Bucket wheel machine operating angle and motion state detection device and method

Abstract

The present invention discloses a device and method for detecting the operating angle and motion state of a bucket wheel excavator, belonging to the technical field of mechanical equipment detection in the material transportation industry. The device includes a motor and a rotating shaft sandwiched between the motors. The rotating shaft is evenly provided with arc-shaped grooves for collecting and releasing the rope. One end of the pull rope is fixedly connected to the end point of the connecting rod, and the other end is a pull rope point S. A connecting rod is welded and fixed above the motor, and a slider K is provided on the connecting rod. The slider K can slide back and forth on the connecting rod. The displacement of the slider K during the operation of the bucket wheel excavator is detected by a laser ranging sensor. Combined with an algorithm, the operating angle and motion state of the bucket wheel excavator at any time can be detected without scanning the overall motion state of the bucket wheel excavator, and the detection accuracy is high.

Description

Technical Field

[0001] The present invention belongs to the technical field of mechanical equipment detection in the material transportation industry, and more specifically, relates to a device and method for detecting the operating angle and motion state of a bucket wheel excavator. Background Art

[0002] Bucket wheel stackers (also known as bucket wheel stackers and reclaimers) are widely used in the material handling industry and are specialized machines for bulk material storage yards. During field operation, the bucket wheel is powered on, the shaft rotates, and a pull rope is continuously reeled in along a groove on the shaft. The other end of the rope is connected to a reclaiming rake, which is continuously pulled up. When the rake forms a certain angle with the bucket wheel's base shaft, the shaft stops rotating, and the rake becomes fixed. It then moves left and right to collect the bulk material and transport it via a conveyor belt. After reclaiming is complete, the shaft reverses and the rope is released, gradually lowering the rake back to the ground. During this reclaiming process, if the rake is pulled up too far or too shallowly, the reclaimer's normal operating rhythm will be affected, reducing reclaiming efficiency. Furthermore, the groove on the shaft is shallow, and if the rope is reeled in or released too quickly, it can slip out of the groove, seriously damaging the bucket wheel. This is a pressing issue facing many bucket wheel operators.

[0003] Currently, the typical approach used on-site is manual estimation, where workers rely on their experience to estimate the angle at which the reclaimer rake should be raised. This method suffers from low accuracy and is significantly affected by the worker's skill level, making it difficult to fundamentally improve reclaiming efficiency. Therefore, an intelligent method for measuring the kinematic state of bucket wheel excavators has been developed.

[0004] Patent CN115557263A discloses a bucket wheel excavator boom angle control method, including the following steps: Step 1: Obtain a three-dimensional model of the stockpile, divide the three-dimensional model into multiple layers of waiting areas, and determine the entry point for the waiting layer; Step 2: Determine the bucket wheel position, boom pitch angle, and rotation angle based on the position data of the entry point, maintain the boom pitch angle unchanged, rotate in a preset direction, and determine in real time whether the bucket wheel has reached the feeding boundary. If so, proceed to Step 3; if not, control the boom to continue rotating in the preset direction; Step 3: Lower the boom pitch angle to the preset pitch angle, rotate in the opposite direction of the preset direction, and proceed to the next layer of feeding. However, this method cannot measure the operating speed.

[0005] Patent CN113955512A discloses a method for estimating the material flow rate and controlling the constant flow rate of a bucket wheel reclaimer. A laser scanner scans the contour of the material pile in the direction of rotation of the bucket wheel cantilever in real time and generates a contour curve. The circular arc curve of the bucket wheel teeth scraping the material is then calculated in real time based on the mechanical parameters of the bucket wheel machine. The contour curve of the material pile and the circular arc curve of the bucket wheel teeth scraping the material are then converted to the same rectangular coordinate system, and the overlapping area of ​​the two curves is calculated. The preset material flow rate, material density, cantilever rotation angle and other parameters are integrated to calculate the cantilever rotation angular velocity, and the current rotation angular velocity is adjusted. Patent CN109650090A discloses a reclaimer reclaiming control method and device, wherein the method includes: obtaining a reclaiming plan, determining a target bucket-wheel reclaimer and a target stockpile based on the reclaiming plan; obtaining scanning data of the target stockpile using a laser scanner installed at the front end of the cantilever of the target bucket-wheel reclaimer, and obtaining position parameter data of the target bucket-wheel reclaimer using a detection device installed on the target bucket-wheel reclaimer; establishing three-dimensional image data of the target stockpile based on the scanning data and position parameter data; generating a reclaiming strategy based on the reclaiming plan and the three-dimensional image data of the target stockpile, and sending the reclaiming strategy to the target bucket-wheel reclaimer so that the target bucket-wheel reclaimer can execute the reclaiming operation according to the reclaiming strategy. The above schemes all perform image scanning of the overall operating status of the reclaimer, and cannot guarantee measurement accuracy in harsh environments with low visibility. Summary of the Invention

[0006] 1. Problem to be solved

[0007] In order to solve the problem that the existing bucket wheel machine operating angle and motion state measurement accuracy is low, the present invention provides a bucket wheel machine operating angle and motion state detection device and method, which can achieve high-precision detection of the bucket wheel machine operating angle and motion state.

[0008] 2. Technical solution

[0009] In order to solve the above problems, the technical solutions adopted by the present invention are as follows:

[0010] The present invention provides a device for detecting the operating angle and motion state of a bucket wheel excavator. The device comprises a motor with a rotating shaft sandwiched between the motors. The rotating shaft is provided with evenly spaced arc-shaped grooves for collecting and releasing the rope. A pull rope is wound within the grooves. One end of the pull rope is fixedly connected to the end point of a connecting rod, and the other end forms a pull rope point S. A connecting rod is welded to the top of the motor, and a slider K is provided on the connecting rod, which can slide back and forth on the connecting rod. A laser rangefinder is also welded to the top of the motor to detect the displacement of the slider K during operation of the bucket wheel excavator. The laser rangefinder is used to detect the displacement of the slider K. The laser emission point faces the slider K, and the laser emission path is parallel to the movement path of the slider K. The laser rangefinder is connected to a computer to transmit the detected data online in real time.

[0011] During the calculation process, the initial positions of the bottom axis and the rope point S are on the same horizontal line, which can be the lowest position of the reclaimer rake or any height can be selected as needed.

[0012] The method for detecting the operating angle and motion state of a bucket wheel excavator using the above device includes the following steps:

[0013] S1: Basic data storage: In the initial state, measure the height h0 from the axis of the rotating shaft to the axis of the bottom shaft, the distance d0 from the axis of the bottom shaft to the rope pulling point S, the length A0 of the connecting rod, the axis length Z0 of the rotating shaft, the total rope length L0 of the rope, and the initial distance a0 between the laser ranging sensor and the slider K; determine the number of turns n of the arc-shaped groove on the rotating shaft, measure the center distance c of each turn, and the wheel radius R of the rotating shaft.

[0014] S2: Detection data: The motor is turned on and the laser ranging sensor is started synchronously to detect the displacement data of the slider K sliding to the right.

[0015] S3: Calculate the operating angle and movement speed: The data detected by the laser ranging sensor is input into the computer online in real time, and the relevant algorithm is used to calculate the operating angle and movement speed of the bucket wheel machine at any time.

[0016] The basic data measured in step S1 can be input into a computer, stored in a database, and called upon during calculation.

[0017] In step S2, the laser ranging sensor detects the displacement every Δt time, which is recorded as a1, a2, ..., a i , the detection data is input into the computer in real time.

[0018] In step S3, when the bucket wheel machine is in operation at any time, a triangle relationship is formed between the rotating shaft, the bottom shaft and the pull rope point S, and two different triangles are presented in the side view and the top view.

[0019] As a further improvement of the present invention, an arbitrary acute triangle is presented in the side view, and the lengths of the three sides of the triangle are respectively the height h0 from the axis of the rotating shaft to the axis of the bottom shaft, the distance d0 from the axis of the bottom shaft to the rope pulling point S, and the distance x0 from the axis of the rotating shaft to the rope pulling point S. i Among them, h0 and d0 are basic data, which are called in the database. The angle θ formed by the two side lengths is the operating angle of the bucket wheel excavator at any time. At this time, according to the cosine theorem:

[0020]

[0021] As a further improvement of the present invention, a right triangle is formed when viewed from above, and the two right-angled sides are the remaining axis length Z of the rotation axis. i ', projection of the distance from the axis of the rotating shaft to the rope pulling point S i ′, the hypotenuse is the remaining rope length L i The algorithm for solving the length of each side is as follows:

[0022]

[0023]

[0024] Where a i is Δt i The displacement of slider K sliding to the right on the connecting rod at the moment Z i The axis length is moved synchronously for the rotating axis.

[0025] As a further improvement of the present invention, the length of the hypotenuse of the triangle L i The solution algorithm is as follows:

[0026]

[0027] Where g is the length of the rope wound in a single turn of the groove on the rotating shaft. The calculation principle diagram is as follows: Figure 6 As shown, a single turn is a turn in which the rope is wound around the groove of the rotating shaft. Figure 7 shown.

[0028] As a further improvement of the present invention, the length solution algorithm of single-turn groove roping g is as follows:

[0029]

[0030] As a further improvement of the present invention, the distance x from the axis of the rotating shaft to the rope pulling point S is i The solution algorithm is as follows:

[0031]

[0032] Combined with formula 1-1, Δt i The displacement a of the slider K detected at each momenti The relationship between the bucket wheel machine operating angle θ and the calculation of Δt i The average angular velocity of the bucket wheel excavator during time and Δt i The height h at which the rope is pulled up at any moment i , where Δθ is the time t i Angle change within:

[0033]

[0034]

[0035] h i =d0cosθ 1-9

[0036] The device and method for detecting the operating angle and motion state of a bucket wheel excavator proposed in the present invention are realized by storing basic data, measuring various basic data, and establishing a database in a computer for storage; detecting displacement data every Δt time by detecting data, and transmitting it to the computer in real time; calculating the operating angle and motion speed, and calculating the displacement data at any time Δt according to the relevant detection algorithm. i Bucket wheel machine operating angle and Δt i The average angular velocity within a certain time period. It can detect the operating angle and motion state of the bucket wheel excavator at any time without contact and with high precision. It also has high stability and strong anti-interference ability, and can operate stably and reliably for a long time.

[0037] 3. Beneficial effects

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] (1) The present invention detects the operating angle and motion state of the bucket wheel excavator at any time by measuring the displacement of the slider K and combining a reasonable algorithm, without scanning the overall motion state of the bucket wheel excavator, and has high detection accuracy;

[0040] (2) The device and method for detecting the operating angle and motion state of a bucket wheel excavator of the present invention are intelligent and real-time. The solution of the present invention adopts intelligent automatic detection, and the detection data is transmitted to the computer in real time, which can calculate the operating angle and motion state of the bucket wheel excavator at any time;

[0041] (3) The present invention provides a device and method for detecting the operating angle and motion state of a bucket wheel excavator, which is highly stable and safe. The laser rangefinder and other equipment used in the present invention can be tested online for a long period of time in relatively harsh field environments, with stable operation and a low failure rate. Furthermore, manual testing is avoided, significantly improving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The technical solutions of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. However, it should be understood that these drawings are designed for illustrative purposes only and are not intended to limit the scope of the present invention. Furthermore, unless otherwise specified, these drawings are intended only to conceptually illustrate the structures described herein and are not necessarily drawn to scale.

[0043] Figure 1 This is a schematic structural diagram of a device for detecting the operating angle and motion state of a bucket wheel excavator according to the present invention;

[0044] In the figure: 100, motor; 200, rotating shaft; 300, connecting rod; 400, laser ranging sensor; 500, pull rope; 600, data processing equipment; K, slider; S, pull rope point;

[0045] Figure 2 This is a side view of the initial state of the bucket wheel machine operating angle and motion state detection of the present invention;

[0046] Figure 3 1. It is a top view of the initial state of the bucket wheel excavator operating angle and motion state detection of the present invention;

[0047] Figure 4 It is a side view of the bucket wheel machine operating angle and motion state detection operating state of the present invention;

[0048] Figure 5 It is a top view of the bucket wheel machine operating angle and motion state detection operating state of the present invention;

[0049] Figure 6 This is a schematic diagram showing the principle of calculating the rope winding length of a single-turn groove of a rotating shaft according to the present invention;

[0050] Figure 7 It is an expanded diagram of the principle of calculating the rope winding length of a single turn groove of the rotating shaft of the present invention. DETAILED DESCRIPTION

[0051] The following detailed description of exemplary embodiments of the present invention refers to the accompanying drawings, which form a part of the description, and in which exemplary embodiments of the present invention that can be implemented are shown as examples. Although these exemplary embodiments are described in sufficient detail to enable those skilled in the art to implement the present invention, it should be understood that other embodiments can be implemented and various changes can be made to the present invention without departing from the spirit and scope of the present invention. The following more detailed description of the embodiments of the present invention is not intended to limit the scope of the claimed invention, but is merely for illustration and does not limit the description of the features and characteristics of the present invention, so as to propose the best way to perform the present invention and be sufficient to enable those skilled in the art to implement the present invention. Therefore, the scope of the present invention is limited only by the appended claims.

[0052] Example 1

[0053] A method for detecting the operating angle and motion state of a bucket wheel excavator in this embodiment includes the following steps:

[0054] S1: Basic data storage

[0055] like Figure 2 、 3 As shown in Figure 6, in the initial state, the height from the axis of the rotating shaft 200 to the axis of the bottom shaft is measured as h0 = 300 cm, the distance from the axis of the bottom shaft to the rope pulling point S is d0 = 1000 cm, the length of the connecting rod 300 is A0 = 50 cm, the axis length of the rotating shaft 200 is Z0 = 200 cm, and the total rope length of the rope 500 is L0 = 1048 cm. The number of turns of the arc-shaped groove on the rotating shaft 200 is determined to be n = 40, and the center distance of each turn is measured as c = 5 cm. The radius of the wheel of the rotating shaft 200 is R = 20 cm. The measured data is transmitted to the computer 600, and a database is established to store it for use during calculations.

[0056] S2: Detection data

[0057] The motor 100 is turned on, the bucket wheel excavator is running, and the laser ranging sensor 400 is started synchronously to detect the displacement data of the slider K sliding to the right on the connecting rod 300. The laser ranging sensor 400 of this embodiment detects the displacement data every Δt time, which are recorded as a1, a2, ..., a i , the detected data is transmitted to the computer 600 in real time.

[0058] S3: Calculate a at a certain moment i Operating angle

[0059] The displacement data detected by the laser ranging sensor 400 is transmitted online to the computer 600 in real time, and the operating angle of the bucket wheel machine at any time can be calculated by using a relevant detection algorithm.

[0060] when a i =1, then Δt i =47s.

[0061] The height h0 from the axis of the rotating shaft 200 to the axis of the bottom shaft, the distance d0 from the axis of the bottom shaft to the rope pulling point S, and the distance x i , and the operating angle θ are as follows:

[0062]

[0063] x ′ i It is related to the bucket wheel machine operation time, and x i The algorithm relationship between and the running angle θ. Figure 5 As shown,

[0064] It is a right triangle when viewed from above. The two right-angled sides are respectively the rotation axis 200 and the remaining axis length Z. ′ i , the axis of the rotating shaft 200 to

[0065] The distance projection x of the rope pulling point S i , the hypotenuse is the remaining rope length 500L i The algorithm for solving the length of each side is as follows:

[0066]

[0067]

[0068] Where a i is Δt i The displacement of the slider K sliding to the right on the connecting rod 300 at the moment, that is, the detection amount, Z i The rotating shaft 200 moves the shaft length synchronously.

[0069] Specifically, the length of the hypotenuse of the triangle is L i The solution algorithm is as follows:

[0070]

[0071] Wherein, g is the length of a single turn of the groove rope on the rotating shaft 200.

[0072]

[0073] Furthermore, the distance x from the axis of the rotating shaft 200 to the rope pulling point S is i The solution algorithm is as follows:

[0074]

[0075] According to formula 1-1, we can get:

[0076]

[0077] h i =d0cosθ=1000×0.33=330cm 1-9

[0078] θ=arccos(0.33)=70.5°

[0079]

[0080] Example 2

[0081] Example 2 includes the following steps:

[0082] S1: Basic data storage

[0083] Initially, measure the height h0 from the axis of the rotating shaft 200 to the axis of the bottom shaft (200 cm), the distance d0 from the axis of the bottom shaft to the rope pull point S (500 cm), the length A0 of the connecting rod 300 (20 cm), the axis length Z0 of the rotating shaft 200 (50 cm), and the total rope length L0 of the rope 500 (539 cm). Determine the number of turns n (10) of the arc-shaped grooves on the rotating shaft 200, the center distance c (2 cm) of each turn, and the radius R (10 cm) of the wheel of the rotating shaft 200. Transmit all measured data to the computer 600, create a database for storage, and access it during calculations.

[0084] S2: Detection data

[0085] The motor 100 is turned on, the bucket wheel excavator is running, and the laser ranging sensor 400 is started synchronously to detect the displacement data of the slider K sliding to the right on the connecting rod 300. The laser ranging sensor 400 of this embodiment detects the displacement data every Δt time, which are recorded as a1, a2, ..., a i , the detected data is transmitted to the computer 600 in real time.

[0086] S3: Calculate a at a certain moment i Operating angle

[0087] The displacement data detected by the laser ranging sensor 400 is transmitted online to the computer 600 in real time, and the operating angle of the bucket wheel machine at any time can be calculated by using a relevant detection algorithm.

[0088] when a i =2, Δt i =105.

[0089] At this time, the height h0 from the axis of the rotating shaft 200 to the axis of the bottom shaft, the distance d0 from the axis of the bottom shaft to the rope pulling point S, and the distance x i , and the operating angle θ are as follows:

[0090]

[0091] x i It is related to the bucket wheel machine operation time, and x i The algorithm relationship between and the running angle θ. Figure 5 As shown, it is a right triangle when viewed from above, and the two right-angled sides are the remaining axis length Z′ of the rotation axis 200. i , the projection x′ of the distance from the center of the rotating shaft 200 to the rope pulling point S i , the hypotenuse is the remaining rope length 500L i The algorithm for solving the length of each side is as follows:

[0092]

[0093]

[0094] Where a i is Δt i The displacement of the slider K sliding to the right on the connecting rod 300 at the moment, that is, the detection amount, Z i The rotating shaft 200 moves the shaft length synchronously.

[0095] Specifically, the length of the hypotenuse of the triangle is L i The solution algorithm is as follows:

[0096]

[0097] Wherein, g is the length of a single turn of the groove rope on the rotating shaft 200.

[0098]

[0099] Wherein, g is the length of a single turn of the groove rope on the rotating shaft 200.

[0100] Furthermore, the distance x from the axis of the rotating shaft 200 to the rope pulling point S is i The solution algorithm is as follows:

[0101]

[0102] According to formula 1-1, we can get:

[0103]

[0104] h i =d0cosθ=500×0.72=360cm 1-9

[0105] θ=arccos(0.72)=43.7°

[0106]

[0107] Example 3

[0108] When Example 3 is applied to another instrument of a different scale, the following steps are included:

[0109] S1: Basic data storage

[0110] Initially, measure the height from the axis of the rotating shaft 200 to the axis of the bottom shaft: h0 = 1000 cm, the distance from the axis of the bottom shaft to the rope pull point S: d0 = 1800 cm, the length of the connecting rod 300: A0 = 100 cm, the axis length of the rotating shaft 200: Z0 = 300 cm, and the total rope length: L0 = 2064 cm. Determine the number of turns of the arc-shaped groove on the rotating shaft 200: n = 75, and the center distance of each turn: c = 4 cm. The radius of the wheel of the rotating shaft 200: R = 30 cm. Transmit all measured data to the computer 600, create a database for storage, and access it during calculations.

[0111] S2: Detection data

[0112] The motor 100 is turned on, the bucket wheel excavator is running, and the laser ranging sensor 400 is started synchronously to detect the displacement data of the slider K sliding to the right on the connecting rod 300. The laser ranging sensor 400 of this embodiment detects the displacement data every Δt time, which are recorded as a1, a2, ..., a i , the detected data is transmitted to the computer 600 in real time.

[0113] S3: Calculate a at a certain moment i Operating angle

[0114] The displacement data detected by the laser ranging sensor 400 is transmitted online to the computer 600 in real time, and the operating angle of the bucket wheel machine at any time can be calculated by using a relevant detection algorithm.

[0115] when a i =7, Δt i =209s.

[0116] At this time, the height h0 from the axis of the rotating shaft 200 to the axis of the bottom shaft, the distance d0 from the axis of the bottom shaft to the rope pulling point S, and the distance x i , and the operating angle θ are as follows:

[0117]

[0118] x i It is related to the bucket wheel machine operation time, and x i The algorithm relationship between and the running angle θ. Figure 5 Place

[0119] '

[0120] As shown, it is a right triangle when viewed from above, and the two right angles are the remaining axis length Z of the rotation axis 200. i , rotating shaft

[0121] '

[0122] 200 Projection of the distance from the axis to the rope point S xi , the hypotenuse is the remaining rope length 500L i The algorithm for solving the length of each side is as follows:

[0123]

[0124]

[0125] Where a i is Δt i The displacement of the slider K sliding to the right on the connecting rod 300 at the moment, that is, the detection amount, Z i The rotating shaft 200 moves the shaft length synchronously.

[0126] Specifically, the length of the hypotenuse of the triangle is L i The solution algorithm is as follows:

[0127]

[0128] Wherein, g is the length of a single turn of the groove rope on the rotating shaft 200.

[0129]

[0130] Wherein, g is the length of a single turn of the groove rope on the rotating shaft 200.

[0131] Furthermore, the distance x from the axis of the rotating shaft 200 to the rope pulling point S is i The solution algorithm is as follows:

[0132]

[0133] According to formula 1-1, we can get:

[0134]

[0135] h i =d0cosθ=1800×0.86=1548cm 1-9

[0136] θ=arccos(0.86)=30.5°

[0137]

Claims

1. A method for detecting the operating angle and motion state of a bucket wheel excavator, characterized in that: The device adopted by the method comprises: a motor (100) and a rotating shaft (200), both ends of the rotating shaft (200) are connected to the motor (100), a connecting rod (300) and a laser distance sensor (400) are provided above the motor (100), a slidable slider K is provided on the connecting rod (300), the laser distance sensor (400) is used to detect the displacement of the slider K, the laser emission point is directly opposite to the slider K, and the laser emission path is parallel to the movement path of the slider K, the rotating shaft (200) is evenly provided with grooves, a pull rope (500) is wound around the groove, one end of the pull rope (500) is fixedly connected to the end point of the connecting rod (300), and the other end is fixed to a material rake, and the fixed point between the pull rope (500) and the material rake is a pull rope point S; The method comprises the following steps: S1: Basic data storage: In the initial state, measure the height h0 from the axis of the rotating shaft (200) to the axis of the bottom shaft, the distance d0 from the axis of the bottom shaft to the rope pulling point S, the length A0 of the connecting rod (300), the axis length Z0 of the rotating shaft (200), the total rope length L0 of the rope (500), and the initial distance a0 between the laser ranging sensor (400) and the slider K; determine the number of turns n of the groove on the rotating shaft (200), measure the center distance c of each turn, and the wheel radius R of the rotating shaft (200); S2: Detection data: The motor (100) is turned on, the pull rope (500) moves, and the laser distance sensor (400) is started synchronously to detect the displacement data of the slider K sliding to the right. Every Δt i Time to detect a displacement, respectively denoted as a i , the detection data is input into the data processing device (600) in real time; S3: Calculate the running angle and movement speed: The data detected by the laser ranging sensor (400) is transmitted to the data processing device (600) in real time. Calculate the running angle and movement speed of the bucket wheel machine at any time, where x i is the distance from the axis of the rotating shaft (200) to the rope pulling point S, θ is the operating angle of the bucket wheel machine, and ω is Δt i The average angular velocity of the bucket wheel excavator during the time, in rad / s.

2. A method for detecting the operating angle and motion state of a bucket wheel excavator according to claim 1, characterized in that: It also includes a bottom axis, which is on the same horizontal line as the initial position of the rope pulling point S.

3. A method for detecting the operating angle and motion state of a bucket wheel excavator according to claim 2, characterized in that: It also includes a data processing device (600), and the laser distance measuring sensor (400) is connected to the data processing device (600) to transmit data in real time.

4. A method for detecting the operating angle and motion state of a bucket wheel excavator according to claim 1, characterized in that: Among them, L i is the remaining length of the drawstring (500), Z i ′ is the remaining shaft length of the rotating shaft (200).

5. A method for detecting the operating angle and motion state of a bucket wheel excavator according to claim 4, characterized in that: At any time when the bucket wheel machine is in operation, the rotating shaft (200), the bottom shaft, and the rope pulling point S form a triangle relationship, which appears as a right triangle when viewed from above. The two right-angled sides are the remaining axis length Z of the rotating shaft (200). i ′ , the distance x from the axis of the rotating shaft (200) to the rope pulling point S i , the hypotenuse is the remaining rope (500) length L i , the algorithm for solving the side lengths is as follows: Where a i is Δt i The displacement of the slider K sliding to the right on the connecting rod (300) at the moment Z i is the synchronous moving axis length of the rotating axis (200), and Z0 is the axis length of the rotating axis (200); Wherein, g is the length of a single turn of the groove on the rotating shaft (200), n is the number of turns of the groove on the rotating shaft (200), and L0 is the total rope length of the pull rope (500).

6. A method for detecting the operating angle and motion state of a bucket wheel excavator according to claim 5, characterized in that: Where Z i is the synchronous moving axis length of the rotating shaft (200), a i is Δt i The displacement of the slider K sliding to the right on the connecting rod (300) at a moment, a0 is the initial distance between the laser ranging sensor (400) and the slider K, A0 is the length of the connecting rod (300), and Z0 is the axis length of the rotating shaft (200).

7. A method for detecting the operating angle and motion state of a bucket wheel excavator according to claim 6, characterized in that: The algorithm for calculating the length of single-turn groove rope g is as follows: Where c is the center distance of each turn and R is the wheel radius of the rotating shaft (200).

8. A method for detecting the operating angle and motion state of a bucket wheel excavator according to claim 7, characterized in that: The various basic data measured in step S1 are input into the data processing device (600), and a database is established for storage and is called during calculation.

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