A method and system for automatically adjusting the speed of a boom of a reclaimer between piles in a stockpile

Abstract

The application discloses a method and system for automatically adjusting a speed of a boom of a bucket wheel machine between piles in a bulk material yard, and the method comprises the following steps: firstly, determining a center line between adjacent piles in the bulk material yard; secondly, determining the feasibility of adjusting the boom between piles in the bulk material yard based on the center line between the adjacent piles in the bulk material yard; and finally, controlling a traveling and slewing mechanism of the bucket wheel machine to adjust the boom based on the feasibility of adjusting the boom between piles in the bulk material yard. The application can automatically adjust the boom between adjacent piles, without the participation of a driver of the bucket wheel machine, and can perfect an intelligent production process chain of the bucket wheel machine, so that the production process is more unmanned and the management process is more standardized.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of full-automatic control of bulk material yard, and relates to a method and system for automatically adjusting the speed of a boom of a bucket wheel machine between adjacent stacks in a bulk material yard. BACKGROUND

[0002] At present, in industrial production, full-automatic stacking and unstacking technologies of the bucket wheel machine have been applied. However, pure full-automatic stacking or unstacking is not enough to support a complete full-automatic operation process of the bucket wheel machine, which should include: cutting into an operation point → continuous stacking and unstacking operation → edge sweeping operation → layer changing operation → full-automatic anti-collision protection, etc. In the current full-automatic stacking and unstacking process, there is no full-automatic algorithm to deal with the arm adjusting between adjacent stacks. The common practice is to switch the bucket wheel machine to manual or remote mode to complete the operation by the driver handle.

[0003] In the next 5-10 years, intelligent products of the bucket wheel machine will become more and more popular, which means that in the near future, there will be no bucket wheel machine driver in the bulk material yard. Therefore, it is crucial to perfect the control full-process chain of the intelligent product of the bucket wheel machine, and the arm adjusting between adjacent stacks is a link that cannot be avoided in the operation process of the bucket wheel machine. SUMMARY

[0004] In order to solve the above problems, the technical scheme adopted by the present application is: a method for automatically adjusting the speed of a boom of a bucket wheel machine between adjacent stacks in a bulk material yard, comprising the following steps:

[0005] Firstly, the center line between adjacent stacks in the bulk material yard is determined;

[0006] Secondly, based on the center line between adjacent stacks in the bulk material yard, the feasibility of adjusting the boom between stacks in the bulk material yard is determined;

[0007] Finally, based on the feasibility of adjusting the boom between stacks in the bulk material yard, the travel and rotation mechanisms of the bucket wheel machine are controlled to adjust the boom.

[0008] Further, the calculation method of the center line between adjacent stacks in the bulk material yard is as follows:

[0009] STEP01: obtaining a three-dimensional point cloud coordinate set ST_I of an Ith stack; and obtaining a three-dimensional point cloud coordinate set ST_II of an IIth stack;

[0010] STEP02: removing points with a height value less than H in ST_I to form a three-dimensional point cloud coordinate set ST N _I; and removing points with a height value less than H in ST_II to form a three-dimensional point cloud coordinate set ST N _II;

[0011] STEP03: Project ST N _I to horizontal plane, form two-dimensional point cloud coordinate set ST N _I_2D; Project ST N _II to horizontal plane, form two-dimensional point cloud coordinate set ST N _II_2D;

[0012] STEP04: Determine whether ST N _I_2D and ST N _II_2D are not empty, if two-dimensional point cloud coordinate set ST N _I_2D or ST N _II_2D is empty, indicating that I or II material pile is higher than H. At this time, it does not belong to adjacent pile turning cantilever working condition, and is classified as no pile interval limit turning cantilever working condition;

[0013] TEP05: Get the maximum value x I_max of the horizontal coordinate in ST N _I_2D; Get the minimum value x II_min of the horizontal coordinate in ST mi _II_2D;

[0014] STEP06: The center line between the piles

[0015] Further: the process of determining the feasibility of the cantilever turning between the piles in the bulk material yard based on the center line between the adjacent piles in the bulk material yard is as follows:

[0016] STEP101: Determine whether there is a center line between the piles x=x d ; If it is determined that there is no center line between the piles, the pile interval shielding does not need to be considered, and the cantilever can be turned! If it is determined that there is a center line between the piles, the cantilever cannot be turned,

[0017] STEP102: If it is determined through STEP101 that there is a center line between the piles, the center line between the piles is obtained

[0018] STEP103: The bucket wheel machine cantilever is attributed to zero position, the pitch is 0° and the rotation is 0°, so that the root of the bucket wheel machine cantilever is located at the coordinate (D, 0);

[0019] STEP104: The bucket wheel machine runs at a constant speed v L-max while rotating at a constant speed ω S-max ;

[0020] STEP105: For each unit angle of rotation of the bucket wheel machine cantilever, the head coordinate (X H , Y H ) and the root coordinate (XE ,Y E Connect the coordinates of the two points mentioned above;

[0021] STEP 106: Calculate the coordinates of the cantilever head (X) H ,Y H ) and root coordinates (X E ,Y E As shown below:

[0022]

[0023]

[0024] in:

[0025] STEP 107: Determine the coordinates of the cantilever head (X) H ,Y H ) and two-dimensional coordinate set ST N _I_2D and ST N Are all _II_2D coordinates non-intersecting? If they are non-intersecting, proceed to STEP 108; if (X... H ,Y H ) and ST N _I_2D or ST N If _II_2D have an intersection, a message will be displayed: "There is a risk of collision when the cantilever rotates to θ!", where θ is the rotation angle calculated in real time;

[0026] STEP108: Determine if the rotation angle of the engine cantilever is equal to 180°. If the rotation angle is less than 180°, return to STEP104 to continue the calculation; if the rotation angle reaches 180°, the message "Can be completed for inter-stall cantilever rotation!" will be displayed.

[0027] Further: the coordinates of the cantilever head (X) H ,Y H ) and two-dimensional coordinate set ST N _I_2D and ST N The process of no intersection in _II_2D is as follows:

[0028] ①ST N Does (X) exist in I2D? I-H ,Y H And X H >X I-H And ST N The y-coordinate does not exist in _II_2D H ;

[0029] ②ST N The y-coordinate does not exist in I2D. H And STN X II-H ,Y H ) and X H <X II-H ;

[0030] ③ST N X I-H ,Y H ) and ST N X II-H ,Y H ) and X I-H <X H <X II-H .

[0031] Further, the feasibility of the based on the bulk yard between piles of turning cantilever, control the walking and turning mechanism of the bucket wheel machine to turn the cantilever process as follows:

[0032] STEP201: set the target angle θ des , the value recommended to take the material pile, namely I pile, I pile to obtain the target angle θ des , the cutting angle when taking material work;

[0033] STEP202: the cantilever is attributed to zero, namely 0 ° pitch and 0 ° rotation, start walking mechanism, so that the bucket wheel machine cantilever root is located at the coordinates (D, 0), that is, (x mid -δ-L, 0) place; (the meaning of each parameter is shown in table 1;

[0034] STEP203: start walking mechanism and rotation mechanism at the same time;

[0035] STEP204: the bucket wheel machine runs at v L-max uniform speed, rotates at ω S-max uniform speed;

[0036] STEP205: whether the trigger signal of the cantilever two side anti-collision device is detected, if the above signal is detected, it should prompt "cantilever lateral collision risk!" And end the arm action of the bucket wheel machine, if the above signal is not detected, enter STEP206;

[0037] STEP206: whether the current rotation angle reaches θ des , if the rotation angle has not reached θ des , return to STEP204; if the rotation angle reaches θ des , prompt "the cantilever turning has been completed." And end the arm action of the bucket wheel machine.

[0038] A control system for automatically adjusting the speed of a slewing crane of a bucket wheel machine between piles in a bulk material yard, characterized in that it comprises a pile point cloud data acquisition device, a bucket wheel machine posture acquisition device, a slewing crane, a walking anti-collision device, a bucket wheel machine body, a data processing server, a control algorithm server, a client computer and a central control room.

[0039] The data processing server, the control algorithm server and the client computer are arranged in the central control room.

[0040] The pile point cloud data acquisition device is used to acquire surface data of piles and other objects in the bulk material yard and transmit the surface data to the data processing server.

[0041] The bucket wheel machine posture acquisition device is used to measure real-time data of three postures of the bucket wheel machine, i.e., walking position, rotation angle and inclination angle, and transmit the three posture data to the control algorithm server to participate in the automatic arm adjustment control of the bucket wheel machine.

[0042] The data processing server transmits the processed data to the control algorithm server.

[0043] The slewing crane and the walking anti-collision device are used to detect collisions between the bucket wheel machine and other obstacles, i.e., pile handling equipment on the same track, pile handling equipment on adjacent tracks, flow machine equipment in the yard and piles, and the ranging data of the slewing crane and the walking anti-collision device are transmitted to the control algorithm server to participate in the automatic arm adjustment control of the bucket wheel machine.

[0044] The control algorithm server transmits the processed data to the client computer.

[0045] The client computer uses the method for automatically adjusting the speed of the slewing crane between piles in the bulk material yard to realize simulation of automatic arm adjustment, adjust parameters, set parameters and implement automatic arm adjustment command issuing.

[0046] The method and system for automatically adjusting the speed of the slewing crane between piles in the bulk material yard can automatically complete automatic slewing of the slewing crane between adjacent piles through calculation and drawing simulation, i.e., when the slewing bucket moves to the cutting point of the automatic material taking operation, the slewing crane, the pile handling machine, the stacker-reclaimer (referred to as: the bucket wheel machine) must be adjusted between adjacent piles due to scheduling and obstacle blocking, which effectively promotes the integrity of the intelligent control process chain of the bucket wheel machine, and the specific implementation process mainly includes three steps: calculating the center line between piles, judging the feasibility of slewing the slewing crane between piles and implementing slewing of the slewing crane.

[0047] The technical content of the present application is mainly used to complete the first step of the automatic process: cutting into the operation point. Especially for two adjacent stacks with short distance, when the normal material taking operation is impossible due to external factors (such as: the shielding of adjacent stacks, the obstruction of other bucket wheel machines and other devices on the same track, etc.), the reverse material taking operation mode must be adopted. At this time, it is necessary to turn the cantilever (hereinafter referred to as "arm") in the gap between the adjacent stacks, so that the cantilever is turned from the initial 0°-90° range into the 90°-180° range. At this time, a reasonable algorithm is needed to calculate and simulate the stack-to-stack arm turning and adapt to the actual working condition.

[0048] The method of the present application is more flexible, and if the parameter device is appropriate, the efficiency of the cantilever turning can be improved. However, this algorithm requires higher requirements for the operator of the unattended system, and the operator needs to have experience in setting the parameters related to the cantilever turning.

[0049] The present application does not need manual operation, but relies on automatic algorithm to complete the simulation and implementation of the stack-to-stack cantilever turning. The engineering application of the present application is beneficial to realize the process chain of automatic operation of the stockyard equipment.

[0050] The present application has the following advantages:

[0051] 1. The automatic cantilever turning between adjacent stacks can be realized without the participation of the bucket wheel machine driver.

[0052] 2. The intelligent production process chain of the bucket wheel machine can be improved, and the production process tends to be unmanned, and the management process tends to be standardized. BRIEF DESCRIPTION OF DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0054] Figure 1 is the calculation principle diagram of the cantilever head coordinate and the root coordinate;

[0055] Figure 2 is a schematic diagram before the stack-to-stack cantilever turning of the bucket wheel machine;

[0056] Figure 3 is a schematic diagram after the stack-to-stack cantilever turning of the bucket wheel machine;

[0057] Figure 4 is a flow chart of the calculation method of the center line between the stacks;

[0058] Figure 5is a flow chart of the calculation method of the feasibility of the pile-to-pile slewing of the cantilever;

[0059] Figure 6 is a flow chart of the implementation of the slewing working condition of the cantilever;

[0060] Figure 7 is a cantilever trajectory envelope chart I of the automatic pile-to-pile slewing of the cantilever;

[0061] Figure 8 is a cantilever trajectory envelope chart II of the automatic pile-to-pile slewing of the cantilever;

[0062] Figure 9 is a cantilever trajectory envelope chart III of the automatic pile-to-pile slewing of the cantilever;

[0063] Figure 10 is a control system network schematic diagram of the automatic pile-to-pile slewing of the cantilever.

[0064] BRIEF DESCRIPTION OF DRAWINGS: 1, stockpile point cloud data acquisition equipment; 2, bucket wheel machine posture acquisition equipment; 3, cantilever, walking anti-collision equipment; 4, bucket wheel machine body; 5, data processing server; 6, control algorithm server; 7, client computer; 8, control room. DETAILED DESCRIPTION

[0065] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict, and the present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0066] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. The description of the at least one exemplary embodiment is actually only illustrative, but not as any limitation on the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0067] It should be noted that the terms used herein are only for describing specific embodiments, and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form, unless the context clearly indicates otherwise, and furthermore, it should be understood that when the terms "comprise" and / or "include" are used in the specification, there is a feature, step, operation, device, component and / or combination thereof.

[0068] The foregoing is considered as illustrative only of the principles of the application. Further, since numerous modifications and changes will readily occur to those skilled in the art, it is not desired to limit the application to the exact construction and practice described. Accordingly, all suitable modifications and equivalents can be resorted to falling within the scope of the application. Unless otherwise indicated herein, the contents of all patents, patent applications, publications, and test methods cited herein are hereby incorporated by reference in their entirety for all purposes.

[0069] In the description of the present application, it is to be understood that the orientation or positional relationships indicated by terms such as "front", "back", "up", "down", "left", "right", "lateral", "vertical", "horizontal", "top", "bottom", and the like are generally based on the orientation or positional relationships shown in the drawings, and are merely intended to facilitate the description and simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore cannot be construed as limiting the scope of protection of the present application. The orientation terms "inner", "outer" refer to the inner and outer relative to the contour of the components themselves.

[0070] For the convenience of description, spatial relative terms such as "over", "above", "upper surface", "upper", and the like can be used herein to describe the spatial positional relationship of one device or feature with respect to other devices or features as shown in the drawings. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation of the devices described in the drawings. For example, if the devices in the drawings are inverted, the device described as "above" or "over" other devices or structures will be positioned "below" or "under" the other devices or structures. Thus, the exemplary term "above" can include both "above" and "below" orientations. The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein are interpreted accordingly.

[0071] In addition, it should be noted that the use of the terms "first", "second", and the like do not have a special meaning, and are used only to facilitate the distinction between corresponding parts, and therefore cannot be construed as limiting the scope of protection of the present application.

[0072] Figure 1This is a diagram illustrating the calculation principle of the head and root coordinates of the cantilever.

[0073] Down Figure 2 The diagram shown is a schematic representation of the method described in this application.

[0074] In the diagram: AB represents the travel track of the stacker-reclaimer;

[0075] Stack I and stack II are adjacent stacks; XY is the cantilever of the bucket wheel excavator, where X is the root of the cantilever and Y is the head of the cantilever; the angle between the cantilever XY and the track AB is θ, which is the cantilever rotation angle.

[0076] like Figure 2 As shown, while the bucket wheel excavator's traveling mechanism travels on track AB in the direction indicated by the dotted line, the cantilever rotates in the direction where the angle θ gradually increases.

[0077] like Figure 2 As shown, the bucket wheel excavator wants to perform a material handling operation on stack I. Due to external factors such as obstruction or scheduling, it cannot operate from the front end of stack I. Therefore, it must operate from the rear end of stack I. However, at this time, the rotation angle θ of the cantilever XY is [0, 90°], which is insufficient to cut into the rear end of stack I. In this situation, the bucket wheel excavator must rotate the cantilever between adjacent stacks (stacks I and II) so that the rotation angle θ of the cantilever XY is [90°, 180°]. Figure 3 As shown.

[0078] This method requires that the pitch angle be maintained at 0° and the traveling and slewing mechanisms move at a constant speed during the boom adjustment process. To ensure boom adjustment efficiency, it is recommended to use the maximum traveling speed and the maximum slewing angular velocity for boom adjustment. This method is based on a two-dimensional spatial calculation method. Specifically, if the height of the cantilever above the ground at 0° pitch is H, then the horizontal plane at height H is the applicable range of this method.

[0079] The calculation parameters of the method described in this application are shown in Table 1. The parameters involved in this method are divided into three categories: known parameters, intermediate parameters, and final parameters. Among them, "known parameters" refer to the parameters that already exist before the boom adjustment operation occurs; "intermediate parameters" refer to the parameters that can be calculated from the "known parameters" when the boom adjustment operation is performed; and "final parameters" refer to the parameters calculated from the "intermediate parameters" during the boom adjustment operation, which are a series of cantilever trajectory coordinate values.

[0080] The "final parameters" refer to the cantilever trajectory coordinates, specifically the coordinates of the cantilever head and root at different rotation angles. Connecting the cantilever head and root coordinates at each rotation angle yields the cantilever trajectory during the adjustment process, forming an envelope. Specifically, as the bucket wheel excavator rotates and travels, a straight line is drawn using the coordinates of the cantilever head and root for every 1° rotation. These lines form the cantilever trajectory envelope. If this envelope does not intersect with any point in stacks I and II with a height greater than or equal to H, then the cantilever adjustment between stacks is considered feasible.

[0081] The calculation diagram of the parameters in Table 1 is shown below. Figure 1 As shown. Figure 1 In the middle, line segment B E B H This represents a cantilever, and the cantilever adjustment is about to begin. The coordinate of the cantilever root is B at this point. E (D,0), coordinates of the cantilever head B H (D+L,0); Line segment B' E B' H This represents the cantilever after the bucket wheel excavator has traveled a distance D1 and rotated an angle θ, at which point the coordinate B' of the cantilever root is... E (D+D1,0), coordinates of the cantilever head B' H (D+D1+Lcosθ,Lsinθ). The meanings of each parameter are shown in Table 1.

[0082] Table 1. Parameters of an automatic arm adjustment method between stacks.

[0083]

[0084]

[0085] A method for an automatically reversing bucket wheel excavator cantilever with adjustable speed between stacks in a bulk material yard should be implemented in three steps:

[0086] First, determine the centerline between adjacent stacks within the bulk material yard;

[0087] Secondly, based on the centerline between adjacent stacks in the bulk material yard, the feasibility of turning the cantilever between stacks in the bulk material yard is determined;

[0088] Finally, based on the feasibility of rotating the cantilever between stacks in the bulk yard, the cantilever of the bucket wheel excavator is rotated. That is, if the cantilever can be rotated, the traveling and slewing mechanisms of the bucket wheel excavator are controlled to rotate the cantilever.

[0089] The calculation method for the centerline between the stacks is as follows:

[0090] Centerline between stacks x = x mi d The method of determination is as follows Figure 4 As shown.

[0091] The following is about Figure 4 The calculation process shown is explained below:

[0092] STEP01: Obtain the 3D point cloud coordinate set ST_I for stack I; Obtain the 3D point cloud coordinate set ST_II for stack II.

[0093] STEP02: Remove points in ST_I with height values ​​less than H to form a 3D point cloud coordinate set ST. N _I; Remove points in ST_II whose height values ​​are less than H to form a 3D point cloud coordinate set ST. N _II;

[0094] STEP03: Set ST N _I is projected onto the horizontal plane to form a two-dimensional point cloud coordinate set ST N _I_2D; Project ST_II onto the horizontal plane to form a two-dimensional point cloud coordinate set ST. N _II_2D;

[0095] STEP04: Determine ST N _I_2D and ST N Are all _II_2D non-empty? If the 2D point cloud coordinate set ST N _I_2D or ST N If _II_2D is empty, it means that there is no point higher than H in either stack I or stack II. In this case, it does not belong to the cantilever operation between adjacent stacks, but can be classified as the cantilever operation without stack restrictions, which is not within the scope of this application.

[0096] The judgment ST N _I_2D and ST N Whether _II_2D is not empty is a current technology. Each material yard corresponds to a database. Within this material yard, different areas have been pre-planned according to the length coordinates as required by the material yard owner. For example, if a material yard is planned with 10 working areas, then the material yard's database will have 10 data tables, including ST. N _I_2D and ST N _II_2D represent the point cloud datasets (or point cloud data from two adjacent data tables) of two adjacent work areas. Therefore, when writing code to access ST... N _I_2D and ST N When writing the code for the two data tables _II_2D, the first step is to check whether the two data tables are empty. "Empty" means that there is no data in the table.

[0097] TEP05: Obtain ST N The maximum value of the x-coordinate in I2DI_max ; get ST N _II_2D minimum value of the abscissa x II_min

[0098] STEP06: the middle line between stacks

[0099] Further, the calculation method of the feasibility of the stack-to-stack turning of the boom is as follows:

[0100] The determination method of the feasibility of the adjacent stack-to-stack turning of the boom is shown in Figure 5 The following is an explanation of the calculation process shown in Figure 5

[0101] STEP101: determine whether there is a middle line x = x mid between stacks; this step should be determined according to the process shown in Figure 4 If it is determined that there is no middle line between stacks, the algorithm should prompt "no need to consider the stack-to-stack obstruction, the boom can be turned!" That is, when there is no middle line between stacks, it should be classified as a stack-to-stack obstruction-free turning of the boom, which is not within the scope discussed in this application;

[0102] STEP102: if it is determined in STEP101 that there is a middle line between stacks, the middle line between stacks is obtained

[0103] STEP103: the boom is returned to the zero position, the pitch is 0°, and the rotation is 0°, so that the root of the boom of the bucket wheel machine is located at the coordinate (D, 0), that is, (x mid - δ - L, 0). (The meanings of the parameters are shown in Table 1)

[0104] STEP104: the bucket wheel machine travels at a constant speed v L-max while rotating at a constant speed ω S-max It should be noted that this step refers to the calculation of travel and rotation, not the start of the travel and rotation mechanism of the bucket wheel machine. (The meanings of the parameters are shown in Table 1)

[0105] STEP105: for each unit angle of rotation of the boom of the bucket wheel machine, the coordinates of the head of the boom (X H , Y H ) and the root of the boom (X E , Y E ) are calculated and the two coordinates are connected;

[0106] STEP106: the coordinates of the head of the boom (X H , Y H ) and the root of the boom (X E , Y E ) are calculated as follows ​

[0107]

[0108]

[0109] wherein:

[0110] STEP 107: judge whether the cantilever head coordinate (X H ,Y H ) and two-dimensional coordinate set ST N _I_2D and ST N _II_2D are all disjoint, if all are disjoint, then enter STEP 108; if (X H ,Y H ) and ST N _I_2D or ST N _II_2D have intersection, then prompt "the cantilever rotates to θ, there is collision risk!", wherein the real-time calculated rotation angle is adopted for θ;

[0111] The following three cases are all judged as the cantilever head coordinate (X H ,Y H ) and two-dimensional coordinate set ST N _I_2D and ST N _II_2D are all disjoint:

[0112] ① there is (X N ,Y I-H ) in ST H _I_2D and X H >X I-H , and there is no longitudinal coordinate Y N in ST H _II_2D;

[0113] ② there is no longitudinal coordinate Y N in ST H _I_2D, and there is (X N ,Y II-H ) in ST H _II_2D and X H X II-H ;

[0114] ③ there is (X N ,Y I-H ) in ST H _I_2D, and there is (X N ,Y II-H ) in ST H _II_2D and X I-H X H X II-H .

[0115] STEP108: Determine whether the slewing crane jib rotation angle is equal to 180°, if the rotation angle has not reached 180°, return to STEP104 to continue calculation; if the rotation angle reaches 180°, prompt "can complete the pile-to-pile jib turning!"

[0116] Further, the process of turning the jib is as follows:

[0117] The specific process of implementing the jib turning working condition is shown in Figure 6 .

[0118] The working condition process shown in Figure 6 is explained as follows:

[0119] STEP201: Set the target angle θ des , which is recommended to use the I pile to obtain the target angle θ des for the cutting-in angle during the material taking operation;

[0120] STEP202: The jib is returned to zero position, i.e. pitch 0° and rotation 0°, the walking mechanism is started, and the root of the bucket wheel machine jib is located at coordinates (D, 0), i.e. (x mid -δ-L, 0); (the meanings of various parameters are shown in Table 1;

[0121] STEP203: Start the walking mechanism and the rotation mechanism at the same time;

[0122] STEP204: Make the bucket wheel machine travel at a constant speed v L-max and rotate at a constant speed ω S-max ;

[0123] STEP205: Determine whether the triggering signal of the jib two-side anti-collision device is detected, check whether there is a collision risk by receiving the ranging value provided by the "jib, walking anti-collision device 3" in real time, i.e. STEP205; generally, if the ranging value is less than or equal to a certain preset value, which is 1-1.5 meters, and the stockyard owner should be clearly informed and his consent should be obtained, it is considered that a collision will occur, and the bucket wheel machine jib rotation action will be stopped, if the above signal is detected, the "jib lateral collision risk!" should be prompted and the bucket wheel machine jib turning action should be ended, if the above signal is not detected, proceed to STEP206;

[0124] STEP206: Determine whether the current rotation angle has reached θ des , if the rotation angle has not reached θ des , return to STEP204; if the rotation angle reaches θ des , prompt "jib turning has been completed." and end the bucket wheel machine jib turning action.

[0125] Figure 7 is a trajectory envelope diagram of the cantilever for automatic turning of the cantilever between the stacks I;

[0126] Figure 8 is a trajectory envelope diagram of the cantilever for automatic turning of the cantilever between the stacks II;

[0127] Figure 9 is a trajectory envelope diagram of the cantilever for automatic turning of the cantilever between the stacks III;

[0128] A control system for an automatically turning bucket wheel machine with adjustable speed of the cantilever between the stacks in a bulk material yard, comprising a stockpile point cloud data acquisition device 1, a bucket wheel machine posture acquisition device 2, a cantilever, a walking anti-collision device 3, a bucket wheel machine body 4, a data processing server 5, a control algorithm server 6, a client computer 7 and a central control room 8.

[0129] The hardware devices that can be used by the stockpile point cloud data acquisition device 1 include a laser scanner, a ranging radar, a TOF camera, etc. The stockpile point cloud data acquisition device 1 is used to acquire surface data of objects such as stockpiles in the bulk material yard. These data will be transmitted to the data processing server 5.

[0130] There are various ways to implement the stockpile point cloud data processing algorithm, which is the basis for subsequent control algorithms. ① The data collected by the "stockpile point cloud data acquisition device 1" contains some noise points, such as noise points caused by bad weather or dust, noise points caused by unstable equipment or host vibration, etc. At this time, the filtering algorithm (such as Kalman filtering technology) in the data processing algorithm will filter out the above noise points, making the data smoother and purer, and more conducive to the calculation of subsequent control algorithms. ② Limited by the installation position of the "stockpile point cloud data acquisition device 1", it is very likely that it cannot scan the whole picture of a stockpile (for example, the southeast corner of the stockpile is a blind area of scanning), at this time, the point cloud data of the stockpile is incomplete, at this time, the data processing algorithm should be used to complete the data to facilitate the calculation of subsequent control algorithms.

[0131] Figure 10 is a network schematic diagram of the control system for automatic turning of the cantilever between the stacks;

[0132] Special notes: Figure 10 The figure shows that the stockpile point cloud data acquisition device 1 is installed on the bucket wheel machine body, but if a material shed is constructed at the work site, the stockpile point cloud data acquisition device 1 can also be installed at a suitable position on the material shed.

[0133] The hardware devices that can be used by the bucket wheel machine posture acquisition device 2 include Beidou / GPS systems, Gray bus lines, encoders, and inclinometers. The bucket wheel machine posture acquisition device 2 is used for real-time measurement of three posture data (traveling position, rotation angle, and pitch angle) of the bucket wheel machine, that is, all devices capable of detecting the three posture data of the bucket wheel machine belong to the scope of the bucket wheel machine posture acquisition device 2, and these real-time measurement data will be transmitted to the control algorithm server 6 to participate in the full-automatic bucket wheel machine arm adjusting control.

[0134] The control algorithm server 6 receives three real-time posture data (traveling position value, rotation angle value, and pitch angle value) and the ranging value provided by the cantilever and traveling anti-collision device 3 to complete the control process. Figure 6 Specifically: ① the control algorithm receives the traveling position value in real time to check whether the root of the cantilever of the bucket wheel machine reaches the coordinate (D, 0), that is, STEP 202; ② the control algorithm receives the ranging value provided by the cantilever and traveling anti-collision device 3 in real time to check whether there is a collision risk, that is, STEP 205; ③ the control algorithm receives the rotation angle value and the pitch angle value in real time to check whether the preset rotation angle θ des , that is, STEP 206; and whether the cantilever maintains a pitch of 0°, that is, STEP 202.

[0135] The data processing server 5 transmits the processed data to the control algorithm server 6.

[0136] The hardware devices that can be used by the cantilever and traveling anti-collision device 3 include laser detection devices, radar detection devices, microwave detection devices, and ultrasonic detection devices. The cantilever and traveling anti-collision device 3 is used for collision between the bucket wheel machine and other obstacles (stacking and reclaiming devices on the same track, stacking and reclaiming devices on adjacent tracks, flow machine devices in the stockyard, and stockpiles). This anti-collision function is mainly achieved through distance detection. Generally, the cantilever and traveling anti-collision device 3 is installed on both sides of the cantilever and the front and rear ends of the traveling mechanism, and the specific number is determined according to the actual situation of the bucket wheel machine. The ranging data of the cantilever and traveling anti-collision device 3 will be transmitted to the control algorithm server 6 to participate in the full-automatic bucket wheel machine arm adjusting control.

[0137] The control algorithm server transmits the processed data to the client computer 7.

[0138] The client computer 7 can be a desktop computer or a portable notebook computer. The client computer 7 is used to realize the following two functions: ① perform simulation of full-automatic arm adjusting and adjust parameters according to the method described in the patent; and ② set parameters and implement the issuance of automatic arm adjusting commands.

[0139] The data processing server 5, the control algorithm server 6, and the client computer 7 are arranged in the central control room 8.

[0140] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the present application; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for automatically adjusting the cantilever of a bucket wheel excavator with adjustable speed between stacks in a bulk material yard, characterized in that: Includes the following steps: First, determine the centerline between adjacent stacks within the bulk material yard; Secondly, based on the centerline between adjacent stacks in the bulk material yard, the feasibility of turning the cantilever between stacks in the bulk material yard is determined; Finally, based on the feasibility of turning the cantilever between stacks in the bulk yard, the traveling and slewing mechanisms of the bucket wheel excavator are controlled to turn the cantilever. The calculation process for the centerline between adjacent stacks within the bulk material yard is as follows: STEP01: Obtain the 3D point cloud coordinate set of stack I. Obtain the 3D point cloud coordinate set of stack II. ; STEP02: Remove Points with height values ​​less than H form a three-dimensional point cloud coordinate set. Remove Points with height values ​​less than H form a three-dimensional point cloud coordinate set. H represents pitch. The height of the cantilever from the ground; STEP03: [The sentence is incomplete and requires more context to be translated.] Projected onto a horizontal plane, forming a two-dimensional point cloud coordinate set. ;Will Projected onto a horizontal plane, forming a two-dimensional point cloud coordinate set. ; STEP04: Judgment and Are all points non-empty, if the two-dimensional point cloud coordinate set... or If it is empty, it means that there is no point higher than H in either stack I or stack II. In this case, it does not belong to the cantilever operation between adjacent stacks, but is classified as the cantilever operation without stack restrictions. TEP05: Obtain Maximum value of the horizontal axis ; obtain Minimum value of the horizontal axis STEP06: Centerline between stacks ; The process of determining the feasibility of cantilever swings between stacks within a bulk material yard based on the centerline between adjacent stacks is as follows: STEP101: Determine if a centerline exists between stacks of materials. If it is determined that there is no centerline between the stacks, then there is no need to consider obstruction between the stacks, and the cantilever can be turned. If it is determined that there is a centerline between the stacks, then the cantilever cannot be turned. STEP102: If a centerline exists between the stacks after the judgment in STEP101, then the centerline between the stacks is obtained. ; STEP 103: Return the bucket wheel excavator boom to the zero position, pitch. And turn This positions the root of the bucket wheel excavator's boom at coordinate (D, 0). STEP104: Bucket Wheel Excavator While moving at a constant speed, Rotate at a constant speed; To travel at maximum speed, This is the maximum angular velocity of rotation; STEP105: Calculate the coordinates of the boom head for each unit angle of rotation of the bucket wheel excavator cantilever. and root coordinates Connect the coordinates of the two points mentioned above; STEP106: Calculate the coordinates of the cantilever head. and root coordinates As shown below: Among them: rotation time , D is the rotation angle, D is the horizontal coordinate of the cantilever root when the boom adjustment begins, and D1 is the displacement of the cantilever root during the boom adjustment process. STEP107: Determine the coordinates of the cantilever head With two-dimensional coordinate set and Are there no intersections? If there are no intersections, proceed to STEP 108; if... and or If there is an intersection, the message "Cantilever rotates to..." will be displayed. "There is a risk of collision at any time," The rotation angle is calculated in real time; STEP 108: Determine if the turbine cantilever rotation angle is equal to... If the rotation angle is not reached If the rotation angle reaches..., then return to STEP104 to continue the calculation; If so, the message "Able to complete the cantilever rotation between stacks" will be displayed.

2. The method for automatically adjusting the cantilever of a bucket wheel excavator with adjustable speed between stacks in a bulk material yard according to claim 1, characterized in that: The coordinates of the cantilever head With two-dimensional coordinate set and The process of no intersection is as follows: ① There exists and and There is no ordinate in the middle. ; ② There is no ordinate in the middle. and There exists and ; ③ There exists and There exists and .

3. The method for automatically adjusting the cantilever of a bucket wheel excavator with adjustable speed between stacks in a bulk material yard according to claim 1, characterized in that: Based on the feasibility of cantilever rotation between stacks within the bulk material yard, the process of controlling the travel and slewing mechanisms of the bucket wheel excavator to rotate the cantilever is as follows: STEP201: Set the target angle This value is taken from the stack to be picked, i.e., stack I, from which the target angle is obtained. The angle of entry when performing material handling operations; STEP 202: Return the cantilever to the zero position, i.e., pitch. And turn Start the traveling mechanism to position the root of the bucket wheel excavator boom at coordinate (D, 0), that is... Place; Let L be the threshold value for the horizontal coordinate of the centerline, L be the cantilever length, and (D, 0) be the coordinates of the cantilever root during cantilever adjustment. The center line between the stacks; STEP203: Simultaneously start the traveling mechanism and the slewing mechanism; STEP204: Enable the bucket wheel excavator to... Walk at a constant speed, Rotate at a constant speed; STEP205: Determine whether the trigger signal of the anti-collision device on both sides of the cantilever is detected. If the above signal is detected, the message "Cantilever side collision risk!" should be displayed and the boom adjustment action of the bucket wheel excavator should be terminated. If the above signal is not detected, proceed to STEP206. STEP206: Determine if the current rotation angle has been reached. If the rotation angle has not yet reached If the rotation angle reaches STEP204, then return to STEP204; If the prompt is received, the message "Cantilever turning completed" will be displayed and the cantilever turning action of the bucket wheel excavator will end.

4. A control system for an automatically reversing bucket wheel excavator boom with adjustable speed between stacks in a bulk material yard, characterized in that: Includes stockpile point cloud data acquisition equipment, bucket wheel excavator attitude acquisition equipment, cantilever, traveling anti-collision equipment; bucket wheel excavator body; data processing server; control algorithm server; client computer and central control room; The data processing server, control algorithm server, and client computer are located in the central control room; The stockpile point cloud data acquisition equipment is used to collect surface data of stockpiles in bulk material yards and transmit the collected surface data of stockpiles in bulk material yards to a data processing server; The bucket wheel excavator attitude acquisition equipment is used to measure the three attitude data of the bucket wheel excavator in real time, namely the traveling position, slewing angle and pitch angle data, and transmits the three attitude data of the bucket wheel excavator to the control algorithm server to participate in the fully automatic bucket wheel excavator boom adjustment control; The data processing server transmits the processed data to the control algorithm server. The cantilever and traveling anti-collision equipment is used to detect collisions between the bucket wheel excavator and other obstacles, namely stacker-reclaimers on the same track, stacker-reclaimers on adjacent tracks, flow machines in the material yard, and material piles. The ranging data of the cantilever and traveling anti-collision equipment will be transmitted to the control algorithm server to participate in the fully automatic bucket wheel excavator boom adjustment control. The control algorithm server transmits the processed data to the client computer. The client computer uses the method of automatically adjusting the cantilever of a bucket wheel excavator with adjustable speed between stacks in a bulk yard as described in any one of claims 1-3 to simulate and adjust parameters for fully automatic boom adjustment, set parameters, and issue automatic boom adjustment commands.

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