Method and system for taking material from a circular stock machine

Abstract

This invention discloses a material handling method and system for a circular feeder, comprising the following steps: obtaining each effective ridge point of the material handling area of ​​the current material handling layer based on a preset coordinate system. An effective ridge point is the highest point of the target unit material pile corresponding to the current marked horizontal rotation angle at each unit horizontal rotation angle. The horizontal extension angle range of the material pile in the material handling area is determined based on the starting and ending boundary lines of the material handling area. The material handling operating parameters of the current material handling layer's material handling area are obtained, including the preset material handling depth, preset material handling flow rate, scraping pitch angle, and rotational angular velocity. The material handling method for the circular feeder provided by this invention achieves a constant material handling effect and provides guidance for the feeder's movement, enabling unmanned operation, precise material handling quantity control, and high material handling stability.

Description

Technical Field

[0001] This invention relates to the field of intelligent material yard technology, and in particular, to a material handling method and system for a circular material handling machine. Background Technology

[0002] A raw material yard is a site for receiving, storing, processing, and blending raw materials and fuels for iron and steel metallurgy. Modern large-scale raw material yards include ore yards, coal yards, auxiliary raw material yards, and blending yards. They not only store incoming iron ore, iron concentrate, pellets, manganese ore, limestone, dolomite, serpentine, silica, coking coal, and thermal coal, but also store some sintered ore, pellets, and recycled materials from within the steel plant, such as iron oxide scale, blast furnace ash, coke crushing, sintering powder, and end-of-life materials for blending.

[0003] In existing technologies, the stacker-reclaimer used in circular stockyards is enclosed by a hemispherical coal tank shell. During stacking and reclaiming operations, the operation is concentrated within the centered rotation range, unaffected by severe weather such as typhoons. At the same time, the dust generated is small and confined to a fixed area, effectively solving the problem of large-scale pollution to the surrounding environment caused by the large amount of dust generated during the operation of conventional open-type strip stockyard stacker-reclaimers. It is both aesthetically pleasing and environmentally friendly, with high comprehensive benefits. It has advantages such as large coal storage capacity, small footprint, high site utilization, high safety and reliability, and good environmental benefits.

[0004] Currently, the stacker-reclaimer operation in circular material yards is manually controlled by operators, which easily leads to the following problems: First, manual operation relies solely on visual judgment of the reclaiming location and quantity, compromising accuracy. Furthermore, the storage yard presents numerous interfering factors, such as obstructed visibility due to water mist and dust, and insufficient lighting at night. These factors not only affect reclaiming accuracy but also increase the risk of collisions and other accidents, threatening the equipment.

[0005] First, the material handling process is not safe to operate. Second, the material handling boundary cannot be accurately controlled during the material handling operation, and the operator cannot adjust the material handling speed in real time according to the material handling section, resulting in unstable material handling volume. Third, in order to ensure continuous material handling and relatively stable material handling volume, the operator must operate the material handling machine for a long time, which greatly increases the labor intensity of the operator due to prolonged concentration. Fourth, there is a problem of inconsistent material handling volume under a unit horizontal rotation angle.

[0006] Therefore, it is necessary to propose a material handling method and system for a circular feeder to solve or at least alleviate the above-mentioned defects. Summary of the Invention

[0007] The present invention provides a material handling method for a circular material handling machine, which solves the technical problems of high labor intensity and low material handling stability caused by the existing manual handling of circular material yards.

[0008] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0009] A material handling method for a circular feeder includes the following steps: S10, obtaining each effective ridge point of the material handling area of ​​the current material handling layer based on a preset coordinate system. Effective ridge points The horizontal rotation angle at the current mark is defined as the rotation angle at each unit horizontal rotation angle dθ. The highest point of the target unit's material pile is determined by the starting and ending boundary lines of the area to be retrieved, where the horizontal extension angle range of the material pile in the area to be retrieved is determined by the starting and ending boundary lines of the area to be retrieved. The area to be processed is shaped like a fan extending in an arc curve. This represents the coordinates of the valid ridge point along the x-axis in the preset coordinate system. This represents the y-coordinate value of a valid ridge point in the preset coordinate system. S20: Indicates the coordinates of the effective ridge point in the preset coordinate system along the z-axis; S20: Obtain the material handling parameters of the material handling area of ​​the current material handling layer, including the preset material handling depth of the material handling area of ​​the current material handling layer. Preset material handling flow rate Scraping pitch angle and rotational angular velocity ,in, .

[0010] Further, before step S10, the steps include: obtaining the range of the current material pile's extension angle based on a preset coordinate system; within the range of the material pile's extension angle, obtaining the current recorded horizontal rotation angle every preset horizontal rotation angle dt, starting from the current material pile's boundary line. The highest position point of the corresponding target unit material taking section is determined; the highest position point is determined as the currently recorded horizontal rotation angle. The ridge point to be taken at that time This represents the coordinate value of the ridge point to be selected in the preset coordinate system along the x-axis. This represents the coordinate value of the ridge point to be selected in the preset coordinate system along the y-axis. This represents the coordinate value of the ridge point to be selected in the preset coordinate system along the z-axis; using the formula... Calculate and obtain the critical scraping angle of the scraper at the currently recorded horizontal rotation angle position. ; Obtain all the aforementioned critical scraping angles Determine the maximum critical angle for scraping. The corresponding ridge point to be taken The cutting point for material removal in the current layer to be removed; the scraping pitch angle of the current layer to be removed is obtained. Determine that the scraper pitch angle is not less than the stated angle. All of the aforementioned critical scraping angles The corresponding combination of the target unit material taking sections is the material taking area of ​​the material taking scraper in the current material taking layer.

[0011] Furthermore, the method also includes the step of: if the current material layer to be removed is the first material layer to be removed in the current material pile, then determining the scraper pitch angle based on the angle of entry. If the current material layer to be removed is another material layer to be removed from the current material pile, then the scraper pitch angle is determined based on the entry angle and the decreasing angle. .

[0012] Furthermore, based on the horizontal plane of the circular stockpile, with point O at the bottom of the boom's rotation axis, the vertical direction as the Z-axis, and the mid-section line of the fracture pointing towards the opening of the circular stockpile as the X-axis, a right-handed coordinate system is established, thereby establishing the preset coordinate system.

[0013] Furthermore, each of the material-to-be-received areas contains one type of material.

[0014] Furthermore, the method also includes the step of: when picking up material in the material-to-be-picked area of ​​the current material-to-be-picked layer, obtaining the horizontal rotation angle of the picking scraper; if the horizontal rotation angle is not within the boundary line of the material-to-be-picked area of ​​the current material-to-be-picked layer, then reducing the scraping pitch angle of the picking scraper. The work involves tilting the object at an angle and moving into the next material-receiving area.

[0015] The present invention also provides a material handling control system for a circular material yard, including a model acquisition unit, used to acquire each effective ridge point of the material handling area of ​​the current material handling layer based on a preset coordinate system. Effective ridge points The horizontal rotation angle at the current mark is defined as the rotation angle at each unit horizontal rotation angle dθ. The highest point of the target unit's material pile is determined by the starting and ending boundary lines of the area to be retrieved, where the horizontal extension angle range of the material pile in the area to be retrieved is determined by the starting and ending boundary lines of the area to be retrieved. The area to be processed is shaped like a fan extending in an arc curve. This represents the coordinates of the valid ridge point along the x-axis in the preset coordinate system. This represents the y-coordinate value of a valid ridge point in the preset coordinate system. This indicates the coordinates of the effective ridge point along the z-axis in the preset coordinate system; the instruction generation unit is used to obtain the material handling parameters of the material handling area of ​​the current material handling layer, including the preset material handling depth of the material handling area of ​​the current material handling layer. Preset material handling flow rate Scraping pitch angle and rotational angular velocity ,in, .

[0016] The present invention has the following beneficial effects:

[0017] The material handling method of the circular feeder of the present invention obtains each effective ridge point of the material handling area of ​​the current material handling layer based on a preset coordinate system, and uses the coordinate values ​​(elevation values) of the effective ridge points and the preset material handling depth of the material handling area of ​​the current material handling layer. Preset material handling flow rate Scraping pitch angle Determine the rotational angular velocity when picking up material at any rotation angle. By rotational angular velocity This guides the operation of the circular feeder, thereby achieving constant feed rate (preset feed flow rate). It provides guidance for the movement of the material handling machine, enabling the entire material handling operation to be unmanned, with precise control of the material handling volume and high material handling stability.

[0018] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description

[0019] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0020] Figure 1 This is a schematic diagram of the structure of the circular stacker-reclaimer for circular material yards according to the present invention;

[0021] Figure 2 This is a schematic diagram of the material handling method of a circular feeder in a preferred embodiment of the present invention. Detailed Implementation

[0022] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0024] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0025] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0026] Please refer to Figure 1 A circular stacker-reclaimer is used in circular stockyards. It comprises a central column (rotating shaft), a stacker, a reclaimer, a stacking rotary mechanism, and a reclaiming rotary mechanism. The stacker is connected to the central column via the stacking rotary mechanism, and the reclaimer is connected to the central column via the reclaiming rotary mechanism. During stacking and reclaiming operations, it features two distinct stacking and reclaiming rotary mechanisms, forming two independent operating systems that do not interfere with each other, enabling simultaneous stacking and reclaiming operations. The stacker includes a cantilever belt stacker and a feeding belt conveyor, while the reclaimer includes a scraper reclaimer, a central conical hopper, and a discharge belt conveyor. A central column is positioned at the center of the circular material yard, and a reclaimer is located on one side of the central column. The reclaimer includes a scraper arm and a discharge belt conveyor located at the bottom of the central column. One end of the scraper arm is fixed to the bottom of the central column, and the other end is pulled by a semi-gantry structure via a cable. The tilt angle of the scraper arm is adjusted by the cable, and the rotation angle of the scraper arm is adjusted by adjusting the position of the semi-gantry structure. During reclaiming, the reclaiming scraper is activated, moves to a designated position, and is adjusted to a suitable angle. The scraper then scrapes the material down, which flows into the discharge belt and is carried away.

[0027] Please refer to Figure 2The present invention provides a preferred embodiment of a method for picking up material from a circular feeder, comprising the following steps:

[0028] S10, Based on the preset coordinate system, obtain each effective ridge point of the material-receiving area of ​​the current material-receiving layer. The effective ridge point The horizontal rotation angle at the current mark is defined as the rotation angle at each unit horizontal rotation angle dθ. The highest point of the target unit material pile is defined below, wherein the horizontal extension angle range of the material pile in the area to be retrieved is determined based on the starting and ending boundary lines of the area to be retrieved. The area to be processed is shaped like a fan extending in an arc curve. This represents the coordinate value of the effective ridge point in the x-axis direction within the preset coordinate system. This represents the coordinate value of the effective ridge point in the preset coordinate system along the y-axis. This represents the coordinate value of the effective ridge point in the z-axis direction within the preset coordinate system;

[0029] S20, obtain the material handling parameters of the material handling area of ​​the current material handling layer, the material handling parameters including the preset material handling depth of the material handling area of ​​the current material handling layer. Preset material handling flow rate Scraping pitch angle and rotational angular velocity ,in, .

[0030] The material handling method of the circular feeder of the present invention obtains each effective ridge point of the material handling area of ​​the current material handling layer based on a preset coordinate system, and uses the coordinate values ​​(elevation values) of the effective ridge points and the preset material handling depth of the material handling area of ​​the current material handling layer. Preset material handling flow rate Scraping pitch angle Determine the rotational angular velocity when picking up material at any rotation angle. By rotational angular velocity This guides the operation of the circular feeder, thereby achieving constant feed rate (preset feed flow rate). It provides guidance for the movement of the material handling machine, enabling the entire material handling operation to be unmanned, with precise control of the material handling volume and high material handling stability.

[0031] Understandably, the present invention can acquire each effective ridge point of the material-to-be-taken area of ​​the current material-to-be-taken layer based on a preset coordinate system using a laser scanning device. The effective ridge points include the horizontal coordinate data and vertical coordinate data in the horizontal three-dimensional coordinate system, as well as the height data.

[0032] Understandably, if the current material pile has an extension angle range of 15 to 345 degrees, it is divided into 3 different material types. Area 1 (the area to be retrieved) has an extension angle range of 15 to 125 degrees, Area 2 (the area to be retrieved) has an extension angle range of 125 to 235 degrees, and Area 3 (the area to be retrieved) has an extension angle range of 235 to 345 degrees. Each area is not fixed and is manually divided according to the type and quantity of the material. After the division, the corresponding material is piled up and retrieved according to this rule.

[0033] In a circular stockpile, different materials are piled up in a ring shape, and the top view of these piles typically approximates a fan shape. The angular range of the area to be removed from the current material layer is obtained. The material pile is identified using this angular range. ,and It is the angle between the two boundary lines of the stockpile in the circular stockyard when viewed from above. If the initial boundary line is... To terminate the boundary line; if If the initial boundary line is... This is the termination boundary line.

[0034] In this embodiment, a layered material handling method is used for material handling. First, the first layer of the current material pile is handled, and material is handled layer by layer downwards. During each layer of material handling, the material handling scraper is controlled to rotate between the starting and ending boundary lines. During the material handling operation, the length of the unloading arm remains constant, while the tilt angle and rotation angle need to be continuously changed as the material handling position changes. Typically, during the same layer of material handling operation, the tilt angle remains constant, and only the rotation angle needs to be changed. When transitioning from one layer to the next, the material that the unloading arm can transport per unit time needs to be within a suitable range. Therefore, the change in the tilt angle of the unloading arm is constrained by this range and is usually preset; that is, the degree of change in the tilt angle is pre-selected.

[0035] Optionally, if the initial material handling area when the unloading arm performs the material handling operation is taken as the first material handling area, after the material handling in the first material handling area is completed, the tilt angle of the unloading arm can be changed according to the preset degree of change to perform the material handling operation in the next material handling area.

[0036] In addition, during specific operations, the scraper pitch angle of the first material-to-be-retrieved area... It is determined based on the cutting angle; the other material-to-be-retrieved areas are determined based on the scraping pitch angle of the first material-to-be-retrieved area. The material is scraped layer by layer according to the preset descent angle.

[0037] Further, before step S10, the steps include: obtaining the range of the current material pile's extension angle based on a preset coordinate system; within the range of the material pile's extension angle, obtaining the current recorded horizontal rotation angle every preset horizontal rotation angle dt, starting from the current material pile's boundary line. The highest position point of the corresponding target unit material taking section is determined; the highest position point is determined as the currently recorded horizontal rotation angle. The ridge point to be taken at the time (when the target unit is taken from the cross section). This represents the coordinate value of the ridge point to be selected in the preset coordinate system along the x-axis. This represents the coordinate value of the ridge point to be selected in the preset coordinate system along the y-axis. This represents the coordinate value of the ridge point to be selected in the preset coordinate system along the z-axis; using the formula... Calculate and obtain the critical scraping angle of the scraper at the current recorded horizontal rotation angle position (when the target unit scraping section is located). ; Obtain all the aforementioned critical scraping angles Determine the maximum critical angle for scraping. The corresponding ridge point to be taken The cutting point for material removal in the current layer to be removed; the scraping pitch angle of the current layer to be removed is obtained. Determine that the scraper pitch angle is not less than the stated angle. All of the aforementioned critical scraping angles The corresponding combination of the target unit material taking sections is the material taking area of ​​the material taking scraper in the current material taking layer.

[0038] Furthermore, the method also includes the following steps: If the current material layer to be removed is the first material layer to be removed from the current stockpile, then the scraper pitch angle is determined based on the angle of entry. If the current material layer to be removed is another material layer to be removed from the current material pile, then the scraper pitch angle is determined based on the entry angle and the decreasing angle. .

[0039] In practical implementation, the characteristics of the material-receiving area on each layer are fully considered, and targeted processing is carried out to improve the accuracy of material retrieving. The material-receiving entry point is the starting point for the material retrieving machine to begin the material-receiving operation. Before reaching the material-receiving entry point, the material retrieving machine only performs its own positional movement and does not perform material-receiving movement (rotational movement of the material-receiving scraper on the material retrieving machine) to avoid collisions; by obtaining the scraping pitch angle of the current material-receiving layer. Determine that the scraper pitch angle is not less than the stated angle. All of the aforementioned critical scraping angles The combination of the corresponding target unit material picking sections is the material picking area of ​​the material picking scraper in the current material picking layer, thereby determining the material picking boundary of the material picking area corresponding to the current material picking layer. It can automatically determine the scraping area and material picking entry point of the current material picking layer during material picking, providing guidance for the movement of the material picking machine and making the entire material picking operation unmanned.

[0040] Furthermore, based on the horizontal plane of the circular stockpile, with point O at the bottom of the boom's rotation axis, vertically upward as the Z-axis, and the mid-section line of the fracture pointing towards the opening of the circular stockpile as the X-axis, a right-handed coordinate system is established, thereby establishing the preset coordinate system.

[0041] In this embodiment, a material pile model is obtained based on the position parameters of each reflection point on the surface of the material pile area sent by the laser scanning device. Specifically, the position parameters of each reflection point include the horizontal and vertical coordinates of each reflection point in a preset coordinate system, as well as the height data of the reflection point. Based on the position parameters of each reflection point, a 3D model can be established, which is the material pile model. The material pile model includes effective ridge points. information.

[0042] Optionally, each of the material-to-be-received areas contains one type of material.

[0043] Furthermore, when picking up material in the material-receiving area of ​​the current material-receiving layer, the horizontal rotation angle of the picking scraper is obtained. If the horizontal rotation angle is not within the boundary line of the material-receiving area of ​​the current material-receiving layer, the pitch angle of the picking scraper is reduced and the work proceeds to the next material-receiving area.

[0044] The present invention also provides a material handling control system for a circular material yard, including a model acquisition unit, used to acquire each effective ridge point of the material handling area of ​​the current material handling layer based on a preset coordinate system. The effective ridge point The horizontal rotation angle at the current mark is defined as the rotation angle at each unit horizontal rotation angle dθ. The highest point of the target unit material pile is defined below, wherein the horizontal extension angle range of the material pile in the area to be retrieved is determined based on the starting and ending boundary lines of the area to be retrieved. The area to be processed is shaped like a fan extending in an arc curve. This represents the coordinate value of the effective ridge point in the x-axis direction within the preset coordinate system. This represents the coordinate value of the effective ridge point in the preset coordinate system along the y-axis. This indicates the coordinates of the effective ridge point along the z-axis in the preset coordinate system; the instruction generation unit is used to obtain the material handling parameters of the material handling area of ​​the current material handling layer, including the preset material handling depth of the material handling area of ​​the current material handling layer. Preset material handling flow rate Scraping pitch angle and rotational angular velocity ,in,

[0045] .

[0046] Furthermore, the model acquisition unit is also used to: acquire the range of the current stockpile's extension angle based on a preset coordinate system; and within the range of the stockpile's extension angle, acquire the current recorded horizontal rotation angle every preset horizontal rotation angle dt, starting from the stockpile boundary line of the current stockpile. The highest position point of the corresponding target unit material taking section is determined; the highest position point is determined as the currently recorded horizontal rotation angle. The ridge point to be taken at the time (when the target unit is taken from the cross section). This represents the coordinate value of the ridge point to be selected in the preset coordinate system along the x-axis. This represents the coordinate value of the ridge point to be selected in the preset coordinate system along the y-axis. This represents the coordinate value of the ridge point to be selected in the preset coordinate system along the z-axis; using the formula... Calculate and obtain the critical scraping angle of the scraper at the current recorded horizontal rotation angle position (when the target unit scraping section is located). ; Obtain all the aforementioned critical scraping angles Determine the maximum critical angle for scraping. The corresponding ridge point to be taken The cutting point for material removal in the current layer to be removed; the scraping pitch angle of the current layer to be removed is obtained. Determine that the scraper pitch angle is not less than the stated angle. All of the aforementioned critical scraping angles The corresponding combination of the target unit material-retrieving sections constitutes the material-retrieving area of ​​the scraper in the current material-retrieving layer; if the current material-retrieving layer is the first material-retrieving layer of the current material pile, then the scraper pitch angle is determined according to the angle of entry. If the current material layer to be removed is another material layer to be removed from the current material pile, then the scraper pitch angle is determined based on the entry angle and the decreasing angle. .

[0047] The instruction generation unit is also used to obtain the horizontal rotation angle of the scraper when picking up material in the material area of ​​the current material layer. If the horizontal rotation angle is not within the boundary line of the material area of ​​the current material layer, the pitch angle of the scraper is reduced and the work of entering the next material area is started.

[0048] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method of taking material from a circular stock machine, characterized in that, Includes the following steps: S10, Based on the preset coordinate system, obtain each effective ridge point of the material-receiving area of ​​the current material-receiving layer. The effective ridge point The horizontal rotation angle at the current mark is defined as the rotation angle at each unit horizontal rotation angle dθ. The highest point of the target unit material pile is defined below, wherein the horizontal extension angle range of the material pile in the area to be retrieved is determined based on the starting and ending boundary lines of the area to be retrieved. The area to be processed is shaped like a fan extending in an arc curve. This represents the coordinate value of the effective ridge point in the x-axis direction within the preset coordinate system. This represents the coordinate value of the effective ridge point in the preset coordinate system along the y-axis. This represents the coordinate value of the effective ridge point in the z-axis direction within the preset coordinate system; S20, obtain the material handling parameters of the material handling area of ​​the current material handling layer, the material handling parameters including the preset material handling depth of the material handling area of ​​the current material handling layer. Preset material handling flow rate Scraping pitch angle and rotational angular velocity ,in, 。 2. The material handling method of the circular feeder according to claim 1, characterized in that, The steps preceding step S10 include: The current material pile extension angle range is obtained based on the preset coordinate system; Within the range of the material pile extension angle, starting from the current material pile boundary line, the current recorded horizontal rotation angle is obtained at preset horizontal rotation angles dt. The highest point of the corresponding target unit material taking section; The highest position point is determined as the current recorded horizontal rotation angle. The ridge point to be taken at that time This represents the coordinate value of the ridge point to be selected in the preset coordinate system along the x-axis. This represents the coordinate value of the ridge point to be selected in the preset coordinate system along the y-axis. This represents the coordinate value of the ridge point to be selected in the z-axis direction within the preset coordinate system; Using formula Calculate and obtain the critical scraping angle of the scraper at the currently recorded horizontal rotation angle position. ; Obtain all of the aforementioned critical scraping angles Determine the maximum critical angle for scraping. The corresponding ridge point to be taken This is the material entry point for the current layer to be picked up; Obtain the scraping pitch angle of the current material layer to be removed. Determine that the scraper pitch angle is not less than the stated angle. All of the aforementioned critical scraping angles The corresponding combination of the target unit material taking sections is the material taking area of ​​the material taking scraper in the current material taking layer.

3. The material handling method of the circular feeder according to claim 2, characterized in that, It also includes the following steps: If the current material layer to be removed is the first material layer to be removed in the current material pile, then the scraper pitch angle is determined according to the angle of entry. ; If the current material layer to be removed is another material layer to be removed from the current material pile, then the scraper pitch angle is determined based on the entry angle and the decreasing angle. .

4. The material handling method of the circular feeder according to any one of claims 1 to 3, characterized in that, Based on the horizontal plane of the circular stockpile, with point O at the bottom of the boom's rotation axis, the vertical direction as the Z-axis, and the mid-section line of the fracture pointing towards the opening of the circular stockpile as the X-axis, a right-handed coordinate system is established, and then the preset coordinate system is established.

5. The material handling method of the circular feeder according to any one of claims 1 to 3, characterized in that, Each of the material-to-be-received areas contains one type of material.

6. The material handling method of the circular feeder according to any one of claims 1 to 3, characterized in that, It also includes the following steps: When picking up material from the area to be picked up in the current layer, the horizontal rotation angle of the picking scraper is obtained. If the horizontal rotation angle is not within the boundary line of the area to be picked up in the current layer, the scraping pitch angle of the picking scraper is reduced. Then proceed to the next material-receiving area.

7. A material handling control system for a circular material yard, comprising: The model acquisition unit is used to acquire each effective ridge point of the material-to-be-taken area of ​​the current material-to-be-taken layer based on a preset coordinate system. The effective ridge point The horizontal rotation angle at the current mark is defined as the rotation angle at each unit horizontal rotation angle dθ. The highest point of the corresponding target unit's reclaimed material pile, where... The horizontal extension angle range of the material pile in the area to be picked up is determined based on the starting and ending boundary lines of the area to be picked up. The area to be processed is shaped like a fan extending in an arc curve. This represents the coordinate value of the effective ridge point in the x-axis direction within the preset coordinate system. This represents the coordinate value of the effective ridge point in the preset coordinate system along the y-axis. This represents the coordinate value of the effective ridge point in the z-axis direction within the preset coordinate system; The instruction generation unit is used to obtain the material handling parameters of the material handling area of ​​the current material handling layer, the material handling parameters including the preset material handling depth of the material handling area of ​​the current material handling layer. Preset material handling flow rate Scraping pitch angle and rotational angular velocity ,in, 。

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