Control method and system for stacking and retrieving
By dynamically adjusting the material zone boundary to increase the stacking area through the coordinated operation of the reclaimer and the stacker, the problem of equipment idleness when the stacker's capacity exceeds that of the reclaimer is solved, thereby improving the utilization efficiency of the storage yard and the equipment utilization rate.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- AUMUND MASCH TRADING (BEIJING) CO LTD
- Filing Date
- 2024-03-27
- Publication Date
- 2026-06-16
AI Technical Summary
When the capacities of the stacker and reclaimer are inconsistent, and the capacity of the stacker exceeds that of the reclaimer, the stacker has to remain idle until the reclaimer finishes reclaiming the material, resulting in wasted equipment capacity. At the same time, due to limited space, the storage yard is used inefficiently, and the frequent exchange of sites between the stacker and reclaimer increases unnecessary operating costs.
By controlling the reclaimer to reclaim material in the first material zone in a direction away from the second material zone, and dynamically adjusting the boundary between the second and first material zones according to the changes in the material reclaiming position in the first material zone, the area of the second material zone is increased, and the freed-up space is used for material stacking, thus achieving efficient collaborative operation between the stacker and the reclaimer.
It improves the utilization efficiency of the storage yard, avoids equipment idleness, reduces the number of times stackers and reclaimers need to switch sites, increases effective operating time, and makes full use of existing sites and equipment.
Smart Images
Figure CN118025840B_ABST
Abstract
Description
Technical Field
[0001] Embodiments of this disclosure relate to a method and system for controlling the stacking and retrieving of materials. Background Technology
[0002] A raw material yard is a site for receiving, storing, processing, and blending raw materials, fuels, and other materials used in iron and steel metallurgy. Modern large-scale raw material yards include ore yards, coal yards, auxiliary raw material yards, and blending yards. They store not only iron ore, iron concentrate, pellets, manganese ore, limestone, dolomite, serpentine, silica, coking coal, and thermal coal, but also a portion of sintered ore, pellets, and recycled materials from the steel plant, such as iron oxide scale, blast furnace ash, coke crushing, and sintering powder.
[0003] Some storage yards are divided into a retrieving area and a stacking area for retrieving and stacking operations, respectively. Summary of the Invention
[0004] At least one embodiment of this disclosure provides a control method for stacking and retrieving materials in a material yard, wherein the material yard includes an adjacent first material area and a second material area, the first material area and the second material area having a boundary. The control method includes: controlling a retrieving machine to retrieve materials in the first material area in a direction away from the second material area, controlling a stacker to stack materials in the second material area, and adjusting the boundary between the second material area and the first material area according to the change in the retrieving position in the first material area, so as to increase the area of the second material area.
[0005] For example, in the control method provided in at least one embodiment of this disclosure, adjusting the boundary between the second material area and the first material area according to the change in the material picking position in the first material area includes: adjusting the boundary between the second material area and the first material area in real time according to the real-time change in the material picking position in the first material area.
[0006] For example, the control method provided in at least one embodiment of this disclosure further includes: determining the initial pile length of the material pile in the second material area to determine the initial range of the second material area, and determining the initial length of the material pile in the first material area to determine the initial range of the first material area, and determining the initial material removal position of the material pile in the first material area.
[0007] For example, at least one embodiment of the control method provided in this disclosure further includes: obtaining a safe distance between the second material area and the first material area to determine the boundary position between the first material area and the second material area.
[0008] For example, in at least one embodiment of the control method provided in this disclosure, determining the initial stacking length of the material pile in the second material zone and determining the initial length of the material pile in the first material zone includes:
[0009] According to the formula: L ini =LL p -L R
[0010]
[0011] The initial stockpile length Lini in the second material zone and the remaining stockpile length L in the first material zone were calculated. R Where L is the effective length of the material yard, L P C represents the safe distance between the second material zone and the first material zone. R For the production capacity of the aforementioned material handling machine, C S This represents the capacity of the stacker.
[0012] For example, the control method provided in at least one embodiment of this disclosure further includes:
[0013] According to the formula:
[0014] Determine the minimum effective length L of the material yard min The actual effective length of the material yard is compared with the minimum effective length to obtain the comparison result, where L iniMin This is the minimum stockpile length in the second material zone.
[0015] For example, in at least one embodiment of the control method provided in this disclosure, controlling the stacker to stack materials in the second material area includes: controlling the stacker to reciprocate in the second material area to achieve layer-by-layer stacking.
[0016] For example, in at least one embodiment of the control method provided in this disclosure, controlling the stacker to stack materials in the second material area further includes: controlling the stacker to stay at the edge of the second material area away from the first material area for a first time period, so as to achieve edge stacking.
[0017] For example, in the control method provided in at least one embodiment of this disclosure, controlling the stacker to stack material in the second material area further includes: controlling the stacker to stay at the edge of the second material area away from the first material area for a second time period to achieve edge stacking shaping, wherein at the initial moment of the first time period, the height of the material pile in the second material area is H1, and at the initial moment of the second time period, the height of the material pile in the second material area is H2, H2 > H1, and the second time period is longer than the first time period.
[0018] For example, at least one embodiment of the control method provided in this disclosure further includes: after the material reclaimer completes material reclaiming in the first material area and the material stacker completes material stacking in the second material area, exchanging the working sites of the material reclaimer and the material stacker, and controlling the material stacker to perform material stacking operation in the first material area and controlling the material reclaimer to perform material reclaiming operation in the second material area.
[0019] At least one embodiment of this disclosure also provides a stacking and reclaiming system, which includes a stacker, a reclaimer, and a control device. The stacker is configured to stack materials in a material yard, wherein the material yard includes a first material area and a second material area, the first material area and the second material area are adjacent to each other and have a boundary. The reclaimer is configured to reclaim materials in the material yard. The control device is configured to: control the reclaimer to reclaim materials in the first material area in a direction away from the second material area, control the stacker to stack materials in the second material area, and adjust the boundary between the second material area and the first material area according to the change of the reclaiming position in the first material area to increase the area of the second material area.
[0020] At least one embodiment of this disclosure also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, implement the material stacking and retrieving control method provided in the embodiments of this disclosure. Attached Figure Description
[0021] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings of the embodiments will be briefly described below. Obviously, the drawings described below only relate to some embodiments of this disclosure and are not intended to limit this disclosure.
[0022] Figure 1 A plan view of a storage yard provided for at least one embodiment of this disclosure;
[0023] Figure 2 This is a schematic diagram of the structure of a material stacking and reclaiming system provided in at least one embodiment of the present disclosure;
[0024] Figure 3 A flowchart illustrating a material stacking and reclaiming method provided in at least one embodiment of this disclosure; and
[0025] Figure 4 This is another structural schematic diagram of a material stacking and reclaiming system provided in at least one embodiment of the present disclosure. Detailed Implementation
[0026] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the described embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.
[0027] Unless otherwise defined, the technical or scientific terms used in this disclosure shall have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms “first,” “second,” and similar terms used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as “comprising” or “including” mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as “connected” or “linked” are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as “upper,” “lower,” “left,” and “right” are used only to indicate relative positional relationships, and these relative positional relationships may change accordingly when the absolute position of the described objects changes.
[0028] Typically, a storage yard is divided into a reclaiming area and a stacking area. The reclaiming machine performs reclaiming operations in the reclaiming area, while the stacking machine performs stacking operations in the stacking area. The two operations can be carried out simultaneously to improve work efficiency.
[0029] For example, Figure 1 A plan view of the storage yard is shown, as follows: Figure 1 As shown, the storage yard includes two material zones: Zone 1 and Zone 2. Zones 1 and 2 can each contain material piles. A reclaimer can be positioned between these two piles. The reclaimer can move to the left to retrieve material from Zone 2 and to the right to retrieve material from Zone 1. When the reclaimer is retrieving material from Zone 1, a stacker can stack / distribute material in Zone 2; conversely, when the reclaimer is retrieving material from Zone 2, the stacker can stack / distribute material in Zone 1. Therefore, the stacker and reclaimer can operate simultaneously.
[0030] However, in some situations, the capacities of stackers and reclaimers are inconsistent; for example, the capacity of a stacker may be greater than that of a reclaimer. Therefore, the stacker often completes its work before the reclaimer. For instance, after the reclaimer has retrieved a pile of material, the stacker and reclaimer can switch positions to begin the next round of stacking and reclaiming operations.
[0031] In the above situation, since the stacker's stacking capacity is greater than the reclaimer's reclaiming capacity, and since the reclaiming area and stacking area are formed by equally dividing the storage yard, the reclaimer may not have finished reclaiming the material when the stacker finishes stacking. In this case, the stacker has to be idle to wait for the reclaimer to finish reclaiming the material before the site exchange can take place, which will result in a waste of equipment capacity. On the other hand, if the length of the entire storage yard is short due to limited space, the effective stacking area ratio will be low, and the stacker and reclaimer will need to frequently exchange sites, resulting in low storage yard utilization efficiency.
[0032] At least one embodiment of this disclosure provides a control method and system for stacking and reclaiming materials in a material yard, wherein the material yard includes an adjacent first material area and a second material area, the first material area and the second material area having a boundary. The control method includes: controlling a reclaimer to reclaim materials in the first material area in a direction away from the second material area, controlling a stacker to stack materials in the second material area, and adjusting the boundary between the second material area and the first material area according to the change in the reclaiming position in the first material area, so as to increase the area of the second material area.
[0033] In the control method provided in this embodiment, as the reclaimer retrieves material in the first material area, the area where the material has been retrieved is freed up. By dynamically adjusting the boundary between the second and first material areas and moving it towards the first material area, the freed-up area in the first material area can be used for stockpiling in the second material area, thereby increasing the area of the second material area. This improves the utilization rate of the first and second material areas and avoids idle space and equipment due to the different capacities of the reclaimer and the stacker. This achieves full utilization of existing space and equipment and improves the utilization rate of space and equipment. On the other hand, the control method provided in this embodiment can effectively reduce the number of times the stacker and reclaimer exchange space, significantly increasing the effective operating time. Furthermore, the control method provided in this embodiment is beneficial for maximizing the comprehensive benefits of a smaller space, making spaces that were originally unsuitable for stacker and reclaimer operation suitable, and enabling stacker-reclaimers to be used in shorter stockpiling areas.
[0034] The following describes the control method and system for stockpiling and retrieving materials provided in this disclosure through several specific embodiments.
[0035] This disclosure provides at least one embodiment of a method for controlling material stacking and reclaiming, which can be used in a material stacking and reclaiming system, for example... Figure 2 A schematic diagram of the stacking and reclaiming system is shown, as follows: Figure 2 As shown, the system includes a material reclaimer, a material stacker, and a control device.
[0036] For example, such as Figure 2As shown, the material reclaimer includes a first main arm 100, a first rake 101, a second rake 102, a scraper (not shown), and a first traveling mechanism 103. For example, the first main arm 100 is arranged along the width direction of the material yard (the vertical direction in the figure), and the first rake 101 and the second rake 102 are respectively arranged on opposite sides of the first main arm 100 (the left and right sides in the figure). When the material reclaimer moves to one side, the rake on that side can reciprocate along the extension direction of the first main arm 100 to continuously rake down the material it comes into contact with. The scraper can be arranged below the first main arm 100, that is, on the side of the first main arm 100 closer to the material pile, so that the scraper can scrape up the material rake down by the rake to realize material reclaiming.
[0037] For example, such as Figure 2 As shown, the stacker includes a second main boom 201, a main boom belt (not shown), a material receiving trolley 202, and a second traveling mechanism 203. For example, the second main boom 201 is set along the width direction of the material yard (the vertical direction in the figure), and can move along the length direction of the material yard (the horizontal direction in the figure), and can also move in a pitching motion. While the stacker travels along the length direction of the material yard, the main boom belt can distribute the material into the material yard, thereby stacking the material into a long strip-shaped pile set along the length direction of the material yard.
[0038] For example, such as Figure 2 As shown, the storage yard includes a first material area 11 and a second material area 12. The material pile in the first material area 11 is called the first material pile A, and the material pile in the second material area 12 is called the second material pile B. One of the first material area 11 and the second material area 12 can be used as a material extraction area, and the other as a material stacking area. The functions of the first material area 11 and the second material area 12 can be interchanged as the material extraction and stacking processes proceed.
[0039] For example, during the first round of material picking and stacking operations, the first material area 11 can be used as the material picking area, where the material picking machine picks up materials; the second material area 12 can be used as the material stacking area, where the material stacker stacks materials. After completing the first round of material picking and stacking operations, the first material area 11 can be used as the material stacking area, where the material stacker moves to the first material area 11 to stack materials; the second material area 12 can be used as the material picking area, where the material picking machine moves to the second material area 12 to pick up materials. This process is repeated multiple times to perform material picking and stacking operations.
[0040] For example, such as Figure 2As shown, the storage yard also includes traveling tracks on opposite sides of the first material area 11 and the second material area 12. These traveling tracks include a first slide rail T1 and a second slide rail T2, which cooperate with the first traveling mechanism 103 of the reclaimer so that the first traveling mechanism 103 can travel on the tracks defined by the first slide rail T1 and the second slide rail T2. For example, the first slide rail T1 and the second slide rail T2 are respectively located on opposite sides of the first material area 11 and the second material area 12, and extend along the length direction of the storage yard (the horizontal direction in the figure), so that the first main arm 100 of the reclaimer spans across the material area, that is, across the width direction of the storage yard, realizing a bridge-type reclaimer, and can travel along the length direction of the storage yard, so that the first rake 101 and the second rake 102 can rake the material in the stockpile.
[0041] For example, such as Figure 2 As shown, the traveling track also includes a third slide rail T3 and a fourth slide rail T4, which cooperate with the second traveling mechanism 203 of the stacker so that the second traveling mechanism 203 can travel on the trajectory defined by the third slide rail T3 and the fourth slide rail T4. For example, the third slide rail T3 and the fourth slide rail T4 are located on the same side of the first material area 11 and the second material area 12, for example, on the side of the second track T2 away from the material area, and extend along the length direction of the material yard (the horizontal direction in the figure). In this case, the second main arm 201 of the stacker is implemented in the form of a cantilever to facilitate stacking in the corresponding material area.
[0042] For example, such as Figure 2 As shown, the storage yard may also include a first conveyor belt D1 for conveying materials to a reclaimer, for example, delivering materials taken by the reclaimer to the required location. For example, the first conveyor belt D1 is located on the side of the first track T1 away from the material area. For example, the storage yard may also include a second conveyor belt D2 for conveying materials to a stacker, for example, conveying materials to the stacker's receiving trolley 202 and then to the main boom belt for stacking by the second main boom 201. For example, the second conveyor belt D2 is located between the third slide rail T3 and the fourth slide rail T4, with the first conveyor belt D1 and the second conveyor belt D2 respectively located on opposite sides of the storage yard, along the length of the storage yard (horizontal direction in the figure).
[0043] For example, in other embodiments, the positions of each slide rail and each conveyor belt can also be designed as needed. For example, the positions of each slide rail and each conveyor belt can be interchanged, or at least some of the slide rails and conveyor belts can be interchanged. The embodiments of this disclosure do not specifically limit this.
[0044] For example, the control device can implement the material stacking and retrieving control method provided in the embodiments of this disclosure, as detailed in the following embodiments.
[0045] At least one embodiment of this disclosure provides a method for controlling material stacking and retrieving. Figure 3 A flowchart of the control method is shown, as follows: Figure 3 As shown, the control method includes steps S101-S102.
[0046] Step S101: Control the reclaimer to reclaim material in the first material area in a direction away from the second material area, and control the stacker to stack material in the second material area.
[0047] Step S102: Adjust the boundary between the second material zone and the first material zone according to the change in the material taking position in the first material zone, so as to increase the area of the second material zone.
[0048] It should be noted that the above embodiment is illustrated with the example of the first material area being the material taking area and the second material area being the material stacking area at the initial moment. In other embodiments, the first material area and the second material area can be interchanged.
[0049] For example, in some embodiments, in step S102, combined with Figure 2 and Figure 4 The boundary between the second material area 12 and the first material area 11 can be adjusted in real time based on the real-time changes in the material picking position in the first material area 11. For example, changes in the material picking position, such as changes in the position of the material picker, can be dynamically monitored to obtain information on the changes in the position of the material picker, that is, the length information of the space vacated in the first material area 11. Based on this information, the boundary between the second material area 12 and the first material area 11 can be adjusted in real time, so that the space vacated in the first material area 11 can be used as the second material area 12 in a timely manner. Figure 4 As shown, the area of the second material zone 12 is increased, and a stacking operation is performed. Alternatively, the changes in the material picking position can be dynamically monitored, and the boundary between the second material zone 12 and the first material zone 11, or the boundary of the first material zone 11 near the material picker, can be controlled to follow the material picker in real time, so that the space vacated by the material picker can be immediately used by the stacker as a stacking area.
[0050] For example, in other embodiments, the boundary between the second material area 12 and the first material area 11 can be adjusted in a time-sharing manner based on the time-sharing changes in the material picking position in the first material area 11. For example, "time-sharing" means that the material picking position can be detected and the boundary adjusted at intervals. The time interval can be adjusted according to needs, such as the time required for the material picker to pick up a certain length of material pile, that is, the time required for a certain length of area to be cleared in the first material area 11, or the time required for the stacker to travel a certain distance in the second material area 12. The embodiments of this disclosure do not specifically limit this.
[0051] For example, in some embodiments, in step S101, the design ranges of the first material zone 11 and the second material zone 12 can be planned / confirmed in advance to plan / confirm the design working ranges of the reclaimer and the stacker. For example, the control method further includes: determining the initial stacking length of the material pile in the second material zone 12 to determine the initial range of the second material zone 12; and correspondingly, determining the initial length of the material pile in the first material zone 11 to determine the initial range of the first material zone 11, and determining the initial reclaiming position of the material pile in the first material zone 11. At this time, the initial reclaiming position indicates that when the reclaimer reaches this position, the length of the second material zone 12 has reached the initial stacking length Lini, at which point the stacker begins stacking.
[0052] For example, the end of the first material zone 11 furthest from the second material zone 12 is one end of the material yard (effective area), and the end of the second material zone 12 furthest from the first material zone 11 is the other end of the material yard (effective area). Therefore, the initial length of the stockpile in the first material zone 11 is determined, which is also the initial range of the first material zone 11, i.e., the position of the end of the first material zone 11 near the second material zone 12 in the material yard. Thus, the initial material removal position of the stockpile in the first material zone 11 is also determined, i.e., the position of the end of the first material zone 11 near the second material zone 12 in the material yard. On the other hand, the initial stacking length of the stockpile in the second material zone 12 is determined, which is also the initial range of the second material zone 12, i.e., the range of movement of the stacker in the second material zone 12. Thus, the position of the end of the second material zone 12 near the first material zone 11 in the material yard is also determined.
[0053] For example, in some embodiments, such as Figure 2 As shown, the control method further includes: obtaining the safe distance L between the second material zone 12 and the first material zone 11. p That is, the distance between the second material zone 12 and the first material zone 11, so as to determine the position of the boundary B between the first material zone 11 and the second material zone 12.
[0054] For example, the safe distance L between the first material zone 11 and the second material zone 12 can be determined based on factors such as the structure of the reclaimer and stacker (e.g., the space they occupy), the size of the site (e.g., length, width), and the properties of the material (e.g., flowability). p This refers to the distance between the first material area 11 and the second material area 12, to ensure production safety. For example, the boundary B between the first material area 11 and the second material area 12 can be located at any position between the first material area 11 and the second material area 12, such as the middle position or the centerline position, with a safety distance L. p The defined safe zone moves as boundary B moves.
[0055] For example, in some embodiments, the safety distance L pIt can be tens of meters, such as 20-30 meters or 30-40 meters, etc.
[0056] For example, in some embodiments, the boundary B between the first material zone 11 and the second material zone 12 can be a virtual boundary, implemented through computer program control. For instance, the safety distance L can be obtained by the user inputting a safety distance into the computer. p The value is used to obtain the position of the virtual boundary. For example, in some other embodiments, the boundary B between the first material area 11 and the second material area 12 can also be a movable solid structure, such as a baffle, retaining wall or other partition structure. The embodiments of this disclosure do not specifically limit this.
[0057] For example, in some embodiments, the boundary B between the first material zone 11 and the second material zone 12 can be a straight line or a curve. The specific boundary can be determined according to the shape and position of the material pile or usage habits. The embodiments disclosed herein do not impose specific limitations on this.
[0058] For example, in some embodiments, the initial stockpile length in the second stockpile zone 12 and the initial stockpile length in the first stockpile zone 11 can be determined by calculation.
[0059] For example, determining the initial stockpile length in the second stockpile zone and the initial stockpile length in the first stockpile zone includes:
[0060] According to the formula: L ini =LL p -L R
[0061]
[0062] The initial stockpile length L in the second material zone was calculated. ini And the remaining uncollected length LR of the stockpile in the first material area, where, for example Figure 2 As shown, L is the effective length of the material yard, in meters (m); L P The safety distance between the second material zone 12 and the first material zone 11, in meters (m); C R The capacity of the reclaimer is expressed in units such as tons per hour (t / H); C S This refers to the capacity of the stacker, expressed in tons per hour (t / H). For example, the L and L mentioned above... P C R and C S Since the quantity is known and can be obtained through user input, the initial stockpile length L in the second material zone can be calculated using the two formulas mentioned above. ini And the remaining unretrieved length L of the material pile in the first material area. R .
[0063] For example, in some embodiments, the control method further includes:
[0064] According to the formula:
[0065] Determine the minimum effective length L of the material yard min The actual effective length of the material yard is compared with the minimum effective length to obtain the comparison result, where L iniMin This is the minimum stacking length in the second material zone.
[0066] For example, the minimum effective length L of the material yard min The circumstances under which the control method provided in the embodiments of this disclosure is more effective can be defined. For example, when the actual effective length of the material yard is greater than the minimum effective length of the material yard, the control method provided in the embodiments of this disclosure is more effective and can fully realize the effect of improving the utilization rate of the material yard; when the actual effective length of the material yard is less than the minimum effective length of the material yard, the control method provided in the embodiments of this disclosure can be used or not.
[0067] For example, in some embodiments, in step S102, controlling the stacker to stack materials in the second material zone may include controlling the stacker to reciprocate in the second material zone 12 to achieve layer-by-layer stacking. For example, in Figure 2 In one embodiment, the stacker reciprocates along the left-right direction (i.e., the length of the material yard) in the second material area 12, and the material pile increases in height with each reciprocation.
[0068] For example, in some embodiments, the stacker can be controlled to stay at the edge of the second material zone 12 away from the first material zone 11 for a first time period to achieve edge stacking. For example, when the stacker moves to the edge of the second material zone 12 away from the first material zone 11, that is, when it reaches the edge of the effective area of the material pile, by staying at that position for a period of time, the amount of material piled at that position can be increased to achieve the shaping of the edge stacking, such as achieving a neat and regular shape.
[0069] In embodiments of this disclosure, the effective area of a stockpile refers to the area that is fully utilized for material extraction and stockpiling, excluding unused "dead zones".
[0070] For example, in some embodiments, as the material pile in the second region 12 increases in height, controlling the stacker to stack material in the second region also includes controlling the stacker to stay at the edge of the second region 12 away from the first region 11 for a second time period to achieve edge stacking shaping. At the initial moment of the first time period, the height of the material pile in the second region is H1, and at the initial moment of the second time period, the height of the material pile in the second region is H2, where H2 > H1, and the second time period is longer than the first time period. That is, the higher the material is piled in the second region 12, the longer the stacker stays at the edge of the second region 12 away from the first region 11, thereby achieving end-point shaping of the material pile and facilitating the formation of a neat and regular shape.
[0071] For example, in some embodiments, the control method further includes: after the reclaimer completes reclaiming in the first material area 11 and the stacker completes stacking in the second material area 12, exchanging the working areas of the reclaimer and the stacker; and controlling the stacker to perform stacking operations in the first material area 11 and controlling the reclaimer to perform reclaiming operations in the second material area 12. At this time, the first material area 11 is used as a stacking area, and the second material area 12 is used as a reclaiming area. For example, after the reclaimer and the stacker exchange their working areas, the above-mentioned reclaiming and stacking operations can continue to be performed according to the control method provided in the embodiments of this disclosure.
[0072] In summary, in the control method provided by the embodiments of this disclosure, as the reclaimer retrieves material in the first material area, the area in the first material area will be freed up after the material is retrieved. By dynamically adjusting the boundary between the second and first material areas and moving it towards the first material area, the freed-up area in the first material area can be used for stockpiling material in the second material area, thereby increasing the area of the second material area. This can improve the utilization rate of the first and second material areas and avoid the idle space and equipment caused by the different production capacities of the reclaimer and the stacker. This achieves full utilization of existing space and equipment and improves the utilization rate of space and equipment. On the other hand, the control method provided by the embodiments of this disclosure can effectively reduce the number of times the stacker and reclaimer exchange space, resulting in a significant increase in effective operating time. Furthermore, the control method provided by the embodiments of this disclosure is conducive to maximizing the comprehensive benefits of a smaller space, making spaces that were originally unsuitable for the operation of stackers and reclaimers suitable.
[0073] At least one embodiment of this disclosure also provides a stacking and reclaiming system. As described above, the system includes a stacker, a reclaimer, and a control device, etc. The specific structures of the stacker and the reclaimer can be found in the above embodiments. The stacker is configured to stack materials in a material yard, wherein the material yard includes a first material area and a second material area, the first material area and the second material area are adjacent and have a boundary, the reclaimer is configured to reclaim materials in the material yard, and the control device is configured to: control the reclaimer to reclaim materials in the first material area in a direction away from the second material area, control the stacker to stack materials in the second material area, and adjust the boundary between the second material area and the first material area according to the change of the reclaiming position in the first material area to increase the area of the second material area.
[0074] For example, the control device is also configured to implement some or all of the control methods provided in the embodiments of this disclosure, as detailed in the embodiments described above, which will not be repeated here.
[0075] For example, the control device can be a central processing unit (CPU), a network processor (NP), or a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and other forms of control devices. For example, the aforementioned central processing unit (CPU) can be an x86 or ARM architecture, etc. The embodiments of this disclosure do not limit the specific form of the control device.
[0076] At least one embodiment of this disclosure also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, implement the material stacking and retrieving control method provided in the embodiments of this disclosure.
[0077] For example, the computer-readable storage medium may be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor device or any combination thereof. For example, the computer-readable storage medium may be a portable computer disk, hard disk, read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), USB memory, optical storage device, magnetic storage device, etc., or any suitable combination thereof. The embodiments of this disclosure do not limit the specific form of the computer-readable storage medium.
[0078] The following points also need to be explained:
[0079] (1) The accompanying drawings of the embodiments of this disclosure only involve the structures involved in the embodiments of this disclosure. Other structures can be referred to the general design.
[0080] (2) For clarity, the thickness of layers or regions in the drawings used to describe embodiments of the present disclosure is enlarged or reduced, i.e., these drawings are not drawn to actual scale.
[0081] (3) Where there is no conflict, the embodiments of this disclosure and the features in the embodiments can be combined with each other to obtain new embodiments.
[0082] The above are merely specific embodiments of this disclosure, but the scope of protection of this disclosure is not limited thereto. The scope of protection of this disclosure shall be determined by the scope of the claims.
Claims
1. A method for controlling the stacking and reclaiming of materials in a material yard, wherein, The material yard includes an adjacent first material area and a second material area, which are separated by a boundary. The control method includes: Determine the initial stockpile length in the second material zone to determine the initial range of the second material zone, and determine the initial length of the stockpile in the first material zone to determine the initial range of the first material zone, and determine the initial material removal position of the stockpile in the first material zone. The reclaimer is controlled to reclaim material in the first material zone in a direction away from the second material zone, and the stacker is controlled to stack material in the second material zone. Adjust the boundary between the second material zone and the first material zone according to the change in the material taking position in the first material zone, so as to increase the area of the second material zone; Determining the initial stockpile length in the second material zone and the initial length of the stockpile in the first material zone includes: According to the formula: ， The initial stockpile length L in the second material zone was calculated. ini and the remaining length L of the material pile to be retrieved in the first material area R , Where L is the effective length of the material yard, L P C represents the safe distance between the second material zone and the first material zone. R For the production capacity of the aforementioned material handling machine, C S This refers to the capacity of the stacker; The control method further includes: According to the formula: , Determine the minimum effective length L of the material yard min , The actual effective length of the material yard is compared with the minimum effective length to obtain the comparison result. Among them, L iniMin This is the minimum stockpile length in the second material zone.
2. The control method according to claim 1, wherein, Adjusting the boundary between the second and first material zones based on changes in the material collection location within the first material zone includes: The boundary between the second and first material zones is adjusted in real time based on the real-time changes in the material collection location in the first material zone.
3. The control method according to claim 1 or 2 further includes: Obtain the safe distance between the second material area and the first material area to determine the boundary between the first material area and the second material area.
4. The control method according to claim 1 or 2, wherein, Controlling the stacker to stack materials in the second material zone includes: The stacker is controlled to reciprocate in the second material zone to achieve layer-by-layer stacking.
5. The control method according to claim 4, wherein, Controlling the stacker to stack materials in the second material zone also includes: The stacker is controlled to stay at the edge of the second material area away from the first material area for a first time period to achieve edge stacking.
6. The control method according to claim 5, wherein, Controlling the stacker to stack materials in the second material zone also includes: The stacker is controlled to remain at the edge of the second material zone away from the first material zone for a second time period to achieve edge stacking shaping. At the initial moment of the first time period, the height of the material pile in the second material area is H1, and at the initial moment of the second time period, the height of the material pile in the second material area is H2. H2 > H1, so the second time period is longer than the first time period.
7. The control method according to claim 1 or 2, further comprising: After the reclaimer completes reclaiming material in the first material area and the stacker completes stacking material in the second material area, the working areas of the reclaimer and the stacker are exchanged. The stacker is controlled to perform a stacking operation in the first material area, and the reclaimer is controlled to perform a reclaiming operation in the second material area.
8. A material stacking and reclaiming system, comprising: A stacker crane is configured to stack materials in a stockyard, wherein the stockyard includes a first stock area and a second stock area, the first stock area and the second stock area being adjacent to and demarcated. The material reclaimer is configured to reclaim materials in the material yard, and The control device is configured as follows: Determine the initial stockpile length in the second material zone to determine the initial range of the second material zone, and determine the initial length of the stockpile in the first material zone to determine the initial range of the first material zone, and determine the initial material removal position of the stockpile in the first material zone. The reclaimer is controlled to reclaim material in the first material area in a direction away from the second material area, and the stacker is controlled to stack material in the second material area. Adjust the boundary between the second material zone and the first material zone according to the change in the material taking position in the first material zone, so as to increase the area of the second material zone; Determining the initial stockpile length in the second material zone and the initial length of the stockpile in the first material zone includes: According to the formula: ， The initial stockpile length L in the second material zone was calculated. ini and the remaining length L of the material pile to be retrieved in the first material area R , Where L is the effective length of the material yard, L P C represents the safe distance between the second material zone and the first material zone. R For the production capacity of the aforementioned material handling machine, C S This refers to the capacity of the stacker; The control device is also configured to: According to the formula: , Determine the minimum effective length L of the material yard min , The actual effective length of the material yard is compared with the minimum effective length to obtain the comparison result. Among them, L iniMin This is the minimum stockpile length in the second material zone.
9. A non-transitory computer-readable storage medium, wherein, The non-transitory computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, implement the material stacking and retrieving control method according to any one of claims 1-7.