A method and system for automatically turning the boom of a bucket wheel machine between stacks in a bulk material yard

Abstract

The application is a method for automatically adjusting the cantilever of a bucket wheel machine between piles in a bulk material yard, comprising the following steps: determining the center line between adjacent piles in the bulk material yard; determining the rotation angular velocity of the bucket wheel machine; calculating the walking speed corresponding to a unit rotation angle and drawing the trajectory of the cantilever of the bucket wheel machine; and adjusting the cantilever, i.e. controlling the walking and rotation mechanisms of the bucket wheel machine to adjust the cantilever. The application can realize the automatic adjustment of the cantilever between adjacent piles without the participation of the driver of the bucket wheel machine, and can perfect the intelligent production process chain of the bucket wheel machine, so that the production process tends to be unmanned and the management process tends to be 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 turning the boom of a bucket wheel machine between piles in a bulk material yard. BACKGROUND

[0002] At present, in industrial production, the full-automatic stacking and unstacking technology of the bucket wheel machine has been applied. However, the full-automatic stacking or unstacking alone is not enough to support the complete full-automatic operation process of the bucket wheel machine, which should include: cutting into the operation point → continuous stacking and unstacking operation → edge material sweeping operation → layer changing operation → full-automatic anti-collision protection, etc. The technical content of the present application is mainly used to complete the first step of the full-automatic process: cutting into the operation point. Especially for two adjacent piles with a relatively short distance, when the normal unstacking operation cannot be performed due to external factors (such as: obstruction of adjacent piles, obstruction of other bucket wheel machines on the same track, etc.), the reverse unstacking operation mode must be adopted, at this time, the boom needs to be turned (hereinafter referred to as "arm turning") in the gap between the adjacent piles, so that the boom is turned from the initial range into the range, at this time, a reasonable method should be used to calculate and simulate the pile-to-pile arm turning and adapt to the actual working conditions. In the current full-automatic stacking and unstacking process, there is no full-automatic method to deal with the pile-to-pile arm turning condition. The current common method 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 pile-to-pile arm turning is a link that cannot be avoided in the operation process of the bucket wheel machine.

[0004] The existing unattended system of the bucket wheel machine either retains the on-machine driver's room for manual operation by the driver or sets a control handle in the central control room for remote manual operation. The purpose of retaining the manual operation is to deal with some situations that cannot be handled by the unattended system. The current arm turning needs to be manually operated by the driver, which is obviously a potential defect of the unattended system. SUMMARY

[0005] In order to solve the above problems, the technical scheme adopted by the present application is: a method for automatically turning the boom of a bucket wheel machine between piles in a bulk material yard, comprising the following steps:

[0006] Step 1: determining the center line between the adjacent piles in the bulk material yard;

[0007] Step 2: determining the rotation angular velocity ω of the bucket wheel machine;

[0008] Step 3, calculate the walking speed v corresponding to the unit rotation angle Lav-n° And draw the trajectory of the boom of the bucket wheel machine;

[0009] Step 4, implement the turning of the boom, that is, control the walking and turning mechanism of the bucket wheel machine to turn the boom.

[0010] Further: the calculation method for determining the center line between adjacent stacks in the bulk material yard is as follows:

[0011] STEP01: obtain the three-dimensional point cloud coordinate set ST_I of the Ith stack; obtain the three-dimensional point cloud coordinate set ST_II of the IIth stack;

[0012] STEP02: remove the points with a height value less than H in ST_I to form the three-dimensional point cloud coordinate set ST N _I; remove the points with a height value less than H in ST_II to form the three-dimensional point cloud coordinate set ST N _II, wherein H refers to the height of the boom from the ground at 0° pitch;

[0013] STEP03: project ST N _I onto the horizontal plane to form the two-dimensional point cloud coordinate set ST N _I_2D; project ST_II onto the horizontal plane to form the two-dimensional point cloud coordinate set ST N _II_2D;

[0014] STEP04: determine whether ST N _I_2D and ST N _II_2D are both non-empty? If the two-dimensional point cloud coordinate set ST N _I_2D or ST N _II_2D is empty, it means that the Ith stack or the IIth stack has no points higher than H, which does not belong to the turning of the boom between adjacent stacks, and is classified as the turning of the boom without stack interval restriction;

[0015] STEP05: obtain the maximum value x N of the horizontal coordinate in ST I_max _I_2D; obtain the minimum value x N of the horizontal coordinate in ST II_min _II_2D;

[0016] STEP06: the center line between the stacks

[0017] Further: the determination method for the rotation angular velocity ω of the bucket wheel machine is as follows:

[0018] STEP101: obtain the inherent design parameters of the bucket wheel machine: boom length L, maximum rotation angular velocity ω S-max, the maximum travel speed v L-max ;

[0019] STEP 102: the bucket wheel machine adopts the maximum rotation angular velocity ω S-max uniform rotation, at least t 90° = 90 / ω S-max ;

[0020] STEP 103: during the rotation angle from 0° to 90°, the travel displacement is equal to the cantilever length;

[0021] STEP 104: the travel average speed of the bucket wheel machine in the rotation range from 0° to 90°

[0022] STEP 105: it is judged whether the travel average speed of the bucket wheel machine is greater than the travel maximum speed, if the travel average speed is greater than the travel maximum speed, i.e. v L-av >v L-max , then enter STEP 106; otherwise, enter STEP 108;

[0023] STEP 106: set the travel average speed v L-av =v L-max in the rotation range from 0° to 90°, at least t 90° =L / v L-av =L / v L-max ;

[0024] STEP 107: determine to adopt the rotation angular velocity ω = 90 / t 90° ;

[0025] STEP 108: determine to adopt the rotation angular velocity ω = ω S-max .

[0026] Further: the process of calculating the travel speed v Lav-n° corresponding to a unit rotation angle and drawing the cantilever trajectory of the bucket wheel machine is as follows:

[0027] STEP 201: it is judged whether there is a center line x = x mid between the stacks, if it is judged that there is no center line between the stacks, it is classified as the turning cantilever working condition without stack interval restriction, if there is a center line between the stacks, enter STEP 202;

[0028] STEP 202: it is known that the center line between the stacks is x

[0029] STEP 203: the bucket wheel machine cantilever is classified as 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), wherein D = x midL, L is the length of the boom;

[0030] STEP204: Having determined the rotation angular velocity ω, the walking speed v is calculated L = L x ω x sin θ, and the walking speed is discretized per unit rotation angle v L-n° = L x ω x sin n θ, where θ is the rotation angle; n is a natural number taking values from 1 to 180 per unit rotation angle;

[0031] STEP205: v L-n° is obtained by averaging v Lav-n° , and the walking displacement d L-0° corresponding to different rotation angles is calculated

[0032]

[0033] wherein v L-0° = 0 and d L-0° = 0;

[0034] STEP206: The walking position horizontal coordinate D L-n° corresponding to each unit rotation angle is calculated as follows:

[0035] D L-n° = D + d L-n°

[0036] STEP207: The boom head coordinates (X H-n° , Y H-n° ) and the root coordinates (X E-n° , Y E-n° ) per unit rotation angle are calculated, and the boom trajectory in the arm adjusting process is obtained by connecting the above two points;

[0037] STEP208: The boom head coordinates (X H-n° , Y H-n° ) and the root coordinates (X E-n° , Y E-n° ) are calculated as follows:

[0038]

[0039]

[0040] In theory, the boom head horizontal coordinate X H-n° should be equal to x mid , i.e. X H-n° = x mid .

[0041] The two-dimensional point cloud coordinate set ST NI 2D and ST N II 2D, and draw the cantilever trajectory during the process of adjusting the cantilever.

[0042] Further: the process of adjusting the cantilever, i.e. controlling the traveling and slewing mechanisms of the bucket wheel machine to adjust the cantilever, is as follows:

[0043] STEP 301: set the target angle θ of the bucket wheel machine des , i.e. the target angle θ is set as the cutting-in angle when the I pile is subjected to the material taking operation, and can also be set as 180°; des

[0044] STEP 302: the cantilever is returned to the zero position, i.e. the pitch is 0° and the slewing is 0°, the traveling mechanism is started, and the root of the cantilever of the bucket wheel machine is located at the coordinate (D, 0), wherein D = x mid , L is the length of the cantilever;

[0045] STEP 303: the traveling mechanism and the slewing mechanism are started at the same time;

[0046] STEP 304: the traveling mechanism is rotated at a constant speed of ω, and the slewing mechanism is traveled at v Lav-n° ;

[0047] STEP 305: it is judged whether the triggering signal of the anti-collision device on both sides of the cantilever is detected, if the signal is detected, it should be prompted that "the cantilever is at risk of lateral collision!" and the adjusting action of the cantilever of the bucket wheel machine is ended, if the signal is not detected, it is entered into STEP 306;

[0048] STEP 306: it is judged whether the current slewing angle reaches θ des , if the slewing angle has not reached θ des , it is returned to STEP 304; if the slewing angle reaches θ des , it is prompted that "the adjusting of the cantilever is completed," and the adjusting action of the cantilever of the bucket wheel machine is ended.

[0049] A control system for automatically adjusting the cantilever of a bucket wheel machine between piles in a bulk material yard, comprising a pile point cloud data acquisition device, a bucket wheel machine posture acquisition device, a cantilever, a traveling anti-collision device, a bucket wheel machine body, a data processing server, a control algorithm server, a client computer and a central control room;

[0050] The data processing server, the control algorithm server and the client computer are arranged in the central control room;

[0051] The pile point cloud data acquisition device is used to acquire the surface data of objects such as piles in the bulk material yard, and transmit the surface data of objects such as piles in the bulk material yard to the data processing server;

[0052] ​The bucket wheel machine posture acquisition device is used for real-time measurement of three posture data of the bucket wheel machine, i.e., walking position, rotation angle and inclination angle data, and transmits the three posture data of the bucket wheel machine to a control algorithm server to participate in full-automatic bucket wheel machine arm adjusting control.

[0053] The data processing server transmits the processed data to the control algorithm server.

[0054] The cantilever and walking anti-collision device is used for detecting collision of the bucket wheel machine with other obstacles, i.e., stacker-reclaimers on the same track, stacker-reclaimers on adjacent tracks, flow machine devices in the stockyard and between stockpiles.

[0055] The control algorithm server transmits the processed data to the client computer.

[0056] The client computer uses the method for automatically adjusting the cantilever of the bucket wheel machine between piles in the bulk material yard to realize simulation of full-automatic arm adjusting, adjust parameters, set parameters and implement automatic arm adjusting command issuing.

[0057] The method for automatically adjusting the cantilever of the bucket wheel machine between piles in the bulk material yard can automatically complete the arm adjusting condition between adjacent stockpiles through calculation and drawing simulation, effectively promote the integrity of the intelligent control process chain of the bucket wheel machine, and achieve the purpose of the application.

[0058] The method of the application, after the length of the cantilever of the bucket wheel machine is determined (the length of the cantilever of a bucket wheel machine is a fixed value, which is a mechanical inherent parameter), the parameters for adjusting the cantilever are unique, i.e., the simulation trajectory is also unique.

[0059] The method of the application is very simple and easy to learn for operators of unattended systems, i.e., it is not necessary to set parameters, and only simulation and actual implementation with fixed parameters are needed.

[0060] 1. The condition of automatically adjusting the cantilever between adjacent stockpiles can be realized without the participation of the bucket wheel machine driver.

[0061] 2. The production process chain of the bucket wheel machine can be improved to make the production process more unmanned and the management process more standardized. BRIEF DESCRIPTION OF DRAWINGS

[0062] 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 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 be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0063] Figure 1 is a schematic view of the cantilever before the inter-pile turning of the bucket wheel machine;

[0064] Figure 2 is a schematic view of the cantilever after the inter-pile turning of the bucket wheel machine;

[0065] Figure 3 is a schematic view of the cantilever root coordinate calculation at the beginning of the arm turning;

[0066] Figure 4 is a schematic view of the cantilever root coordinate calculation after the turning angle;

[0067] Figure 5 is a schematic view of the calculation method of the center line between the piles;

[0068] Figure 6 is a schematic view of the determination method of the turning angle velocity;

[0069] Figure 7 is a schematic view of the calculation method of the walking speed corresponding to the unit turning angle, the cantilever head and root coordinates;

[0070] Figure 8 is a flow chart of the implementation of the cantilever turning condition;

[0071] Figure 9 is a schematic view of the cantilever trajectory of the inter-pile automatic cantilever turning;

[0072] Figure 10 Schematic view of the network hardware of the control system of the inter-pile automatic cantilever turning.

[0073] 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

[0074] 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.

[0075] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. The following description of at least one example embodiment is merely illustrative in nature and is in no way limiting on the application or its applications or uses. Based upon a review of the embodiments contained herein, those of ordinary skill in the art can make other embodiments that are within the scope of the application without undue experimentation. All of these embodiments are within the scope of the application.

[0076] It should be noted that the terminology used herein is for the purpose of describing specific embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, components, and / or groups thereof, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0077] The relative arrangement of parts and steps, numerical expressions, and numerical values set forth in the examples are not intended to limit the scope of the application unless otherwise specifically stated. It should be apparent that the dimensions of the various parts shown in the drawings are not to scale and are only meant to illustrate the general principles of the application. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art can not be discussed in detail but should be considered as part of the description of the application. In all examples shown and discussed herein, any specific value should be interpreted as illustrative only and not as a limitation. Thus, other examples of the example embodiments can have different values. It should be noted that like reference numerals and letters refer to like items in the following drawings and, as such, further discussion of such items across figures need not be discussed further.

[0078] In the description of the present application, it should be understood that the orientation words such as "front, back, up, down, left, right", "transverse, vertical, perpendicular, horizontal" and "top, bottom" and the like indicated orientation or position relationship are generally based on the orientation or position relationship shown in the drawings, only for the convenience of describing the present application and simplifying the description, without the opposite indication, these orientation words do not indicate and imply that the indicated device or element must have a specific orientation or be constructed and operated in a specific orientation, therefore, it cannot be understood as a limitation on the scope of protection of the present application: the orientation words "inner, outer" refer to the inner and outer relative to the contour of each component.

[0079] For purposes of the description hereinafter, spatial relative terms, such as "above", "below", "upper", "lower", and the like, can be used to describe the relative position of one element or feature to another as illustrated in the figures. It will be understood that the spatial relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientations depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "below" other elements or features would then be oriented "below" or "above" other elements or features. Thus, the exemplary term "above" can encompass both an orientation of above and below. The device can be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

[0080] In addition, it should be noted that the use of "first", "second", and the like, terminology throughout this patent document is merely used as an aid in differentiating between various components, and is not intended to imply or create limitations as to the scope of the disclosure.

[0081] The following Figure 1 is a schematic diagram of the application scenario of the method described in the present application.

[0082] Figure 1 AB is the running track of the stacker-reclaimer;

[0083] I and II are adjacent stacks;

[0084] OC is the center line of the adjacent stacks;

[0085] XY is the cantilever of the bucket wheel machine, wherein X is the root of the cantilever and Y is the head of the cantilever;

[0086] The angle between the cantilever XY and the track AB is θ, that is, the rotation angle of the cantilever is θ.

[0087] As Figure 1 shown, the running mechanism of the bucket wheel machine runs along the track AB in the direction indicated by the dotted line, and the cantilever rotates in the direction of gradually increasing θ angle. However, it is necessary to ensure that the head of the cantilever is always located on the center line OC.

[0088] As Figure 1As shown, the bucket wheel machine intends to take material from the I pile, but due to external factors such as shielding or scheduling, it cannot start from the head end of the I pile, so it must start from the tail end of the I pile, and at this time, the rotation angle of the cantilever XY is θ ∈ [0, 90°], which cannot cut into the tail end of the I pile. In this case, the bucket wheel machine must turn the cantilever between adjacent piles (I pile and II pile), so that the rotation angle of the cantilever XY is θ ∈ [90°, 180°], that is, as shown. Figure 2

[0089] The method described in the present application is based on the basic theory of rigid body planar motion. Specifically, during the arm adjustment process, the pitch angle is kept at 0°, the rotation angle is a constant value, and the cantilever head should always be located on the centerline of the adjacent pile.

[0090] As shown in Figure 3 , OC represents the centerline of the adjacent pile x = x mid . B E B H is the cantilever, where B E is the cantilever root, B H is the cantilever head. The position shown in the figure is the state when the cantilever is about to start the arm adjustment action, at this time the cantilever root coordinate B E (D, 0), the cantilever head coordinate B H (D + L, 0).

[0091] As shown in Figure 4 , OC represents the centerline of the adjacent pile x = x mid . B' E B' H is the cantilever, where B' E is the cantilever root, B' H is the cantilever head. The position shown in the figure is the state of the cantilever after the bucket wheel machine has started the arm adjustment action and has rotated by an angle θ, at this time the cantilever root coordinate B' E (D + d L-θ , 0), the cantilever head coordinate B' H (D + d L-θ + Lcosθ, Lsinθ).

[0092] Wherein the meanings of the parameters involved above are as follows:

[0093] x = x mid : centerline equation between piles, unit is meter (m);

[0094] D: horizontal coordinate of cantilever root when about to start arm adjustment, unit is meter (m);

[0095] L: cantilever length, unit is meter (m);

[0096] ​θ: Rotation angle, in degrees (°);

[0097] d L-θ : The travel displacement corresponding to the cantilever rotating to θ, in meters (m). The calculation method is shown in (Equation 4).

[0098] like Figure 4 As shown, the following velocity relationship of the bucket wheel excavator can be obtained:

[0099] v L =v S ×sinθ=L×ω×sinθ (1)

[0100] Where: v L Travel speed, measured in meters per second (m / s);

[0101] v S : Rotational linear velocity, measured in meters per second (m / s);

[0102] θ: Rotation angle, in degrees (°);

[0103] L: Cantilever length, in meters (m);

[0104] ω: angular velocity of rotation, measured in degrees per second (° / s);

[0105] Additionally: u: cantilever head along the midline OC: x = x mid The speed of movement is measured in meters per second (m / s).

[0106] Discretizing the above (Equation 1), that is, dividing the rotation angle θ (ranging from 0° to 180°) into 1° increments, the travel speed value corresponding to n° (where n = 1, 2, 3… 179, 180) is v. L-n° The discretized walking speed expression is as follows:

[0107] v L-n° =L×ω×sinn° (2)

[0108] v L-n° V is obtained by averaging. Lav-n° Its expression is as follows:

[0109]

[0110] Where: v L-0° =0.

[0111] Travel displacement d corresponding to different rotation angles L-n° The expression is as follows:

[0112]

[0113] wherein: d L-0° = 0.

[0114] The expression of the walking position horizontal coordinate D corresponding to different rotation angles is as follows: L-n°

[0115] D L-n° = D + d L-n° (5)

[0116] wherein: D L-0° = D.

[0117] For each unit angle of rotation, the cantilever head coordinate (X H-n° , Y H-n° ) and the root coordinate (X E-n° , Y E-n° ) are calculated, and the above two points are connected, so that the cantilever trajectory in the arm adjusting process can be drawn.

[0118]

[0119] The method for automatically adjusting the cantilever of the bucket wheel machine between the adjacent stacks in the bulk material yard comprises the following steps:

[0120] Step 1: determining the center line between the adjacent stacks in the bulk material yard;

[0121] Step 2: determining the rotation angular velocity ω of the bucket wheel machine;

[0122] Step 3: calculating the walking speed v Lav-n° corresponding to a unit rotation angle, and drawing the cantilever trajectory of the bucket wheel machine;

[0123] Step 4: adjusting the cantilever, that is, controlling the walking and rotating mechanisms of the bucket wheel machine to adjust the cantilever.

[0124] Further, the calculation method for determining the center line between the adjacent stacks in the bulk material yard is as follows:

[0125] The determination method of the center line x = x mid between the stacks is shown in Figure 5 .

[0126] The calculation process shown in Figure 5 is described as follows:

[0127] STEP01: obtaining the three-dimensional point cloud coordinate set ST_I of the Ith stack; obtaining the three-dimensional point cloud coordinate set ST_II of the IIth stack.

[0128] STEP02: removing the points with a height value less than H in ST_I to form the three-dimensional point cloud coordinate set ST N ​I, remove the points with height less than H in ST II to form a three-dimensional point cloud coordinate set ST N II, where H refers to the height of the boom from the ground when the pitch is 0°, and the unit is meter (m);

[0129] STEP03: Project ST N I to the horizontal plane to form a two-dimensional point cloud coordinate set ST N I_2D; Project ST N II to the horizontal plane to form a two-dimensional point cloud coordinate set ST N II_2D;

[0130] STEP04: Determine whether ST N I_2D and ST N II_2D are both non-empty? If the two-dimensional point cloud coordinate set ST N I_2D or ST N II_2D is empty, it means that the I number of material piles or the II number of material piles has no points higher than H, at this time it does not belong to the adjacent pile turning boom working condition, and can be classified as a non-pile interval limited turning boom working condition, which is not within the scope discussed in this application.

[0131] STEP05: Obtain the maximum value x I_max of the horizontal coordinate in ST N I_2D; Obtain the minimum value x II_min

[0132] STEP06: The center line between the material piles

[0133] Further, the determination method of the rotation angular velocity ω of the bucket wheel machine is as follows:

[0134] The determination method of the rotation angular velocity is as shown in Figure 6 .

[0135] The method flow shown in Figure 6 is explained as follows:

[0136] STEP101: Obtain the inherent design parameters of the bucket wheel machine: boom length L, maximum rotation angular velocity ω S-max , maximum walking speed v L-max , the above three parameters are inherent design parameters of the bucket wheel machine;

[0137] STEP102: The bucket wheel machine rotates at a maximum rotation angular velocity ω S-max at a constant speed, and at least t 90° =90 / ω S-max is required to rotate to 90°;

[0138] STEP 103: During the rotation angle from 0° to 90°, the walking displacement is equal to the length of the cantilever;

[0139] STEP 104: The walking average speed of the rotation range from 0° to 90°

[0140] STEP 105: Determine whether the walking average speed of the bucket wheel machine is greater than the walking maximum speed, if the walking average speed is greater than the walking maximum speed, i.e. v L-av > v L-max , then enter STEP 106; otherwise, enter STEP 108;

[0141] STEP 106: Set the walking average speed v L-av = v L-max of the rotation range from 0° to 90°, then at least t 90° = L / v L-av = L / v L-max is needed when rotating from 0° to 90°;

[0142] STEP 107: Determine to adopt the rotation angular velocity ω = 90 / t 90° .

[0143] STEP 108: Determine to adopt the rotation angular velocity ω = ω S-max .

[0144] Further, the calculation method of the walking speed v Lav-n° corresponding to a unit rotation angle and the cantilever trajectory of the bucket wheel machine are drawn;

[0145] The determination method of the feasibility of turning the cantilever between adjacent stacks is shown in Figure 7 .

[0146] The following is an explanation of the calculation flow shown in Figure 7 .

[0147] STEP 201: Determine whether there is a center line x = x mid between the stacks, this step should be determined according to the flow shown in Figure 5 , if it is determined that there is no center line between the stacks, it is classified as a turning cantilever working condition without stack interval restriction, which is not within the scope of this application, and the algorithm ends, if there is a center line between the stacks, enter STEP 202;

[0148] STEP 202: As shown in Figure 5 , the center line between the stacks is x

[0149] STEP 203: The cantilever of the bucket wheel machine is returned to zero position, the pitch is 0° and the rotation is 0°, so that the root of the cantilever of the bucket wheel machine is located at the coordinate (D, 0), wherein D = xmid L, L is the length of the boom;

[0150] STEP204: Having determined the rotation angular velocity ω, the walking speed v L = L x ω x sin θ, and the walking speed is discretized by unit rotation angle v L-n° = L x ω x sin n θ, where θ is the rotation angle; n is a natural number taking values from 1 to 180;

[0151] STEP205: v L-n° is obtained by averaging v Lav-n° , and the walking displacement d L-0° corresponding to different rotation angles is calculated;

[0152]

[0153] where: v L-0° = 0 and d L-0° = 0;

[0154] STEP206: The walking position horizontal coordinate D L-n° corresponding to unit rotation angle is as follows:

[0155] D L-n° = D + d L-n°

[0156] STEP207: The boom head coordinates (X H-n° , Y H-n° ) and the root coordinates (X E-n° , Y E-n° ) are calculated for each unit rotation angle, and the boom trajectory in the arm adjusting process can be obtained by connecting the above two point coordinates;

[0157] STEP208: The boom head coordinates (X H-n° , Y H-n° ) and the root coordinates (X E-n° , Y E-n° ) are calculated as follows:

[0158]

[0159]

[0160] In theory, the horizontal coordinate X H-n° of the boom head should be equal to x mid , that is, X H-n° = x mid ;

[0161] The two-dimensional point cloud coordinate set ST of adjacent piles is plotted under the same two-dimensional coordinate systemN I 2D and ST N II 2D, and draw the cantilever trajectory in the process of adjusting the arm, which can intuitively observe the feasibility of the calculation data.

[0162] Further, the process of adjusting the cantilever, i.e. controlling the running and turning mechanism of the bucket wheel machine to adjust the cantilever, is as follows:

[0163] The specific process of implementing the adjusting cantilever working condition is shown in Figure 8 .

[0164] The following is an explanation of the working condition process shown in Figure 8 .

[0165] STEP301: Set the target angle θ of the bucket wheel machine des , i.e. the target angle θ des when the I number of stacks is taken out of the work, the cutting angle is set to 180°;

[0166] STEP302: The cantilever is returned to the zero position, the pitch is 0° and the turning is 0°, the running mechanism is started, and the cantilever root of the bucket wheel machine is located at the coordinate (D, 0), wherein D=x mid -L, L is the length of the cantilever;

[0167] STEP303: Start the running mechanism and the turning mechanism at the same time;

[0168] STEP304: The running mechanism rotates at a constant speed of ω, and the turning mechanism runs at v Lav-n° ; wherein the determination method of ω is shown in Figure 6 , and the calculation method of v Lav-n° is shown in Figure 7 ;

[0169] STEP305: Determine whether the trigger signal of the cantilever side anti-collision device is detected, if the above signal is detected, it should prompt "cantilever lateral collision risk!" And end the arm adjusting action of the bucket wheel machine, if the above signal is not detected, enter STEP306;

[0170] STEP306: Determine whether the current turning angle reaches θ des , if the turning angle has not reached θ des , return to STEP304; if the turning angle reaches θ des , prompt "the cantilever adjusting is completed," and end the arm adjusting action of the bucket wheel machine.

[0171] As shown in Figure 10 , it is a hardware structure diagram of the system for automatically adjusting the cantilever of the bucket wheel machine between the stacks in the bulk material yard.

[0172] wherein, for Figure 10 The important component device of the above-mentioned system is described as follows.

[0173] A system for automatically turning the boom of a bucket wheel machine between stacks in a bulk material yard, comprising a stockpile point cloud data acquisition device 1, a bucket wheel machine posture acquisition device 2, a boom, 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.

[0174] The hardware devices that can be used by the stockpile point cloud data acquisition device 1 include laser scanners, ranging radars, TOF cameras, etc. The device is used to acquire the surface data of objects such as stockpiles in the bulk material yard. These data will be transmitted to the data processing server 5. It is particularly pointed out that: Figure 10 The stockpile point cloud data acquisition device 1 is installed on the bucket wheel machine body as shown in FIG. 1, 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.

[0175] The hardware devices that can be used by the bucket wheel machine posture acquisition device 2 include Beidou / GPS systems, Gray bus, encoders, inclinometers, etc. The real-time measurement of the three posture data (walking position, rotation angle, pitch angle) of the bucket wheel machine body 4, i.e. 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”. These real-time measurement data will be transmitted to the control algorithm server 6 for full-automatic bucket wheel machine boom control.

[0176] The data processing server 5 will transmit the processed data to the control algorithm server 6.

[0177] The hardware devices that can be used by the boom and walking anti-collision device 3 include laser detection devices, radar detection devices, microwave detection devices, ultrasonic detection devices, etc. The devices are used for collision between the bucket wheel machine and other obstacles (stacking and reclaiming equipment on the same track, stacking and reclaiming equipment on adjacent tracks, flow machine equipment in the bulk material yard, stockpiles, etc.). This anti-collision function is mainly realized through distance detection. Generally, the boom and walking anti-collision device 3 is installed on both sides of the boom and at the front and rear ends of the walking mechanism. The specific number is determined according to the actual situation of the bucket wheel machine. The ranging data of the boom and walking anti-collision device 3 will be transmitted to the control algorithm server 6 for full-automatic bucket wheel machine boom control.

[0178] The control algorithm server will transmit the processed data to the client computer 7.

[0179] The client computer 7 can use a desktop computer or a portable notebook computer. It is used to realize the following two functions: ① simulation of full-automatic boom adjustment; and ② setting parameters and issuing automatic boom adjustment commands after safe boom adjustment is displayed in the simulation result.

[0180] The processing server 5, the control algorithm server 6 and the client computer 7 are arranged in a control room 8.

[0181] 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 above embodiments, those skilled in the art should understand that the technical solutions described in the above 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 between stacks in a bulk material yard, characterized in that: Includes the following steps: Step 1: Determine the centerline between adjacent stacks within the bulk material yard; Step 2: Determine the angular velocity of the bucket wheel excavator. ; Step 3: Calculate the travel speed corresponding to a unit rotation angle. And plot the cantilever trajectory of the bucket wheel excavator; Step 4: Implement the boom reversal, that is, control the travel and slewing mechanisms of the bucket wheel excavator to reverse the boom; The method for calculating the centerline between adjacent stacks within a 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. Where: H refers to 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 coordinates non-empty? If the two-dimensional point cloud coordinate set... or If empty, it means that there is no point higher than H in either stack I or stack II, and it does not belong to the cantilever operation between adjacent stacks. It is classified as the cantilever operation without stack restrictions. STEP05: Obtain Maximum value of the horizontal axis ; obtain Minimum value of the horizontal axis ; STEP06: Center line between stacks ; The travel speed corresponding to the unit rotation angle is calculated. The process of plotting the cantilever trajectory of the bucket wheel excavator is as follows: STEP201: Determine if a centerline exists between stacks of materials. If it is determined that there is no centerline between the stacks, it is classified as a cantilever turning condition without stack restrictions. If there is a centerline between the stacks, it proceeds to STEP202. STEP202: Centerline between stacks ; STEP203: 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), where: L is the cantilever length; D is the x-coordinate of the cantilever root of the bucket wheel excavator. STEP204: Rotational velocity determined Then the walking speed The traveling speed is discretized per unit rotation angle. ,in: is the rotation angle; n is the unit rotation angle, a natural number ranging from 1 to 180. STEP205: [The following text appears to be a separate, unrelated section:] The mean was obtained And calculate the travel displacement corresponding to different rotation angles. ; in: and ; STEP206: x-coordinate of travel position corresponding to a unit rotation angle As shown in the following formula: STEP207: Calculate the coordinates of the cantilever head per unit angle of rotation. and root coordinates By connecting the coordinates of the two points mentioned above, the cantilever trajectory during the boom adjustment process can be obtained; STEP208: Calculate the coordinates of the cantilever head. and root coordinates As shown below: x-coordinate of the cantilever head Should equal to ,Right now ; Plot the two-dimensional point cloud coordinate set of adjacent material piles in the same two-dimensional coordinate system. and And plot the cantilever trajectory during the boom adjustment process.

2. A method for automatically adjusting the cantilever of a bucket wheel excavator between stacks in a bulk material yard according to claim 1, comprising the following steps: The angular velocity of the bucket wheel excavator The method for determining it is as follows: STEP 101: Obtain the inherent design parameters of the bucket wheel excavator: cantilever length L, maximum slewing angular velocity , maximum walking speed ; STEP102: Bucket wheel excavator adopts maximum angular velocity. Rotate at a constant speed until... At least time required ; STEP 103: At the rotation angle... to During the process, the travel displacement is equal to the cantilever length; STEP104: Bucket wheel excavator in the turning range average walking speed ; STEP 105: Determine if the average travel speed of the bucket wheel excavator is greater than the maximum travel speed. If the average travel speed is greater than the maximum travel speed, then... If so, proceed to STEP106; otherwise, proceed to STEP108. STEP 106: Set the rotation range average walking speed Then from Return to At least time required ; STEP107: Determine the appropriate rotational angular velocity. ; STEP108: Determine the appropriate rotational angular velocity. .

3. A method for automatically adjusting the cantilever of a bucket wheel excavator between stacks in a bulk material yard according to claim 1, comprising the following steps: The process of implementing the cantilever adjustment, i.e., controlling the traveling and rotating mechanisms of the bucket wheel excavator to adjust the cantilever, is as follows: STEP301: Set the target angle for the bucket wheel excavator That is, when carrying out material handling operations on stack I, at the target angle The angle of entry; STEP302: Return the cantilever to the zero position, pitch. And turn Start the traveling mechanism to position the root of the bucket wheel excavator boom at coordinate (D, 0), where: L is the cantilever length; STEP303: Simultaneously start the traveling mechanism and the slewing mechanism; STEP304: Traveling mechanism The rotating mechanism rotates at a constant speed. walk; STEP305: Determine whether the trigger signal of the anti-collision device on both sides of the boom is detected. If the above signal is detected, the message "Boom 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 STE3P06. STEP306: Determine if the current rotation angle has been reached. If the rotation angle has not yet reached If the rotation angle reaches STEP304, then return to STEP304; If the prompt is received, the message "The boom adjustment has been completed" will be displayed, and the boom adjustment action of the bucket wheel excavator will end.

4. A control system for an automatic shifting bucket wheel excavator boom 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 for real-time measurement of three attitude data of the bucket wheel excavator, namely traveling position, slewing angle and pitch angle, 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 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 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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