A bucket wheel machine remote control method and system

Abstract

The application discloses a kind of bucket wheel machine remote control methods comprising: coal pile stratification and carry out bucket wheel machine parameter setting;Start remote control, enter automatic material taking mode, select coal pile to take coal;Or enter automatic material stacking mode, set existing material stacking point or create new material stacking point;To the angle fine adjustment and parameter deviation correction of material stacking or coal taking boundary.The bucket wheel machine remote control method provided by the application reduces personnel frequent operation through unmanned transformation of bucket wheel machine, reduces long-time operation stress, reduces personnel allocation, increases equipment monitoring points, reacts equipment state in time through signal feedback, reduces equipment damage.Observe the whole process of operation through monitoring video.Remote control stack, take material machine operation, improve unloading, into warehouse efficiency, can meet Sutong power plant 1000MW unit high load coal consumption, ensure that unit safe and reliable operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of bucket wheel machine, in particular to a bucket wheel machine remote control method and system. BACKGROUND

[0002] The bucket wheel machine is a kind of continuous conveying high-efficiency loading and unloading machine for large dry bulk cargo yard, which is composed of a belt conveyor arm, a bucket wheel at the front end of the belt conveyor arm, a frame and a running mechanism.

[0003] The existing bucket wheel machine control is mostly on-site operation, and the bucket wheel machine driver has a large workload, and the personnel configuration is complex, which consumes a lot of manpower and material resources, and is time-consuming and laborious; at the same time, part of the coal yard is closed, and the on-site work has a great hidden danger to the safety of personnel, which affects the health of personnel. SUMMARY

[0004] This section aims to summarize some aspects of the embodiments of the present application and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract and title of the specification to avoid obscuring the purpose of this section, abstract and title, and such simplifications or omissions cannot be used to limit the scope of the present application.

[0005] In view of the above problems, the present application is proposed.

[0006] Therefore, the technical problem solved by the present application is that the existing bucket wheel machine control is time-consuming and laborious, part of the coal yard is closed, and the on-site work has a great hidden danger to the safety of personnel, which affects the health of personnel.

[0007] To solve the above technical problems, the present application provides the following technical scheme: a bucket wheel machine remote control method, comprising:

[0008] Layering the coal pile and setting parameters of the bucket wheel machine;

[0009] Starting remote control, entering automatic material taking mode, selecting a coal pile to take coal; or entering automatic material stacking mode, setting an existing material stacking point or creating a new material stacking point;

[0010] Angle fine-tuning and parameter deviation correction are performed on the material stacking or coal taking boundary.

[0011] As a preferred scheme of the bucket wheel machine remote control method, wherein: the coal pile is divided into four layers, and the parameter setting includes 4-layer coal taking point setting, material stacking point setting, left and right yard boundary setting, left and right yard safety angle setting, pitch setting, and left and right yard material stacking left and right boundary setting.

[0012] As a preferred scheme of the bucket wheel machine remote control method, the remote control comprises that an operator selects a bucket wheel machine operation area and a bucket wheel machine operation mode in a centralized control room, a control master power is closed, a bucket wheel machine automatic positioning program is started, a positioning completion is displayed on an operation interface when the bucket wheel machine completes the automatic positioning program, a start operation button is pressed on the operator station in the centralized control room, and the bucket wheel machine starts automatic operation.

[0013] As a preferred scheme of the bucket wheel machine remote control method, the automatic material taking mode comprises that an automatic material taking mode is entered, a coal pile is selected for positioning, the bucket wheel is located at the inner side of the coal pile close to a track when the positioning is completed, a boom starts to turn to the outer side of the coal pile after a start operation instruction is given in the centralized control room, the boom continues to turn to the inner side of the coal pile close to the track after the boom reaches the outer edge of the coal pile, the boom advances by one step, and the boom advances by one step in sequence to circulate the material taking process until a stop operation instruction is sent by an upper computer or the coal layer is taken completely, the automatic material taking operation is ended, a control system automatically stops all running equipment in sequence, and finally the main power of the bucket wheel machine is disconnected.

[0014] As a preferred scheme of the bucket wheel machine remote control method, the automatic material taking mode comprises that an automatic material taking mode is entered, a coal pile is selected for positioning, the bucket wheel is located at the inner side of the coal pile close to a track when the positioning is completed, a boom starts to turn to the outer side of the coal pile after a start operation instruction is given in the centralized control room, the boom continues to turn to the inner side of the coal pile close to the track after the boom reaches the outer edge of the coal pile, the boom advances by one step, and the boom advances by one step in sequence to circulate the material taking process until a stop operation instruction is sent by an upper computer or the coal layer is taken completely, the automatic material taking operation is ended, a control system automatically stops all running equipment in sequence, and finally the main power of the bucket wheel machine is disconnected.

[0015] As a preferred scheme of the bucket wheel machine remote control method, the automatic material taking mode comprises that an automatic material taking mode is entered, a coal pile is selected for positioning, the bucket wheel is located at the inner side of the coal pile close to a track when the positioning is completed, a boom starts to turn to the outer side of the coal pile after a start operation instruction is given in the centralized control room, the boom continues to turn to the inner side of the coal pile close to the track after the boom reaches the outer edge of the coal pile, the boom advances by one step, and the boom advances by one step in sequence to circulate the material taking process until a stop operation instruction is sent by an upper computer or the coal layer is taken completely, the automatic material taking operation is ended, a control system automatically stops all running equipment in sequence, and finally the main power of the bucket wheel machine is disconnected.

[0016] As a preferred scheme of the bucket wheel machine remote control method, wherein: the angle fine adjustment of the boundary includes inputting the angle value of the corresponding boundary in the taking material correction column, then clicking the left correction or right correction button to fine adjust the left and right rotation boundary angle, setting the corresponding boundary angle value as the current actual rotation angle by clicking the current angle button, and resetting the current rotation angle range to the program default rotation angle range by clicking the angle reset button.

[0017] The parameter deviation correction includes jog forward, jog backward, stacker reclaimer pitch angle deviation correction, and stacker rotation angle deviation correction.

[0018] As a preferred scheme of the bucket wheel machine remote control method, wherein: the jog forward and jog backward include selecting the jog operation to fine adjust when the automatic stacker reclaimer process is insufficient or too large, or the cart is manually advanced or retreated during operation, pressing the forward or backward button for more than 10 seconds to lock the corresponding operation, then releasing the button, and the cart continues to move, and stopping the cart after clicking the walking lock release button when the cart reaches the expected position, and stopping the cart automatically after 15 seconds of forward or backward locking.

[0019] The stacker reclaimer pitch angle deviation correction includes using the jog operation to manually correct the operation angle when the pitch angle deviation is too large during the automatic stacker reclaimer operation.

[0020] The stacker rotation angle deviation correction includes manually correcting the stacker rotation left and right boundary angle when the rotation angle deviation is too large during the automatic stacker operation, and locking the rotation jog operation when the bucket wheel machine is in the full-automatic taking or stacking mode.

[0021] A bucket wheel machine remote control system, comprising:

[0022] The upper computer system adopts an industrial computer, IFIX5.5 industrial monitoring and control system software and Studio5000 programming software are installed on the computer, and the upper computer system and a powerful industrial control transmission network are used to realize automatic management and control of the entire production process.

[0023] The PLC remote full-automatic control system adopts a Studio5000 programming environment to realize control of the full-automatic operation of the bucket wheel machine through logic combination.

[0024] The sensing monitoring system and the encoding positioning system use reliable and stable detection and monitoring equipment to provide stable and accurate control data for the system for logic control.

[0025] The video monitoring system adopts Hikvision high-definition monitoring equipment, builds a high-definition video monitoring network, and enables the operation personnel to monitor the bucket wheel machine operation condition in real time in the centralized control center.

[0026] A computer device, comprising: a memory and a processor; the memory stores a computer program, characterized in that: the processor executes the computer program to realize the steps of the method of any one of the present application.

[0027] A computer readable storage medium, having a computer program stored thereon, characterized in that: the computer program is executed by a processor to realize the steps of the method of any one of the present application.

[0028] The beneficial effects of the present application: the bucket wheel machine remote control method provided by the present application reduces personnel frequent operation and relieves long-time operation pressure through bucket wheel machine unattended transformation. The bucket wheel machine unattended reduces personnel configuration. The bucket wheel machine unattended increases equipment monitoring points, timely reacts equipment state through signal feedback, and reduces equipment damage. The operation process is observed in all directions through monitoring video. The present application remotely controls the stacker-reclaimer operation through operation optimization adjustment, data analysis and equipment transformation, improves the unloading and warehousing efficiency, can meet the high load coal consumption of Sutong power plant 1000MW unit, and ensures the safe and reliable operation of the unit. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor. Among them:

[0030] Figure 1 A whole flow chart of a bucket wheel machine remote control method provided for an embodiment of the present application;

[0031] Figure 2 A bucket wheel machine parameter setting chart in a bucket wheel machine remote control method provided for the first embodiment of the present application;

[0032] Figure 3 An equipment state chart of a bucket wheel machine remote control method provided for the first embodiment of the present application;

[0033] Figure 4 A structure schematic diagram of a bucket wheel machine remote control system provided for the second embodiment of the present application. DETAILED DESCRIPTION

[0034] In order to make the above objectives, characteristics and advantages of the present application more obvious and comprehensible, the specific embodiments of the present application are described in detail below with reference to the drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all the other embodiments obtained by those skilled in the art without creative work should fall within the protection scope of the present application.

[0035] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The present application, however, can be practiced in a variety of ways beyond the specific details set forth herein without departing from the scope of the present application. It can be appreciated by those skilled in the art that the present application can be practiced without such specific details.

[0036] Secondly, "one embodiment" or "an embodiment" as used herein means that a particular implementation can include a particular feature, structure, or characteristic. However, "in one embodiment" or "in an embodiment" appearing in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily mutually exclusive of other embodiments.

[0037] The present application is described in detail below with reference to the drawings. In describing the embodiments of the present application, the sectional view of the device structure is partially enlarged without the general proportion for the convenience of description, and the schematic view is only an example, which should not limit the scope of protection of the present application. In addition, the three-dimensional spatial dimensions of length, width and depth should be included in the actual manufacture.

[0038] Meanwhile, in the description of the present application, it should be noted that the terms "upper, lower, inner and outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first, second or third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0039] Unless otherwise clearly specified and limited, the terms "mounting, connecting, connection" in the present application should be understood broadly, for example: it can be fixed connection, detachable connection or integral connection; it can also be mechanical connection, electrical connection or direct connection, it can also be indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0040] Example 1

[0041] Reference Figures 1-3For an embodiment of the present application, a bucket wheel machine remote control method is provided, comprising:

[0042] S1: stratifying the coal pile and setting parameters of the bucket wheel machine;

[0043] Further, the coal pile is evenly divided into four layers, and the coal pile slope is about 38°.

[0044] Further, the blue font in the parameter setting screen can be modified, and only the administrator has the right to change the set parameters. When changing, be careful, and after modification, test whether it will hit the coal pile or other places to prevent unpredictable accidents.

[0045] The parameter setting mainly sets the 4-layer coal taking points and coal stacking points of each coal yard. After these parameters are set, they are basically not modified. The coal yard operation management department needs to uniformly stipulate the stacking starting point and stacking ending point of each coal pile, the left and right stacking yard stacking rotation inner angle and stacking rotation outer angle.

[0046] After the above parameters are fixed, the inner angle and outer angle of each layer of automatic material taking (distinguishing left and right stacking yards) can be basically determined.

[0047] It should be noted that the setting of the left and right boundaries of each layer of the left and right yards and the setting of the taking starting point of each layer can be set according to the on-site coal pile situation, but this setting is basically not changed.

[0048] S2: start remote control, enter automatic material taking mode, select a coal pile for coal taking; or enter automatic stacking mode, set an existing stacking point or create a new stacking point;

[0049] Further, due to factors such as coal pile collapse, pusher working, and manual stacking, the coal pile boundary is irregular. At this time, the operator needs to adjust the boundary angle in time according to the actual situation of the coal pile (observed through the video monitoring system) when fully automatic material taking. When remote control, only need to click the manual boundary trigger button once on the main screen of the upper computer to force the boundary to reach (effective within the set boundary angle range), and the automatic material taking operation rotation immediately stops, then advances one step, and then changes direction to rotate, and reaches the boundary only once, and cannot be clicked multiple times, otherwise it will cause multiple forward movements and too deep coal cutting.

[0050] It should be noted that the control mode of the bucket wheel machine fully automatic control system is divided into: local manual control and remote centralized fully automatic control.

[0051] Local manual control: the bucket wheel machine driver controls the walking of the cart, the left and right rotation of the cantilever, and the up and down pitch of the cantilever through the left and right operation handles in the local cab. The related equipment (rail clamps, auxiliary oil pumps, master power supply, manual-automatic switch, etc.) is started and stopped through the control buttons / knobs on the left and right operation tables.

[0052] Remote full automatic centralized control: that is, the real sense of the realization of the full automatic control of the bucket wheel machine, in the centralized control room to carry out simple process operation can realize remote full automatic coal, cantilever rotation, cantilever pitch and cart walking control.

[0053] It should be noted that the field device must be guaranteed to have no fault, and the host computer has no fault display. In the alarm column, there is no fault display, and if there is a fault display, click the confirm alarm button; must click the reset button to remove the lock fault alarm left after the last operation.

[0054] The device status bar is divided into various regions according to the related signals of the device, such as the large car mechanism placed is related to the status signal of the large car; red indicates limit position action, green indicates limit action, and the fault signal action will flicker.

[0055] Further, when taking material, click the "material taking mode" button on the main screen, and click the coal pile you want to take in the existing coal pile (for example, the existing coal pile is "202" at this time). Click the "main order closing" button---a secondary confirmation box will pop up, click the "yes" button. At this time, the program automatically closes the main order power switch; the main order is the same.

[0056] Further, after selecting the set mode, the current selection bar will display the selected coal pile number, coal layer, and positioning target position. Click start positioning, and the bucket wheel machine will automatically position to the target position according to the default process. If the "positioning completed" indicator light is on, it indicates that the positioning has been completed.

[0057] It should be noted that the function of clicking the "positioning current" button: after stopping work during the stacking and taking material process, when operating again in the original position, the positioning program can be skipped. At this time, the positioning can be forced to complete (if the positioning position does not match the actual position, please click the main screen to operate). After positioning is completed, click the start operation button, and the automatic rotation taking material will start.

[0058] Further, in the automatic taking mode, when the positioning is completed, the bucket wheel is located at the inner side of the coal pile close to the track. After the start operation instruction is given by the central control room, the cantilever starts to rotate to the outer side of the coal pile (for the right stockyard, the cantilever rotates from left to right; for the left stockyard, the cantilever rotates from right to left) → the speed control of the rotation → when the cantilever reaches the outer edge of the coal pile → the cart advances one step (at the same time, the cantilever reverses to rotate to the inner side, to ensure the stability of the taking amount and reduce the temporary flow interruption of the taking amount of the cantilever belt) → the cantilever continues to rotate to the inner side of the coal pile close to the track → the cart advances one step (at the same time, the cantilever reverses to rotate to the outer side, to ensure the stability of the taking amount and reduce the temporary flow interruption of the taking amount of the cantilever belt) → the taking operation is sequentially and circularly performed until the upper computer sends a stop operation instruction or the coal layer is taken up → the automatic taking operation is ended → the control system automatically stops all running devices in sequence (the bucket wheel is stopped first, and the cantilever belt is stopped after a delay) → finally, the main power supply of the bucket wheel machine is disconnected.

[0059] It should be noted that when it is determined that the stockyard has been taken up, the coal storage information of the coal pile needs to be corrected. For example, when the 202 stockyard has been taken up, the coal pile "202" is selected after the coal yard filling button is clicked to pop up the picture, and then the "empty selected coal pile" button is clicked.

[0060] Further, in the automatic taking mode, the rotation needs to return to the side close to the boundary of the track of the bucket wheel machine. First, the taking pause is clicked to let the boundary coal be taken cleanly without coal on the belt, and then the stop operation button of the upper computer is clicked. At this time, the bucket wheel stops running, the cantilever belt stops running after a delay of 15s, the system automatically stops the enabling of the walking mechanism, the rotation mechanism and the pitching mechanism. According to the operation needs, after the bucket wheel and the belt stop, the jog backward and upward are clicked to leave the coal pile and reach the safety area. Finally, the "power supply disconnecting" button on the main picture is clicked, and the taking operation is ended.

[0061] Note: When the two coal piles are too close, the rotation will collide with the rear coal pile during taking. Therefore, during the first taking rotation of a layer, the rear coal pile must be monitored to ensure that it will not be collided.

[0062] Further, when the coal is to be stacked, the stacking point is manually set. For example, if it is intended to continue stacking in the "101" coal pile, only the continue stacking is selected, the coal pile is selected, and then the "confirm" button is clicked. The system automatically calculates the positioning target position and sends it to the automatic positioning program. If a new coal pile is to be stacked, the new pile is selected, the stockyard to be stacked is clicked, the start and end positions of the stacking point are set, and finally the "confirm" button is clicked.

[0063] Further, the "main command closing" button is clicked to pop up a secondary confirmation box, and the "confirm" button is clicked. At this time, the program automatically closes the main power supply switch, enables the cart walking, enables the rotation, starts the main and auxiliary oil pumps of the pitching, and then the "reset" button is clicked.

[0064] Further, click "start positioning", the positioning process starts until the positioning completion indicator turns red, the positioning process is completed. The positioning completion indicator turns from gray to red, click the "start work" button at this time, the cantilever belt automatic stacking operation starts, at this time the shovel enters the automatic stacking mode. The function of clicking the "force positioning completion" button: after stopping work during the stacking and reclaiming process, the positioning program can be skipped when working in the original position again at this time, the positioning completion can be forced (if the positioning position does not match the actual position, please click the main screen to operate).

[0065] Further, in the automatic stacking mode, after positioning is completed (the cart is in place, the cantilever is rotated to the place, and the cantilever is tilted to the stacking tilt starting position) → click start work to automatically start the cantilever belt (forward operation) → coal control starts the ground belt → when the cantilever belt head distance from the coal pile detected by the material level radar range finder is less than the set value → the cantilever automatically rises 1° → continue to stack when the cantilever belt head distance from the coal pile detected by the material level radar range finder is less than the set value → the cantilever automatically rises to the highest stacking tilt position → when the cantilever belt head distance from the coal pile detected by the material level radar range finder is less than the set value → the cantilever automatically rotates to the right by a small angle (whether it is a left stack or a right stack, it is automatically stacked from left to right) → when the cantilever has been rotated to the right for many times and has reached the rightmost stacking rotation angle of the coal pile → when the cantilever belt head distance from the coal pile detected by the material level radar range finder is less than the set value → the cart automatically retreats by one stacking step → the cantilever rotates to the left to the left boundary angle of the stacking rotation → starts a new stacking process (stacks from left to right) → the coal unloading work is completed / the material level radar range finder detects that the cantilever belt head distance from the coal pile is equal to the set value → the automatic stacking is completed → the control system automatically stops all running equipment in sequence → finally, the main power of the shovel is turned off.

[0066] It should be noted that in the automatic stacking mode, clicking the stop work button of the upper computer will stop the cantilever from moving, and after the cantilever belt delay stops, the walking mechanism, rotation mechanism, tilt mechanism and track clamp will stop moving, and finally the "main order breaker" button is clicked.

[0067] Note: In full automatic stacking, when you want to stop work, you must click the stop work button when there is no coal on the ground belt, otherwise the coal on the ground belt will accumulate in the coal bucket and the cantilever belt.

[0068] S3: Angle fine tuning and parameter deviation correction for stacking or coal reclaiming boundaries.

[0069] In the automatic material taking process, the inner and outer boundaries of the coal shape may not be the same due to various reasons such as piling up, rain, etc., resulting in the boundary not being taken cleanly when taking coal, or excessive rotation, increasing the idle time and affecting efficiency; the coal piling width may also need to be increased in the automatic coal piling process. At this time, the coal piling or coal taking boundary angle needs to be adjusted to improve efficiency.

[0070] The angle value corresponding to the boundary is input in the material taking correction column, and the left and right rotation boundary angles can be fine-tuned by clicking the "left correction" button or the "right correction" button. The corresponding boundary angle value is set as the current actual rotation angle by clicking the "take current angle" button. Clicking the "angle reset" button will automatically reset the current rotation angle range to the program default rotation angle range. Clicking "two short and one long", the taking process will follow the 3-step walk, for example, the current left field takes material, the left boundary is 70°, the first rotation takes material boundary is 70°, the second rotation takes material boundary automatically reduces 3° to 67° according to the set angle, the third rotation takes material boundary automatically reduces 8° to 59° according to the set angle, and the fourth rotation takes material boundary to 70°. The right boundary angle is automatically added to the right boundary angle when the right field takes material.

[0071] Piling and taking parameter deviation correction: jog forward and backward: if the step size is insufficient or too large during the automatic piling and taking process, or the car is manually advanced or reversed during operation. Fine tuning can be performed using the jog operation. When jogging forward or backward, hold the forward or backward button for more than 10 seconds, and the corresponding operation will be locked. At this time, the button can be released, and the car will continue to move to the desired position. Click the "unlock walking lock" button to stop. For safety reasons, the automatic forward and backward lock is 15 seconds long, i.e. the car will automatically stop moving after 15 seconds of forward and backward lock.

[0072] Piling and taking material pitch angle deviation: during the automatic piling and taking operation, if the pitch angle deviation is too large, the jog operation can be used to manually correct the operation angle.

[0073] Piling and taking material pitch angle deviation: during the automatic piling and taking operation, if the pitch angle deviation is too large, the jog operation can be used to manually correct the operation angle.

[0074] Note: When the bucket wheel machine is in full automatic material taking or piling, the rotation jog operation cannot be operated, i.e. even if the "left turn" button or "right turn" button is joggled, the rotation will not turn.

[0075] It should be noted that in case of emergency, the hard emergency stop button on the control room (central control hard stop), driver's room, cabinet door, and coal control operation table can be pressed to immediately stop the automatic operation of the bucket wheel machine.

[0076] The embodiment also provides a computing device, comprising a memory and a processor; the memory is used to store computer executable instructions, and the processor is used to execute the computer executable instructions to realize the bucket wheel machine remote control method provided in the above embodiment.

[0077] The embodiment also provides a storage medium, which stores a computer program, and the computer program is executed by a processor to realize the bucket wheel machine remote control method provided in the above embodiment.

[0078] The storage medium provided in the embodiment belongs to the same inventive concept as the bucket wheel machine remote control method provided in the above embodiment, and the technical details not described in the embodiment can be referred to the above embodiment, and the embodiment has the same beneficial effects as the above embodiment.

[0079] Embodiment 2

[0080] Reference Figure 4 For an embodiment of the application, a bucket wheel machine remote control system is provided, comprising: an upper computer system adopts an industrial computer, and IFIX5.5 industrial monitoring and control system software and Studio5000 programming software are installed on the computer; through reasonable system design and system configuration, dynamic monitoring and control of the bucket wheel machine operation are realized. Through the upper computer system and a powerful industrial control transmission network, automatic management and control of the entire production process are realized.

[0081] The PLC remote full-automatic control system adopts a Studio5000 programming environment, uses a PLC processor and modules of the original bucket wheel machine, and realizes control of the full-automatic operation of the bucket wheel machine through logical combination.

[0082] The sensing monitoring system and the encoding positioning system use reliable and stable detection and monitoring equipment (see system hardware and maintenance for details) to provide stable and accurate control data for the system for use by the logical control.

[0083] The video monitoring system uses a high-definition monitoring device of Hikvision, builds a high-definition video monitoring network, and enables the operator to monitor the operation condition of the bucket wheel machine in real time in the centralized control center, thereby improving the work efficiency. Thirteen cameras are installed on each machine in the field, which are used for monitoring the key positions in the field; the operator can monitor the operation condition of the bucket wheel machine in real time in the centralized control room, and the operator can select different monitoring interfaces according to the stacking condition and the material taking condition, or can monitor all 13 pictures and the operation condition of the bucket wheel machine to adjust the operation parameters of the bucket wheel machine.

[0084] Left and right field boundary setting:

[0085]

[0086] Left and right field safety angle setting:

[0087] Left field switching safety angle -15.0, stockpile height setting 4.00, stockpile setback distance 1.20, stockpile measuring point to coal pile 10.71, taking step length setting 0.40, rotation left safety angle -10.0;

[0088] Right field switching safety angle 18.0, positioning pitch safety angle setting 3.0, rotation right safety angle 10.0, bucket wheel current setting 0.00.

[0089] Left and right field pitch setting:

[0090] Left field upper layer taking pitch angle 1.75, left field upper layer taking pitch angle -2.25, left field middle layer taking pitch angle -6.25, left field lower layer taking pitch angle -10.2;

[0091] Right field upper layer taking pitch angle 1.75, right field upper layer taking pitch angle -2.25, right field middle layer taking pitch angle -6.25, right field lower layer taking pitch angle -10.2.

[0092] Left and right field stockpile left and right boundary setting:

[0093] Left field stockpile left boundary -55.0, left field stockpile right boundary -25.0, right field stockpile left boundary 40.0, right field stockpile right boundary 63.5, stockpile pitch angle 5.0.

[0094] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application but not limit the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced equivalently without departing from the spirit and scope of the present application, and all of them should be covered in the scope of the claims of the present application.

Claims

1. A remote control method for a bucket wheel excavator, characterized in that, include: The coal stack is layered and the bucket wheel excavator parameters are set. The coal stack is divided into four layers. The parameter settings include setting the coal taking points for the four layers, setting the stacking points, setting the left and right field boundaries, setting the left and right field safety angles, setting the pitch, and setting the left and right field stacking boundaries. Start remote control, enter automatic material handling mode, select coal pile to retrieve coal; or enter automatic material stacking mode, set an existing material stacking point or create a new material stacking point. Fine-tune the angle and correct parameter deviations at the boundaries of the stockpile or coal extraction; The boundary angle fine-tuning includes: entering the corresponding boundary angle value in the material correction column, and then clicking the left correction or right correction button to fine-tune the left and right rotation boundary angles; by clicking the current angle button, the corresponding boundary angle value is set as the current actual rotation angle; by clicking the angle reset button, the system will automatically reset the current rotation angle range and return to the program's default rotation angle range. The parameter deviation correction includes: jog forward and backward movement, pile-up and reclaiming pitch angle deviation correction, and pile-up rotation angle deviation correction. The inching forward and backward movement includes the following: when the step size is insufficient or excessive during automatic stacking and reclaiming, or when the trolley is manually moved forward or backward during operation, the inching operation can be selected for fine adjustment. When inching forward or backward, if the forward or backward movement is pressed for more than 10 seconds, the corresponding operation will be locked. At this time, the button can be released, and the trolley will continue to move. When the trolley moves to the expected position, the movement will stop after clicking the release movement lock button. The trolley movement will automatically stop after the forward and backward movement is locked for 15 seconds. The stacking and reclaiming pitch angle deviation correction includes, during the automatic stacking and reclaiming operation, when the pitch angle deviation is too large, the working angle can be manually corrected by jogging operation; The correction of the rotation angle deviation of the stacking includes the following: during the automatic stacking operation, when the rotation angle deviation is too large, the left and right boundary angles of the stacking rotation can be manually corrected. When the bucket wheel excavator is in fully automatic material picking or stacking mode, the rotation jog operation will be locked.

2. The remote control method for a bucket wheel excavator as described in claim 1, characterized in that: The remote control includes, The operator selects the bucket wheel excavator's operating area and operating mode in the central control room, controls the main power supply to close, and starts the bucket wheel excavator's automatic positioning program. After the bucket wheel excavator completes the fully automatic positioning program, the operation interface displays "Positioning Completed". The operator then presses the "Start Operation" button on the operator's station in the central control room, and the bucket wheel excavator immediately begins fully automatic operation.

3. The remote control method for bucket wheel excavators as described in claim 2, characterized in that: The automatic material handling mode includes, Entering automatic material handling mode, select the coal pile for positioning. Once positioning is complete, the bucket wheel will be located on the inner side of the coal pile near the track. After the start operation command is issued from the central control room, the boom begins to rotate outward from the coal pile. When the boom reaches the outer edge of the coal pile, the trolley advances one step. The boom continues to rotate to the inner side of the coal pile near the track, and the trolley advances one step. This process is repeated until the host computer sends a stop operation command or the coal layer is completely removed, ending the automatic material handling operation. The control system automatically stops all operating equipment in sequence and finally disconnects the main power supply of the bucket wheel excavator.

4. The remote control method for a bucket wheel excavator as described in claim 3, characterized in that: The automatic stacking mode includes: Enter automatic stacking mode, select a stacking point or create a new coal pile, and begin positioning. Once positioning is complete, click "Start Operation" to automatically start the cantilever conveyor belt in the forward direction. The coal control system starts the ground conveyor belt, and the material level radar distance meter monitors in real time. When the material level radar distance meter detects that the distance between the head of the cantilever conveyor belt and the coal pile is less than a set value, the cantilever automatically rises by 1°. When the material level radar distance meter detects that the distance between the head of the cantilever conveyor belt and the coal pile is still less than the set value, the cantilever automatically rises again to the highest position of the stacking pitch. At this point, when the material level radar distance meter detects that the distance between the head of the cantilever conveyor belt and the coal pile is still less than the set value, the cantilever... The boom automatically rotates to the right at a small angle. After the boom has rotated to the right several times and reached the rightmost rotation angle of the coal pile, if the material level radar rangefinder detects that the distance between the head of the boom conveyor belt and the coal pile is still less than the set value, the trolley automatically retreats one stacking step, and the boom rotates to the left to the left boundary angle of the stacking rotation, starting a new stacking process. This continues until the coal unloading operation is completed or the stockpile is full. When the material level radar rangefinder detects that the distance between the head of the boom conveyor belt and the coal pile is equal to the set value, the automatic stacking ends, the control system automatically stops all operating equipment in sequence, and finally disconnects the main power supply of the bucket wheel excavator.

5. A remote control system for a bucket wheel excavator, employing the remote control method for a bucket wheel excavator as described in any one of claims 1 to 4, characterized in that, include: The host computer system adopts an industrial control computer, which is equipped with IFIX5.5 industrial monitoring and control system software and Studio5000 programming software. Through the host computer system and a powerful industrial control transmission network, it realizes the automated management and control of the entire production process. The PLC remote fully automatic control system uses the Studio5000 programming environment to achieve fully automatic operation control of the bucket wheel excavator through logic combination. The sensing and monitoring system and the coding and positioning system use reliable and stable detection and monitoring equipment to provide stable and accurate control data for logic control. The video surveillance system uses Hikvision high-definition monitoring equipment to build a high-definition video surveillance network, enabling operators to monitor the bucket wheel excavator's operation status in real time from the central control center.

6. A computer device, comprising: Memory and processor; The memory stores a computer program, characterized in that: when the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

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