area for a single stockpiling operation is obtained based on the stockpile's position, the vertical distance between the stockpile's cantilever end and the stockpile surface, and the material stacking angle. The stockpile's position includes the position of the stockpile's cantilever rotation center in the traveling direction, the cantilever rotation angle, the cantilever pitch angle, the vertical distance between the cantilever pitch center and the ground, and the cantilever length. Combined with the type of material in the stockpile, the calculated stockpile position for a single stockpiling operation is obtained. The specific calculation of the stack location for a single stacking operation is as follows: The theoretical range of material accumulation is calculated in real time during stockpiling. : In the formula, This refers to the position of the stacker boom's cantilever rotation center in the traveling direction. The swing angle of the cantilever. The pitch angle of the cantilever. The vertical distance between the cantilever pitch center and the ground. The length of the cantilever. This is the vertical distance between the end of the stacker's cantilever and the surface of the stockpile. The angle at which materials are stacked; Obtain the stockpile area for a single stockpile operation : In the formula, This is the starting position of the heap. This is the end position of the stack. Obtain the types of materials in the stockpile The calculated stacking position for a single stacking operation is obtained. ; The calculation of the heap location is compared and overwritten with the existing heap locations to form a new heap location, including: Let the calculated stack position be... ;in, To calculate the starting position of the stack location, To calculate the end position of the stack, To calculate the types of materials in the stack; Record the existing heap positions as ;in, This represents the starting position of the i-th heap position. This represents the end position of the i-th heap position. Let n be the material type in the i-th stack location, and n be the total number of existing stack locations. Traverse existing heap positions , and the calculation of heap position contrast: like or ,but remain unchanged. Continue the comparison; like and ,but remain unchanged. quilt Overwrite, delete , Continue the comparison; like and Then, we can further compare the types of materials: A) If ,but and merged into ,delete , Continue the comparison; B) If ,but remain unchanged. Replace with new heap position , , Continue the comparison; like and Then, we can further compare the types of materials: A) If ,but and merged into ,delete , Continue the comparison; B) If ,but remain unchanged. Replace with new heap position , , Continue the comparison; like and Then, we can further compare the types of materials: A) If ,but ,delete End of comparison; B) If ,but remain unchanged. It becomes 2 heap positions and End of comparison.

2. The method for dynamic stockpile maintenance of rectangular material yards according to claim 1, characterized in that, The material type is obtained based on the material information at the starting point of the operation.

3. The method for dynamic stockpile maintenance of rectangular material yards according to claim 1, characterized in that, The new heap space is revised as follows: A) Let the new heap position be... Take the material pile interval between the two piles adjacent to the new pile location. and ; B) Obtaining the interval The stacking intervals identified by the 3D point cloud k=0,1,2; C) If there are heap space pairs ,further: i) If there are heap position pairs Then take ; ii) If there are heap position intervals Then take ; D) If there are heap space pairs ,further: i) If there are heap position pairs Then take ; ii) If there are heap position intervals Then take .

4. A dynamic stacking maintenance device for a rectangular stockyard used to implement the dynamic stacking maintenance method for a rectangular stockyard as described in claim 1, characterized in that, include: The stacking information system is used to store and retrieve existing stacking information; A laser scanning system is used to provide three-dimensional point cloud data of material piles in the material yard and to perform pile segmentation. A height detection device is used to detect the vertical distance between the end of the stacker boom and the surface of the stacked material; The material stacking angle module is used to store or calculate the stacking angle of various types or stacking positions of materials.

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