A method and system for stockpiling by a reclaimer

Abstract

This invention discloses a stacking method and system for a stacker-reclaimer, comprising the following steps: acquiring the current pitch angle of the cantilever when the working material reclaimer is working in the current large stack layer; acquiring the stacking position point of the working material reclaimer when working in the previous stacking unit block and the range of the arm-rail angle between the cantilever and the track in the current layer; acquiring the current real-time volumetric flow rate of the feed belt; acquiring the current real-time arm-rail angle between the cantilever and the track when the working material reclaimer is working in the current unit block stack layer; acquiring the theoretical material height of the bottom bearing layer of the current large stack layer, and acquiring the actual material height of the bottom bearing portion at the current real-time arm-rail angle position of the current unit block stack layer; acquiring the cantilever rotation angular velocity when stacking the current unit block stack layer at any of the current real-time arm-rail angle positions. The stacking method for the stacker-reclaimer provided by this invention provides guidance for the movement of the stacker-reclaimer and achieves the effect of leveling the stacked material.

Description

Technical Field

[0001] This invention relates to the field of intelligent material yard technology, and in particular, to a stacking method and system for a stacker-reclaimer. 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 store not only incoming iron ore, iron concentrate, pellets, manganese ore, limestone, dolomite, serpentine, silica, coking coal, and thermal coal, but also some sintered ore, pellets, and recycled materials from the steel plant, such as iron oxide scale, blast furnace ash, coke crushing, sinter powder, and end-of-life materials for blending. Bucket wheel stacker-reclaimers are widely used because they can both stack and reclaim materials.

[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 stacking operation of bucket wheel stacker-reclaimers is all done manually. This is labor-intensive, involves long working hours, and the dust pollution from loose materials can significantly impact the physical and mental health of operators. During operation, operators manually control the movement of the machine from the cab, requiring prolonged concentration and high labor intensity. Many interfering factors exist on-site, such as water mist, dust, and obstructed visibility at night, increasing the risk of collisions and threatening the safe operation of the equipment. Furthermore, the existing manual stacking method results in uneven stacking, especially when the material supply is unstable, leading to significant unevenness in the pile height. This not only reduces the utilization rate of the stockpile but also hinders the stable material reclaiming by the reclaimer.

[0005] Therefore, it is necessary to propose a stacking method and system for a stacker-reclaimer to solve or at least alleviate the above-mentioned defects. Summary of the Invention

[0006] The present invention provides a stacking method for a stacker-reclaimer, which solves the technical problems of existing stacking tasks that rely on manual operation based on experience, resulting in high labor intensity for operators and uneven stacking.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A stacking method for a stacker-reclaimer includes the following steps: obtaining the working material in the current stacking layer. Current pitch angle of the cantilever during operation ; Get the working material machine in the current stacking unit block The stacking location during operation and the range of the angle between the cantilever and the rail at the current level, wherein multiple current stacking unit blocks The current large layer of material is formed by arranging and combining materials sequentially along the length of the stockpile. ; Obtain the current real-time volumetric flow rate of the material on the feed belt. ; The material handling machine is located in the current stacking unit block The current cell stack layer The current real-time boom-rail angle between the cantilever and the track during operation The current real-time boom rail angle Within the range of the included angle of the current layer arm rail; obtain the current large layer of stockpile. The theoretical material height H of the bottom bearing layer is obtained to determine the current unit block material stacking layer. Current real-time boom rail angle The actual material height of the bottom bearing section at the location mentioned above The bottom supporting layer is the current large stack layer. All the lower stacking layers, the bottom bearing part is the current unit block stacking layer. All lower stacked layers; the angle between the boom rails at any given real-time position is calculated using the following formula. At the location, the current unit block is stacked in a small layer. Cantilever rotational angular velocity during material stacking , Where L is the length of the cantilever. h is the preset single step distance of the working material machine on the track, n is the preset layer stacking height, n is the preset number of rotations of the cantilever when stacking the current large layer of material, n is a positive integer, m=nt, and t is the number of completed stacking layers of the current unit block stacking layer when stacking the current large layer of material.

[0008] Furthermore, it also includes the step of: according to the formula Get the preset single stacking height Based on the material stacking task, target material stacking area parameters, and the preset single-time material stacking height... The parameters of the simulated stockpile model are determined. These parameters include the number of simulated stockpile layers for each preset large stockpile layer, the height of each preset large stockpile layer, the simulated width of each preset large stockpile layer, the simulated length of each preset large stockpile layer, the simulated unit corresponding to each preset large stockpile layer, the simulated position and pitch angle of the feeder corresponding to each simulated unit, and the simulated small layer of the unit corresponding to each simulated unit. In each layer, all the simulated units are arranged and combined sequentially along the length of the stockpile to form the preset large stockpile layer.

[0009] Furthermore, if n equals 1, the unit simulated stacking layer is determined as the stacking simulation unit, and the current unit block stacking layer is determined. For the current large layer of material stack If n is an integer greater than 1, multiple simulated stacking layers are determined to be stacked along the material height direction to form the stacking simulation unit, and multiple current unit block stacking layers are determined. The current large stockpile is formed by stacking materials along their height direction. .

[0010] Furthermore, the step "obtaining the current stockpile layer" The theoretical material height H of the bottom bearing layer specifically includes: determining the current bulk layer. The previous large stack is the current large stack. The bottom supporting layer; according to the current large stack layer The number of layers and the layer height of each of the preset bulk layers determine the current bulk layer. The theoretical material height H of the bottom bearing layer; the step "obtain the current unit block stacking layer" Current real-time boom rail angle The actual material height of the bottom bearing section at the location mentioned above Specifically, this includes: acquiring an actual material layer surface model based on a laser scanning device, and acquiring the current unit block stacking layer based on the actual material layer surface model. Current real-time boom rail angle The actual material height of the bottom bearing section at the location mentioned above .

[0011] Furthermore, the step "obtaining the working material machine in the current large stack layer" Current pitch angle of the cantilever during operation Specifically, this includes: based on the current stacking level of the working material machine. The working material handler's position in the current large stack layer is determined by the simulated pitch angle of the material handler corresponding to each of the stack layer simulation units. Current pitch angle of the cantilever during operation So that the discharge port of the working material machine is higher than the current stockpile. Maximum stacking height.

[0012] Furthermore, the step "obtaining the working material in the current stacking unit block" The specific details of the material stacking location during operation and the range of the angle between the cantilever and the rail at each layer include: based on the current stacking layer of the working material machine. And the simulated position of the feeder corresponding to each of the stacking simulation units, to obtain the working feeder in the current stacking unit block. The material stacking position during operation; determined based on the real-time boundary scan schematic line of the bottom bearing part and the rotation angle threshold of the cantilever, the position of the working material machine in the current material stacking unit block. The range of the angle between the cantilever and the track at the current level during operation.

[0013] Furthermore, if n is an integer greater than 1, the actual material height is updated after the cantilever rotates once to stack the material. Then proceed to step "obtain the current real-time boom rail angle at any given time". At the location, the current unit block is stacked in a small layer. Cantilever rotational angular velocity during material stacking ".

[0014] The present invention also provides a stacking system for a stacker-reclaimer, including a model acquisition unit for acquiring the working reclaimer's position in the current stacking layer. Current pitch angle of the cantilever during operation ; Get the working material machine in the current stacking unit block The stacking location during operation and the range of the angle between the cantilever and the rail at the current level, wherein multiple current stacking unit blocks The current large layer of material is formed by arranging and combining materials sequentially along the length of the stockpile. ; Obtain the current real-time volumetric flow rate of the material on the feed belt. ; used to acquire the working material in the current stacking unit block The current cell stack layer The current real-time boom-rail angle between the cantilever and the track during operation The current real-time boom rail angle Within the range of the included angle of the current layer arm rail; used to obtain the current large layer of material. The theoretical material height H of the bottom bearing layer is obtained to determine the current unit block material stacking layer. Current real-time boom rail angle The actual material height of the bottom bearing section at the location mentioned above The bottom supporting layer is the current large stack layer. All the lower stacking layers, the bottom bearing part is the current unit block stacking layer. All lower material stacking layers; instruction generation unit, to obtain the current real-time boom rail angle at any given time. At the location, the current unit block is stacked in a small layer. Cantilever rotational angular velocity during material stacking .

[0015] The present invention has the following beneficial effects: The stacking method of the stacker-reclaimer of the present invention obtains the current stacking layer of the working material machine (stacker-reclaimer). Current pitch angle during current operation Material stack location, current real-time volumetric flow rate Theoretical material high H, actual material high Get the current real-time boom rail angle. At the current location, the current unit block is stacked in a small layer. Cantilever rotational angular velocity during material stacking Through the angular velocity of the cantilever rotation The rotational angular velocity of the cantilever during material stacking is guided, thereby enabling real-time volumetric flow rate based on the current material flow. Based on the actual conditions of the bottom bearing layer, the current real-time boom rail angle is adaptively adjusted. At the current location, the current unit block is stacked in a small layer. Cantilever rotational angular velocity during material stacking It provides guidance for the movement of the stacker-reclaimer, achieving the effect of leveling the stacked material, making the entire material reclaiming operation unmanned, and ensuring high stacking stability.

[0016] 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

[0017] 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: Figure 1 This is a schematic diagram of the stacker-reclaimer in one embodiment of the present invention; Figure 2 This is a schematic diagram of the material stacking process in one embodiment of the present invention; Figure 3 This is a schematic diagram of the stacking method of the stacker-reclaimer in one embodiment of the present invention; Figure 4This is a schematic diagram of the complete stockpile coordinate system in one embodiment of the present invention; Figure 5 This is a schematic diagram of the stacked material cross-section in one embodiment of the present invention; Figure 6 This is a schematic diagram of the scan line at the boundary in one embodiment of the present invention. Detailed Implementation

[0018] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] Please refer to Figure 1The stacker-reclaimer includes a main machine and a support track. The support track is laid out along the longitudinal direction (the length of the material pile). The main machine is movably mounted on the support track along the longitudinal direction. The main machine includes a boom tilting and rotating mechanism, a cantilever, a bucket wheel material reclaiming device, and a conveyor belt. One end of the boom tilting and rotating mechanism is movably mounted on the support track along the longitudinal direction. The cantilever is cantilevered at the other end of the boom tilting and rotating mechanism. The cantilever end of the cantilever is equipped with a bucket wheel material reclaiming device. The bucket wheel material reclaiming device has a discharge port on the side near the cantilever end. The conveyor belt is mounted on the cantilever along the extension direction of the cantilever. When the stacker-reclaimer is working, the main machine runs longitudinally on the track. Under the action of the boom tilting and rotating mechanism, the boom can rotate horizontally and tilt. When stacking, the bucket wheel reclaiming device does not rotate, and the discharge port is at the end of the boom (near the bucket wheel reclaiming device). The material on the conveyor belt is transferred to the discharge port through the conveyor belt. Combined with the translational movement of the main machine and the movement of the boom, the material is discharged to the designated position. When reclaiming, the bucket wheel reclaiming device rotates, the main machine moves to the designated position, and the bucket wheel reclaiming device brings the material to the conveyor belt of the boom and then sends it away.

[0023] Please refer to Figure 2 A single arrow indicates the direction of movement of the large machine (the length of the material pile), and a double arrow indicates the direction of rotation of the cantilever. The stacker-reclaimer adopts a layered rotary stacking process, that is, the large machine rotates back and forth at each fixed position to stack the material until the required height is reached. Then the large machine moves a certain distance and continues to stack the material. The advantage of this stacking process is that it can achieve the purpose of a regular material pile through reasonable control, and the final material pile will have a stepped shape.

[0024] Please refer to Figure 3 The stacking method of a stacker-reclaimer in a preferred embodiment of the present invention includes the following steps: obtaining the working material in the current stacking layer. Current pitch angle of the cantilever during operation ; Get the working material machine in the current stacking unit block The location of the material stacking point during operation and the range of the angle between the cantilever and the rail at the current level, including multiple current material stacking unit blocks. The current large layer of material is formed by arranging the materials sequentially along the length of the stockpile. ; Obtain the current real-time volumetric flow rate of the material on the feed belt. ; Get the working material machine in the current stacking unit block The current cell stack layer The current real-time boom-rail angle between the cantilever and the track during operation Among them, the current real-time boom rail angle Within the range of the included angle of the current layer's arm rails; obtain the current bulk layer. The theoretical material height H of the bottom bearing layer is obtained to determine the current unit block material stacking layer. Current real-time boom rail angle Actual material height at the bottom bearing section The bottom bearing layer is the current bulk layer of the material. All the lower stacking layers, the bottom bearing part is the current unit block stacking layer. All lower stacked layers; the angle between the boom rails at any given real-time position is calculated using the following formula. At the current location, the current unit block is stacked in a small layer. Cantilever rotational angular velocity during material stacking , Where L is the length of the cantilever. h is the preset single step distance of the working material machine on the track, n is the preset layer stacking height, n is the preset number of rotations of the cantilever when stacking the current large layer of material, n is a positive integer, m=nt, and t is the number of completed stacking layers of the current unit block stacking layer when stacking the current large layer of material.

[0025] Understandably, the initial position of the large machine's material stacking is the farthest endpoint from the start or end of the support track. The initial position of the large machine's material stacking is based on the first current unit block of the bottom layer. Confirmed; Current stack layer of the same level. The current pitch angle of the cantilever during material stacking. Consistent; the same current stacking unit block During material stacking, the stacking position of the main machine is consistent; the same current stacking unit block. The current cell stack layer During material stacking, the angle between the cantilever and the track within the same layer is consistent. Multiple current stacking unit blocks. The current large layer of material is formed by arranging the materials sequentially along the length of the stockpile. If a current stacking unit block A stacking layer consisting of n current unit blocks Composed of n current unit blocks stacked in small layers The current stockpile unit blocks are formed by combining materials along the height direction. .

[0026] Alternatively, sensors can be installed on the cantilever and support rails to obtain the position of the working material handler in the current stacking unit block. The current cell stack layer The current real-time boom-rail angle between the cantilever and the track during operation .

[0027] The stacking method of the stacker-reclaimer of the present invention obtains the current stacking layer of the working material machine (stacker-reclaimer). Current pitch angle during current operation Material stack location, current real-time volumetric flow rate Theoretical material high H, actual material high Get the current real-time boom rail angle. At the current location, the current unit block is stacked in a small layer. Cantilever rotational angular velocity during material stacking Through the angular velocity of the cantilever rotation The rotational angular velocity of the cantilever during material stacking is guided, thereby enabling real-time volumetric flow rate based on the current material flow. Based on the actual conditions of the bottom bearing layer, the current real-time boom rail angle is adaptively adjusted. At the current location, the current unit block is stacked in a small layer. Cantilever rotational angular velocity during material stacking It provides guidance for the movement of the stacker-reclaimer, achieving the effect of leveling the stacked material, making the entire material reclaiming operation unmanned, and ensuring high stacking stability.

[0028] Furthermore, it also includes the step of: according to the formula Get the preset single stacking height Based on the material stacking task, target material stacking area parameters, and preset single stacking height. The parameters of the simulated stockpile model are determined, including the number of simulated stockpile layers for each preset stockpile layer, the height of each preset stockpile layer, the simulated width of each preset stockpile layer, the simulated length of each preset stockpile layer, the simulated stacking unit corresponding to each preset stockpile layer, the simulated position and pitch angle of the feeder corresponding to each simulated stacking unit, and the simulated sub-layer of the unit corresponding to each simulated stacking unit. All simulated stacking units in each layer are arranged sequentially along the length of the stockpile to form the preset stockpile layer. It is understood that in this invention, the stockpile task and target stockpile area parameters are known parameters, and the preset single stockpile height... It can be determined based on work experience or calculated using other methods. Optionally, the present invention determines it based on the stockpiling task, target stockpiling area parameters, and a preset single stockpiling height. The simulated stockpile model is determined, and the stockpile simulation model parameters guide the working material handler to perform stockpile operations in the corresponding current unit block. Operating parameters during operation.

[0029] Furthermore, if n equals 1, the unit simulated stacking layer is determined as a stacking simulation unit, and the current unit block stacking layer is determined. For the current large layer of stockpile If n is an integer greater than 1, determine multiple unit simulated stack layers stacked along the material height direction to form a layered stack simulation unit, and determine multiple current unit block stack layers. The current large stockpile is formed by stacking materials along the height direction. Understandably, when n equals 1, one rotation of the cantilever is sufficient to form the current stacking unit block. ,at this time n is an integer greater than 1. The cantilever can be rotated n times to form the current stacking unit block. ,at this time .

[0030] Understandably, in actual material stacking, the cross-section of the stack is a herringbone shape with a stack tip. In this invention, the flatness of the stack is ensured by calculating the average value of the stack cross-section.

[0031] Further, the step "obtain the current stockpile layer" The theoretical material height H of the bottom bearing layer specifically includes: determining the current bulk layer. The previous large stockpile is the current large stockpile. The bottom bearing layer; based on the current large stack layer The number of layers and the layer height of each preset bulk layer determine the current bulk layer. The theoretical material height H of the bottom bearing layer; Step "Obtain the current unit block material stack layer" Current real-time boom rail angle Actual material height at the bottom bearing section Specifically, this includes: acquiring an actual material layer surface model based on a laser scanning device, and obtaining the current unit block's stacked material layer based on the actual material layer surface model. Current real-time boom rail angle Actual material height at the bottom bearing section .

[0032] Please refer to Figure 4 and Figure 5 The actual material layer surface model obtained by the laser scanning device in this invention is as follows: Figure 4 As shown, a material bar coordinate system WXYZ is established. The X direction of the material bar coordinate system is the width direction of the material bar and is located on the boundary of the material bar; the Y direction is the extension direction of the support track and is located at the center of the support track; the Z direction is perpendicular to the ground; and the origin of the coordinate system is on the ground plane. Figure 5As shown, the large machine moves along the inner and outer directions of the support track. The 2D laser scanning device can measure the contour data of one cross-section of the material bar in a single measurement. Based on the positioning information of the stacker-reclaimer, the position of each measured cross-section in the material bar can be obtained. After scanning the entire material bar, point cloud data of the corresponding material bar can be generated. The 2D laser scanner is set at the cantilever end of the cantilever. The u-axis of the 2D laser scanner coordinate system is parallel to the cantilever and points outward from the inner side of the cantilever. The v-axis is perpendicular to the u-axis and points downward. The measurement angle of the 2D laser scanner starts from the u-axis direction as zero degrees and increases counterclockwise. That is, the measurement angle in the v-axis direction is 90°. In the figure, Hb is the pitch and rotation height of the large machine's cantilever, and Lb is the length of the large machine's cantilever. The 2D laser scanning device generates data for m measured points in a single measurement. Each measured point data includes the distance from the measured point to the scanner and the measurement angle, where the k-th data is the point... The angle it measures is The measured distance value is Given that the current position of the large machine is l, its coordinate values ​​in the scanner coordinate system and the material bar coordinate system are as follows: in, The pitch and rotation angle of the boom is the angle between the boom and the x-axis.

[0033] At the current location, all point cloud data P have been collected. Wl for: Using the above method, once the stacker moves from one end of the material bar to the other, it can collect three-dimensional data of the surface contour of the material pile within the material bar. This data can be used for subsequent segmentation of the material pile. When the length of the material bar is 500 meters, and the machine scans the cross-sectional data of the material pile once every 10 millimeters of movement, then 50,000 cross-sectional data collections are required for the entire material bar.

[0034] Furthermore, the step "obtaining the working material from the current stockpile layer" Current pitch angle of the cantilever during operation Specifically, this includes: based on the current stacking level of the working material machine. The pitch angle of the working material handler corresponding to each layer of the stacking simulation unit determines the position of the working material handler in the current stacking layer. Current pitch angle of the cantilever during operation So that the discharge port of the working material conveyor is higher than the current stockpile. Maximum stacking height.

[0035] Further, the step "obtain the working material in the current stacking unit block" The specific details of the material stacking location during operation and the range of the angle between the cantilever and the rail at each layer include: based on the current stacking layer of the working material machine. The simulated position of the material handling machine corresponding to each layer of the stacking simulation unit is obtained, and the working material handling machine is located in the current stacking unit block. The material stacking position during operation; determined based on the real-time boundary scan line of the bottom bearing section and the rotation angle threshold of the cantilever, the position of the working material machine in the current material stacking unit block. The range of the angle between the cantilever and the track at the current level during operation.

[0036] In one specific embodiment, layered stacking is adopted, with each layer stacked to a height of h meters. Stacking proceeds sequentially from the bottom layer to the top. When starting to stack material from an empty pile, it is generally a fixed rectangular stacking area, which is manually set. If the stack is heightened, the area needs to be confirmed based on a climbing line. The initial stacking position of the large machine is the farthest endpoint from the start or end point of the support track. At each position, the rotation range of the large machine's cantilever is the intersection point with the boundary of the area. This intersection point can be obtained by simulating the intersection point of the cantilever when rotating [0, 90] with the area, or it can be determined by a laser scanner mounted on the unloading port. Figure 6 The image shows a schematic diagram of the real-time scan line at the boundary. The point directly below the scanner, which is the midpoint. The left endpoint As the right endpoint, when Between, any point P to The slope is greater than a certain threshold k, and If the slope at any point between the given points is less than a certain threshold k, then the cantilever is considered to have reached a boundary point. The same logic applies to the right side.

[0037] Furthermore, if n is an integer greater than 1, the actual material height is updated after the cantilever rotates once to stack the material. Then proceed to the step "Obtain the current real-time boom rail angle". At the current location, the current unit block is stacked in a small layer. Cantilever rotational angular velocity during material stacking "Understandably, each rotation of the cantilever results in the current unit block being stacked one layer of material." Then update the actual stockpile model, when the previous current unit block stockpile layer... When the stockpiled material does not meet the standards, timely corrections are made based on the current stockpile to ensure the flatness of the stockpile.

[0038] Optionally, if n is an integer greater than 1, the mainframe will perform the current stacking unit block at its current position. During material stacking, only in the current stacking unit block. The first current cell block stack layer During operation, the stockpile model is acquired once, and the current stockpile unit block is rotated at each layer. The actual stockpile model is not updated, thus eliminating the need for real-time modeling and avoiding strong reliance on the actual stockpile model to realize the current stockpile unit block. Other current unit block stacking layers The stockpiling of materials.

[0039] In practical operation, the material stacking workflow of the working material machine is as follows: Task creation, issuing a leveling task, including specifying the main machine and the stacking area / material divider, etc.; if a model exists for the current area, it can be directly acquired and used; if no model exists, a 2D laser scanner can be used to collect it; empty material stack, layer-by-layer calculation of the main machine's travel trajectory; when the material stack is heightened, the cross-section of each layer needs to be calculated to determine the area to be stacked and predict the main machine's travel trajectory; the main machine moves to the designated location, adjusts its posture accordingly, and begins stacking. The material is stacked layer by layer from bottom to top. Based on the incoming material volume, the rotation speed of the boom is calculated. When the stacking height reaches the designated height, the main machine travels a certain distance and continues to rotate and stack until the area is stacked. After stacking, the main machine moves to the next stacking point to continue stacking until the stacking is completed.

[0040] The stacking method of the stacker-reclaimer of the present invention has the following advantages: by using the actual material layer surface model and the real-time volumetric flow rate of the current material flow... The system calculates the stacking area and the rotation range of the cantilever; it guides the rotation speed of the cantilever at any angle, ultimately achieving a constant and regular stacking height. The regular stacking not only improves the utilization rate of the material yard but also facilitates material handling operations. This solution can provide key technical parameters for the unmanned operation of the stacker, and is stable and reliable.

[0041] The present invention also provides a stacking system for a stacker-reclaimer, including a model acquisition unit for acquiring the working reclaimer's position in the current stacking layer. Current pitch angle of the cantilever during operation ; Get the working material machine in the current stacking unit block The location of the material stacking point during operation and the range of the angle between the cantilever and the rail at the current level, including multiple current material stacking unit blocks. The current large layer of material is formed by arranging the materials sequentially along the length of the stockpile. ; Obtain the current real-time volumetric flow rate of the material on the feed belt. Used to obtain the working material machine's position in the current stacking unit block. The current cell stack layer The current real-time boom-rail angle between the cantilever and the track during operation Among them, the current real-time boom rail angle Within the range of the included angle of the current layer's arm rails; used to obtain the current bulk layer. The theoretical material height H of the bottom bearing layer is obtained to determine the current unit block material stacking layer. Current real-time boom rail angle Actual material height at the bottom bearing section The bottom bearing layer is the current bulk layer of the material. All the lower stacking layers, the bottom bearing part is the current unit block stacking layer. All lower material stack layers; instruction generation unit, obtains the current real-time boom rail angle at any given time. At the current location, the current unit block is stacked in a small layer. Cantilever rotational angular velocity during material stacking .

[0042] The acquisition unit is also used to obtain formulas Get the preset single stacking height ; Based on the material stacking task, target material stacking area parameters, and preset single stacking height The parameters of the simulated stockpile model are determined. These parameters include the number of simulated stockpile layers for each preset stockpile layer, the height of each preset stockpile layer, the simulated width of each preset stockpile layer, the simulated length of each preset stockpile layer, the simulated stockpile unit corresponding to each preset stockpile layer, the simulated position and pitch angle of the feeder corresponding to each simulated stockpile unit, and the simulated sub-layer of the stockpile unit corresponding to each simulated stockpile unit. All the simulated stockpile units of each layer are arranged and combined sequentially along the length of the stockpile to form the preset stockpile layer.

[0043] The instruction generation unit is also used to determine, if n equals 1, the unit simulated stacking layer as a layered stacking simulation unit, and to determine the current unit block stacking layer. For the current large layer of stockpile If n is an integer greater than 1, determine multiple unit simulated stack layers stacked along the material height direction to form a layered stack simulation unit, and determine multiple current unit block stack layers. The current large stockpile is formed by stacking materials along the height direction. .

[0044] 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 stockpiling for a reclaimer, characterised by, Includes the following steps: acquiring the current stacking unit block of the working machine current pitch angle of the boom during working acquiring the current stacking unit block of the working machine stacking position points during working and the range of the angle between the boom and the rail during working, wherein the plurality of current stacking unit blocks sequentially arranged and combined along the length direction of the stockpile to form the current stacking large layer ​ Get the current real-time volumetric flow rate of the feed belt. ; The material handling machine is located in the current stacking unit block. The current cell stack layer The current real-time boom-rail angle between the cantilever and the track during operation The current real-time boom rail angle Within the range of the included angle of the current layer's arm rails; Get the current stack layer The theoretical material height H of the bottom bearing layer is obtained to determine the current unit block material stacking layer. Current real-time boom rail angle Actual material height at the bottom bearing section The bottom supporting layer is the current large stack layer. All the lower stacking layers, the bottom bearing part is the current unit block stacking layer. All lower stockpiles; The following formula is used to calculate the current real-time boom rail angle for any given time. At the location, the current unit block is stacked in a small layer. Cantilever rotational angular velocity during material stacking , Where L is the length of the cantilever. h is the preset single step distance of the working material machine on the track, n is the preset layer stacking height, n is the preset number of rotations of the cantilever when stacking the current large layer of material, n is a positive integer, m=nt, and t is the number of completed stacking layers of the current unit block stacking layer when stacking the current large layer of material.

2. The stacking method of the stacker-reclaimer according to claim 1, characterized in that, It also includes the following steps: According to the formula Get the preset single stacking height ; Based on the material stacking task, target material stacking area parameters, and the preset single-time material stacking height The parameters of the simulated stockpile model are determined. These parameters include the number of simulated stockpile layers for each preset large stockpile layer, the height of each preset large stockpile layer, the simulated width of each preset large stockpile layer, the simulated length of each preset large stockpile layer, the simulated unit corresponding to each preset large stockpile layer, the simulated position and pitch angle of the feeder corresponding to each simulated unit, and the simulated small layer of the unit corresponding to each simulated unit. In each layer, all the simulated units are arranged and combined sequentially along the length of the stockpile to form the preset large stockpile layer.

3. The stacking method of the stacker-reclaimer according to claim 2, characterized in that, If n equals 1, the unit simulated stacking layer is determined as the stacking simulation unit, and the current unit block stacking layer is determined. For the current large layer of material stack ; If n is an integer greater than 1, multiple simulated stacking layers are determined to be stacked along the material height direction to form the stacking simulation unit, and multiple current unit block stacking layers are determined. The current large stockpile is formed by stacking materials along their height direction. .

4. The stacking method of the stacker-reclaimer according to claim 3, characterized in that, The step "obtain the current stockpile layer" The theoretical material height H of the bottom bearing layer specifically includes: Determine the current stockpile layer The previous large stack is the current large stack. The bottom supporting layer; according to the current large stack layer The number of layers and the layer height of each of the preset bulk layers determine the current bulk layer. The theoretical material height H of the bottom bearing layer; The step "obtain the current unit block stack layer" Current real-time boom rail angle The actual material height of the bottom bearing section at the location mentioned above Specifically, this includes: acquiring an actual material layer surface model based on a laser scanning device, and acquiring the current unit block stacking layer based on the actual material layer surface model. Current real-time boom rail angle The actual material height of the bottom bearing section at the location mentioned above .

5. The stacking method of the stacker-reclaimer according to claim 3, characterized in that, The step "obtaining the working material machine in the current large stack layer" Current pitch angle of the cantilever during operation Specifically, it includes: Based on the current stacking level of the working material machine The working material handler's position in the current large stack layer is determined by the simulated pitch angle of the material handler corresponding to each of the stack layer simulation units. Current pitch angle of the cantilever during operation So that the discharge port of the working material machine is higher than the current stockpile. Maximum stacking height.

6. The stacking method of the stacker-reclaimer according to claim 3, characterized in that, The step "obtaining the working material machine in the current stacking unit block" The specific details of the material stacking location during operation and the range of the angle between the cantilever and the rail at each level include: Based on the current stacking level of the working material machine And the simulated position of the feeder corresponding to each of the stacking simulation units, to obtain the working feeder in the current stacking unit block. The location of material stacking during operation; The location of the working material machine in the current stacking unit is determined based on the real-time boundary scan schematic line of the bottom bearing section and the rotation angle threshold of the cantilever. The range of the angle between the cantilever and the track at the current level during operation.

7. The stacking method of the stacker-reclaimer according to any one of claims 3 to 5, characterized in that, If n is an integer greater than 1, The actual material height is updated after the cantilever rotates once to stack the material. Then proceed to step "obtain the current real-time boom rail angle at any given time". At the location, the current unit block is stacked in a small layer. Cantilever rotational angular velocity during material stacking ".

8. A stacking system for a stacker-reclaimer, comprising: The model acquisition unit is used to acquire the working material machine's position in the current stockpile layer. Current pitch angle of the cantilever during operation ; Get the working material machine in the current stacking unit block The location of the material stacking point during operation and the range of the angle between the cantilever and the rail at the current level, among which, Multiple current stacking unit blocks The current large layer of material is formed by arranging and combining materials sequentially along the length of the stockpile. ; Obtain the current real-time volumetric flow rate of the material on the feed belt. ; Used to obtain the working material machine in the current stacking unit block The current cell stack layer The current real-time boom-rail angle between the cantilever and the track during operation The current real-time boom rail angle Within the range of the included angle of the current layer arm rail; used to obtain the current large layer of material. The theoretical material height H of the bottom bearing layer is obtained to determine the current unit block material stacking layer. Current real-time boom rail angle Actual material height at the bottom bearing section The bottom supporting layer is the current large stack layer. All the lower stacking layers, the bottom bearing part is the current unit block stacking layer. All lower stockpiles; The instruction generation unit obtains the current real-time boom rail angle at any given time. At the location, the current unit block is stacked in a small layer. Cantilever rotational angular velocity during material stacking , The following formula is used to calculate the current real-time boom rail angle for any given time. At the location, the current unit block is stacked in a small layer. Cantilever rotational angular velocity during material stacking , Where L is the length of the cantilever. h is the preset single step distance of the working material machine on the track, n is the preset layer stacking height, n is the preset number of rotations of the cantilever when stacking the current large layer of material, n is a positive integer, m=nt, and t is the number of completed stacking layers of the current unit block stacking layer when stacking the current large layer of material.

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