Laser radar based hybrid control panel coal reclaimer automatic material taking method and device

Abstract

The present application relates to bucket wheel machine material taking technology field, especially in a kind of automatic material taking method and device of mixed control disc coal taking machine based on laser radar, comprising: the first distance L1 between the bucket wheel and the edge region of stockpile identified by second laser radar is obtained, the material taking state of shovel is judged according to the first distance L1;The first point cloud data of material in the shovel identified by first laser radar is obtained, and the volume V1 of material in the shovel is calculated according to the first point cloud data and the material taking state;The mass m of material in the shovel is calculated in real time according to the volume V1 and material density ρ, to calculate the total mass M of material taking according to multiple mass m;The working state of bucket wheel is controlled according to the total mass M.

Description

Technical Field

[0001] This invention relates to the field of bucket wheel excavator material handling technology, and in particular to an automatic material handling method and device for a hybrid control coal reclaimer based on lidar. Background Technology

[0002] Currently, bucket wheel reclaimers are key equipment in bulk material handling operations, and their material handling efficiency and accuracy directly affect the smoothness of the overall production process and economic benefits. However, the current material handling method mainly relies on real-time feedback data from cantilever belt scales to control the tonnage of material handled by monitoring and adjusting the rotation speed of the bucket wheel reclaimer. Although this method has achieved automation to a certain extent, it has revealed significant limitations in practical applications.

[0003] First, when a bucket wheel reclaimer rotates at a constant speed, relying solely on feedback adjustment from a cantilever belt scale often fails to ensure uniform material handling. Variations in material density, shape, and surface friction coefficient lead to discrepancies between the actual and expected material handling volume, resulting in localized over- or under-handling, impacting the processing efficiency and product quality of subsequent processes. Second, this method falls short in improving material handling efficiency. The inability to flexibly adjust handling strategies based on the actual conditions of the material pile, such as dynamic optimization of speed, angle, or depth, makes the handling process relatively rigid, failing to maximize the bucket wheel reclaimer's operational capacity and thus limiting overall production efficiency. Therefore, existing bucket wheel reclaimers suffer from uneven material handling, low handling efficiency, and low levels of automation.

[0004] Therefore, overcoming the shortcomings of the existing technology is an urgent problem to be solved in this technical field. Summary of the Invention

[0005] The technical problem to be solved by the present invention is that existing bucket wheel reclaimers suffer from uneven material collection, low material collection efficiency, and low level of automation.

[0006] The present invention adopts the following technical solution:

[0007] In a first aspect, the present invention provides an automatic material handling method for a hybrid control coal reclaimer based on lidar, comprising:

[0008] Obtain the first distance L1 between the bucket wheel and the edge area of ​​the material pile as identified by the second lidar, and determine the material picking status of the bucket based on the first distance L1;

[0009] Acquire the first point cloud data of the material in the bucket identified by the first lidar, and calculate the volume V1 of the material in the bucket based on the first point cloud data and the material handling status;

[0010] The mass m of the material in the bucket is calculated in real time based on the volume V1 and the material density ρ, so as to calculate the total mass M of the material taken out based on multiple masses m;

[0011] The working state of the bucket wheel is controlled according to the total mass M.

[0012] Preferably, determining the material handling status of the bucket based on the first distance L1 includes:

[0013] When the first distance L1 is less than or equal to the first preset value, the integrated server determines that the bucket wheel is in an uneven feeding state;

[0014] When the first distance L1 is greater than the first preset value, the integrated server determines that the bucket is in a uniform material picking state.

[0015] Preferably, the step of calculating the volume V1 of the material in the bucket based on the first point cloud data and the material handling status specifically includes:

[0016] When the buckets of the bucket wheel reclaimer are in a state of uneven material collection, the first lidar is controlled to continuously emit laser signals to the buckets to calculate the volume V1 of the material based on the first point cloud data of the material in the buckets.

[0017] When the buckets of the bucket wheel reclaimer are in a state of uniform material collection, the average volume calculated by the previous preset number of times is taken as the volume V1 of the material in the bucket.

[0018] Preferably, the step of calculating the volume V1 of the material based on the first point cloud data of the material in the bucket specifically includes:

[0019] Acquire the first point cloud data of the material inside the bucket identified by the first lidar;

[0020] Obtain a three-dimensional model of the bucket;

[0021] Based on the three-dimensional model and the first point cloud data, the volume V1 of the material inside the bucket is calculated.

[0022] Preferably, when the buckets of the bucket wheel reclaimer are in a state of uniform material collection, the average volume calculated from the previous preset number of times is taken as the volume V1 of the material in the bucket, specifically including:

[0023] When the buckets of the bucket wheel reclaimer are in a state of uniform material collection, it is determined whether each bucket is full. If it is not full, the bucket wheel is controlled to descend a preset distance so that each bucket is full when the material collection is uniform.

[0024] If the bucket is full, the average volume calculated from the previous preset number of times will be used as the volume V1 of the material in the bucket.

[0025] Preferably, when the buckets of the bucket wheel reclaimer are in a state of uniform material collection, determining whether each bucket is full, and if not, controlling the bucket wheel to descend a preset distance so that each bucket is full when material collection is uniform, includes:

[0026] If, within the preset number of calculations obtained by the integrated server, the difference between the volume of material in each bucket and the volume of the bucket is greater than a second preset value, the integrated server acquires the second point cloud data identified by the second lidar to calculate the current height H of the material pile.

[0027] If the integrated server determines that the height H allows the bucket wheel to descend a preset distance, the integrated server controls the bucket wheel to descend the preset distance. After taking material again for a first preset number of times, if the integrated server determines that the bucket is in a uniform material taking state, the first laser radar goes into sleep mode.

[0028] Preferably, controlling the working state of the bucket wheel based on the total mass M specifically includes:

[0029] When the total mass M of the material matches the preset material handling tonnage, the bucket wheel is raised to stop conveying material to the transmission belt.

[0030] Preferably, acquiring the first point cloud data and the second point cloud data specifically includes performing denoising and registration preprocessing on the first point cloud data and the second point cloud data;

[0031] Point cloud denoising includes denoising the initial point cloud data using a sparse outlier removal method. This method calculates the average distance from each point to all its neighboring points. Assuming the result is a Gaussian distribution, points whose average distance is outside the standard range are defined as outliers and removed from the dataset.

[0032] Point cloud registration includes using the ICP algorithm on the point cloud data of two adjacent periods. The ICP algorithm finds the closest point pair in the two point cloud sets, calculates the error of the closest point pair after transformation based on the estimated transformation relationship, and iterates continuously until the set objective function reaches the minimum value to obtain the optimal translation matrix and rotation matrix to determine the final transformation relationship.

[0033] Finally, the point cloud data to be registered is matched one-to-one with the reference point cloud data, thus completing the registration of the two phases of point cloud data.

[0034] In a second aspect, the present invention provides an automatic material handling device for a hybrid control coal reclaimer based on lidar, applicable to the automatic material handling device for a hybrid control coal reclaimer based on lidar described in the first aspect, comprising: a bucket wheel 1, a first lidar 21 and a second lidar 31, wherein the first lidar 21 is fixed on the bucket wheel 1 and the second lidar 31 is disposed above the material pile.

[0035] The bucket wheel 1 includes a bucket wheel body 10, multiple buckets 11, and a baffle 12. The multiple buckets 11 are disposed on the outer surface of the bucket wheel body 10. The baffle 12 is slidably disposed on the inner surface of the bucket wheel body 10 with a preset arc length to block the discharge port of the upward rotating buckets 11.

[0036] The first lidar 21 is fixed on the baffle 12. The detection surface of the first lidar 21 is oriented towards the bucket 11, which has an upward movement tendency and is close to the lowest point of the bucket wheel body 10, so as to detect the volume of material in the bucket 11.

[0037] Preferably, the second lidar 31 is disposed on the top of the silo 6; or, the second lidar 31 is mounted on the drone 7 for point cloud identification of the material pile.

[0038] Compared with the prior art, the beneficial effects of the present invention are as follows: Firstly, by identifying the first distance L1 between the bucket wheel and the material pile through the point cloud data of the second laser radar, real-time monitoring and accurate analysis of the material handling status are realized. The volume V1 of the material in the bucket is determined by the point cloud data collected by the first laser radar and the material handling status, ensuring the accuracy of material handling. Feedback control is formed between the first laser radar, the second laser radar and the bucket wheel, improving the automation level of the bucket wheel reclaimer.

[0039] In the preferred embodiment, the material handling status of the bucket wheel excavator is determined based on the volume of material in the bucket identified by the first lidar. If the volume of material in the bucket remains too small (the bucket is not full) within a first preset number of cycles, and the material pile height identified by the second lidar is within the allowable range for the bucket wheel to continue descending, the bucket wheel is lowered so that the bucket can collect more material, thereby improving the material handling efficiency and uniformity of the bucket wheel excavator and overcoming the problems of uneven material handling and low material handling efficiency in existing bucket wheel excavators. In this invention, the material handling parameters of the bucket wheel excavator are dynamically adjusted to ensure the stability, efficiency, and safety of the material handling process. Attached Figure Description

[0040] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments of the present invention will be briefly described below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0041] Figure 1 This is a schematic diagram of the structure of an automatic material handling device for a hybrid control coal reclaimer based on lidar, provided in an embodiment of the present invention.

[0042] Figure 2 This is a schematic diagram of the second lidar installed on the top of the silo in an automatic material handling device for a hybrid control coal reclaimer based on lidar, according to an embodiment of the present invention.

[0043] Figure 3 This is a schematic diagram of the second lidar installed on a drone in an automatic material handling device for a hybrid control coal reclaimer based on lidar, according to an embodiment of the present invention.

[0044] Figure 4 This is a flowchart illustrating an automatic material handling method for a hybrid control coal reclaimer based on lidar, provided in an embodiment of the present invention.

[0045] Figure 5 This is a schematic diagram of the first distance L1 of an automatic material handling method for a hybrid control coal reclaimer based on lidar provided in an embodiment of the present invention;

[0046] Figure 6 This is a schematic diagram of the specific process of step 2 of an automatic material handling method for a hybrid control coal reclaimer based on lidar provided in an embodiment of the present invention;

[0047] Figure 7 This is a schematic diagram of the specific process of step 203 of an automatic material handling method for a hybrid control coal reclaimer based on lidar provided in an embodiment of the present invention;

[0048] Figure 8 This is a schematic diagram of the specific process of step 3 of an automatic material handling method for a hybrid control coal reclaimer based on lidar provided in an embodiment of the present invention;

[0049] Figure 9 This is a schematic diagram of the overall structure of an automatic bucket wheel material handling device based on lidar provided in an embodiment of the present invention;

[0050] Figure 10 This is a schematic diagram of the bucket wheel body of an automatic bucket wheel material handling device based on lidar provided in an embodiment of the present invention;

[0051] Figure 11This is a schematic diagram of the identification area of ​​the first lidar of an automatic bucket wheel material handling device based on lidar provided in an embodiment of the present invention;

[0052] Figure 12 This is a schematic diagram of the overall process of an automatic material handling method for bucket wheels based on lidar provided in an embodiment of the present invention;

[0053] Figure 13 This is a schematic diagram of the specific process of step 6 in an automatic material handling method for bucket wheels based on lidar provided in an embodiment of the present invention;

[0054] Figure 14 This is a schematic diagram of the judgment process of the bucket wheel material handling stage in an automatic bucket wheel material handling method based on lidar provided in an embodiment of the present invention;

[0055] Figure 15 This is a schematic diagram of step 8 of an automatic material handling method for bucket wheels based on lidar provided in an embodiment of the present invention;

[0056] Figure 16 This is a schematic diagram of the identification area of ​​the second type of the first laser radar identification method in an embodiment of the present invention, which is a bucket wheel automatic material handling method based on laser radar.

[0057] Figure 17 This is a schematic diagram of the distance between the edge of the material pile and the edge of the bucket, based on a lidar-based automatic material handling method for bucket wheels, provided in an embodiment of the present invention.

[0058] Figure 18 This is a schematic diagram of the overall structure of a lidar-based coal bin wheel reclaimer with fusion sensing provided in an embodiment of the present invention;

[0059] Figure 19 This is a schematic diagram of the bucket wheel of a lidar-based coal bin reclaimer with fusion sensing, provided in an embodiment of the present invention.

[0060] Figure 20 This is a schematic diagram of the hopper and conveyor belt of a lidar-based coal bin wheel reclaimer with fusion sensing provided in an embodiment of the present invention;

[0061] Figure 21 This is a schematic diagram of a prior art baffle for a lidar-based coal bucket wheel reclaimer with fusion sensing provided in an embodiment of the present invention;

[0062] Figure 22 This is a schematic diagram of the overall structure of a lidar-based coal bin wheel reclaimer with fusion sensing provided in an embodiment of the present invention;

[0063] Figure 23This is a schematic diagram of the installation slot for a lidar-based coal bucket wheel reclaimer with fusion sensing provided in an embodiment of the present invention;

[0064] Figure 24 This is a schematic diagram of the fixing bolts and fixing nuts of a lidar-based coal bucket wheel reclaimer with fusion sensing provided in an embodiment of the present invention;

[0065] Figure 25 This is a schematic diagram of the second radar component of a lidar-based coal bin reclaimer with fusion sensing, provided in an embodiment of the present invention, installed on the top of the hopper;

[0066] Figure 26 This is a schematic diagram showing the second radar component of a lidar-based coal bin reclaimer with fusion sensing, provided in an embodiment of the present invention, installed on the bottom of a drone. Detailed Implementation

[0067] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0068] Unless the context otherwise requires, throughout the specification and claims, the term "comprising" is interpreted as openly inclusive, meaning "including, but not limited to." In the description of the specification, terms such as "one embodiment," "some embodiments," "exemplary embodiment," "example," "specific example," or "some examples" are intended to indicate that a particular feature, structure, material, or characteristic associated with that embodiment or example is included in at least one embodiment or example of this disclosure. The illustrative representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics mentioned may be included in any suitable manner in any one or more embodiments or examples; that is, although they may be incorporated into embodiments or examples using the above terms for reasons such as order and position, it does not limit them to be incorporated in combination by a single embodiment or example.

[0069] In the description of this invention, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this disclosure.

[0070] In the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this disclosure, unless otherwise stated, "a plurality of" means two or more. Furthermore, for example, the description may use the prefix "A" or "B" to describe the same type of nouns as two independent entities. In this case, the corresponding features defined with "A" and "B" are used only to distinguish between similar entities and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features.

[0071] In describing some embodiments, the terms "coupled," "coupled," and "connected," and their derivative expressions, may be used. For example, the term "connected" may be used in describing some embodiments to indicate that two or more components have direct physical or electrical contact with each other. Similarly, the term "coupled" may be used in describing some embodiments to indicate that two or more components have direct physical or electrical contact. However, the terms "connected" or "coupled" may also refer to two or more components that do not have direct contact with each other but still cooperate or interact with each other, such as "optical coupling," "wireless connection," etc. The embodiments disclosed herein are not necessarily limited to the scope of this invention.

[0072] In the description of this invention, the expression “A and / or B” (where A and B are used to formally represent specific features) will be used. The corresponding expression includes the following three combinations: only A, only B, and a combination of A and B.

[0073] As used in this invention, “about,” “approximately,” or “approximately” includes the stated value and the average value within an acceptable range of deviation from a particular value, wherein the acceptable range of deviation is determined by a person skilled in the art taking into account the measurement under discussion and the error associated with the measurement of the particular quantity (i.e., the limitations of the measurement system).

[0074] Furthermore, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0075] Example 1:

[0076] This invention provides an automatic material handling device for a hybrid control coal reclaimer based on lidar, applicable to the automatic material handling of a hybrid control coal reclaimer based on lidar described in subsequent embodiments, such as... Figure 1 , Figure 2 and Figure 3As shown, the device includes: a bucket wheel 1, a first lidar 21, and a second lidar 31. The first lidar 21 is fixed to the bucket wheel 1, and the second lidar 31 is disposed above the material pile. The bucket wheel 1 includes a bucket wheel body 10, multiple buckets 11, and a baffle 12. The multiple buckets 11 are disposed on the outer surface of the bucket wheel body 10. The baffle 12 is slidably disposed with the inner surface of the bucket wheel body 10 at a predetermined arc length to block the discharge port of the upward rotating buckets 11. The first lidar 21 is fixed to the baffle 12, and the detection surface of the first lidar 21 faces the buckets 11 that have an upward movement tendency and are close to the lowest point of the bucket wheel body 10 to detect the volume of material in the buckets 11.

[0077] like Figure 2 and Figure 3 As shown, the second lidar 31 is located on the top of the silo 6; or, the second lidar 31 is mounted on the drone 7 for point cloud identification of the material pile.

[0078] Based on the aforementioned solution, which provides an automatic material handling device for a hybrid control coal reclaimer using lidar, Embodiment 1 of this invention provides an automatic material handling method for a hybrid control coal reclaimer using lidar, such as... Figure 4 As shown, it includes:

[0079] In step S1, the first distance L1 between the bucket wheel 1 and the edge area of ​​the material pile identified by the second lidar 31 is obtained, and the material picking status of the bucket 11 is determined based on the first distance L1.

[0080] The material handling state of the bucket 11 includes a uniform material handling state and an uneven material handling state.

[0081] To achieve more accurate identification and avoid dust interference, the first lidar 21 and the second lidar 31 are equipped with millimeter-wave radars to assist in detection. This is because millimeter-wave radars have strong penetrating power and are almost unaffected by adverse weather conditions such as rain, fog, and dust. In dusty environments such as coal mines and coal mines, millimeter-wave radars can penetrate dust layers and accurately detect target objects, reducing false identifications caused by dust interference. While lidars have high precision and high resolution, they are easily interfered with in dusty environments. The penetrating power of millimeter-wave radars can compensate for this deficiency of lidars. The combined use of the two can significantly improve identification accuracy.

[0082] In step S2, the first point cloud data of the material in the bucket 11 identified by the first lidar 21 is obtained, and the volume V1 of the material in the bucket 11 is calculated based on the first point cloud data and the material handling status.

[0083] In step S3, the mass m of the material in the bucket 11 is calculated in real time based on the volume V1 and the material density ρ, so as to calculate the total mass M of the material taken out based on the multiple masses m.

[0084] In step S4, the working state of bucket wheel 1 is controlled according to the total mass M.

[0085] In this embodiment, the first distance L1 between the bucket wheel and the material pile is identified by the point cloud data of the second lidar, so as to realize real-time monitoring and accurate analysis of the material picking status. The volume V1 of the material in the bucket is determined by the point cloud data collected by the first lidar and the material picking status, ensuring the accuracy of material picking. Feedback control is formed between the first lidar, the second lidar and the bucket wheel, which improves the automation level of the bucket wheel reclaimer.

[0086] To fully illustrate the solutions provided by the embodiments of the present invention, the details of the above solutions will be further described below.

[0087] In step S1 above, determining the material-taking state of the bucket 11 based on the first distance L1 includes: when the first distance L1 is less than or equal to a first preset value, the integrated server determines that the bucket wheel 1 is in an uneven material-taking state; when the first distance L1 is greater than the first preset value, the integrated server determines that the bucket 11 is in a uniform material-taking state.

[0088] In practical applications, since material piles are typically pyramid-shaped, the bucket wheel excavator uses a lateral material-collecting method during operation, sweeping material from one side of the pile to the other while continuously rotating. This method effectively prevents the material pile from collapsing. Taking a maximum pile diameter of 7m as an example, the first preset value can be 40cm. The first distance L1 between the bucket wheel 1 and the top edge of the material pile is specifically as follows: Figure 5 As shown, with Figure 5 Taking the orientation shown as an example, when the second lidar 31 detects that the bucket wheel 1 is moving to the left side of the material pile, the first distance L1 is the distance from the left side of the material pile to the bucket wheel 1 (e.g., Figure 5 (As shown in the diagram on the left); when the second lidar 31 detects that the bucket wheel 1 is moving to the right side of the material pile, the first distance L1 is the distance from the right side of the material pile to the bucket wheel 1 (as shown in the diagram on the left); Figure 5 (As shown in the diagram on the right).

[0089] In step S2 above, calculating the volume V1 of the material in the bucket 11 based on the first point cloud data and the material handling status specifically includes: when the buckets of the bucket wheel reclaimer are in a state of uneven material handling, controlling the first laser radar 21 to continuously emit laser signals to the bucket 11 to calculate the volume V1 of the material based on the first point cloud data of the material in the bucket 11; in practical application scenarios, if the first laser radar 21 operates continuously, its computational load is extremely large, which puts a heavy burden on the overall system operation. Therefore, to reduce the system pressure, when the buckets 11 of the bucket wheel reclaimer are in a state of uniform material handling, at the beginning of entering the uniform state, the first laser radar 21 continuously emits laser signals to the bucket 11 to obtain the volume of the material in the bucket. After obtaining the volume of the material for the previous preset number of times, controlling the first laser radar 21 to enter a sleep state and no longer emitting laser signals to the bucket 11. The subsequent calculation method for the volume of the material in the bucket 11 is: the average volume obtained from the previous preset number of calculations is taken as the volume V1 of the material in the bucket.

[0090] For example, if the current preset number of passes is 5, the average volume of material removed by the bucket 11 within those 5 passes is 0.6 m³. 3 During the dormant period of the first lidar 21, the volume V1 of the material in the bucket 11 is 0.6m³ for each material retrieval. 3 calculate.

[0091] According to the above scheme, the volume of material in the bucket 11 needs to be calculated each time, both when the material is unevenly fed and when it is just beginning to reach a uniform state. The volume V1 of the material is calculated based on the first point cloud data of the material in the bucket 11. Figure 6 As shown, it specifically includes:

[0092] In step S201, the first point cloud data of the material in the bucket 11 identified by the first lidar 21 is obtained.

[0093] In step S202, a three-dimensional model of the bucket 11 is obtained.

[0094] In step S203, the volume V1 of the material inside the bucket 11 is calculated by combining the three-dimensional model and the first point cloud data.

[0095] In the actual material handling process, there may be situations where the bucket wheel 1 descends too low, resulting in a smaller amount of material being handled each time. This can be categorized into two scenarios: the bucket wheel 1 being unable to descend further and the bucket wheel 1 not reaching the required depth. The bucket wheel 1 being unable to descend further typically occurs in the later stages of the bucket wheel reclaiming process, when the height of the material pile is insufficient to support the bucket wheel 1 increasing its depth. If the bucket wheel 1 continues to descend, it may cause the bucket 11 to touch the ground, resulting in deformation and damage. On the other hand, insufficient depth of the bucket wheel 1 manifests as the bucket wheel 1 being able to continue descending, but the descent height is insufficient, resulting in less material being handled and lower efficiency. Therefore, to address this scenario, when the buckets 11 of the bucket wheel reclaimer are in a state of uniform material handling, the average volume calculated from the previous preset number of times is used as the volume V1 of the material in the bucket 11. Specifically, when the buckets 11 of the bucket wheel reclaimer are in a state of uniform material handling, it is determined whether each bucket 11 is in a full state. If it is not in a full state, the bucket wheel 1 is controlled to descend a preset distance so that each bucket 11 is in a full state when the material handling is uniform. If the bucket is full, the average volume calculated using the previous preset number of times will be used as the volume V1 of the material in the bucket. The previous preset number of times can be 5, and the specific number can be configured according to actual conditions.

[0096] During the operation of the bucket wheel 1, it moves back and forth from one side of the material pile to the other. Therefore, the bucket 11 will experience a cycle of uneven material collection, uniform material collection, and then uneven material collection again. To address this, when the buckets 11 of the bucket wheel reclaimer are in a uniform material collection state, it is determined whether each bucket 11 is full. If not, the bucket wheel 1 is lowered a preset distance to ensure that each bucket 11 is full when the material collection is uniform. Figure 7 As shown, it specifically includes:

[0097] In step 211, if the difference between the volume of the material in each bucket 11 and the volume of the bucket 11 within the previous preset number of times calculated by the integrated server is greater than a second preset value, the integrated server obtains the second point cloud data identified by the second lidar 31 to calculate the current height H of the material pile.

[0098] Among them, the maximum capacity of bucket 11 is 0.6m. 3 For example, the second preset value can be set to 0.06m. 3 The specific figures can be set based on the actual capacity of the bucket 11.

[0099] In step 212, if the integrated server determines that the height H allows the bucket wheel to descend a preset distance, the integrated server controls the bucket wheel 1 to descend the preset distance. After taking material again for a first preset number of times, if the integrated server determines that the bucket 11 is in a uniform material taking state, the first laser radar 21 goes into sleep mode.

[0100] Specifically, if after the first preset number of material collections, the volume of material collected in the bucket 11 within the first preset number of collections is within the second preset value, the first lidar 21 will go into sleep mode. During the stage of uniform material collection, the volume of material collected by each bucket 11 after the first preset number of collections will be calculated according to the average volume of material collected within the first preset number of collections. The first lidar 21 will be in sleep mode after the first preset number of collections, and will only identify the number of collections by the bucket 11 and upload it to the integrated server.

[0101] In the above preferred embodiment, the material handling situation of the bucket wheel machine is judged based on the volume of material in the bucket 11 identified by the first lidar 21. If the volume of material in the bucket 11 is too small within the first preset number of times, and the height of the material pile identified by the second lidar 31 is within the allowable range for the bucket wheel 1 to continue to descend, the bucket wheel 1 is lowered so that the bucket 11 can collect more material, thereby improving the material handling efficiency and uniformity of the bucket wheel machine and overcoming the problems of uneven material handling and low material handling efficiency of the existing bucket wheel machine.

[0102] According to the above scheme, in step S3, the mass m of the material in the bucket 11 is calculated in real time based on the volume V1 and the material density ρ, so as to calculate the total mass M of the material taken out based on multiple masses m, such as... Figure 8 As shown, it specifically includes:

[0103] In step S301, the mass m of the material collected in the bucket 11 each time is accumulated to obtain the total mass M of the material;

[0104] In step S302, when the total mass M of the material matches the preset material handling tonnage, the bucket wheel 1 is raised to stop conveying material to the transmission belt.

[0105] The timing for lifting the bucket wheel 1 is as follows: when the first laser radar 21 detects that the mass m of the material in the current bucket 11 is added to the current total mass M of the material and matches the preset material taking tonnage, the integrated server controls the bucket wheel 1 to lift up and the bucket wheel 1 stops taking material. Since the bucket wheel 1 consumes a lot of energy when it starts up, the bucket wheel 1 is still rotating when it is lifted up.

[0106] In the above-mentioned scheme mentioned in the embodiments of the present invention, obtaining the first point cloud data and the second point cloud data specifically includes denoising and registration preprocessing of the first point cloud data and the second point cloud data;

[0107] Point cloud denoising includes using a sparse outlier removal method to denoise the initial point cloud data. This method calculates the average distance from each point to all its neighboring points. Assuming the result is a Gaussian distribution, points whose average distance is outside the standard range are defined as outliers and removed from the dataset.

[0108] Point cloud registration includes using the Iterative Closest Point (IPC) algorithm on the point cloud data of two adjacent periods. The ICP algorithm finds the closest point pair in the two point cloud sets, calculates the error of the closest point pair after transformation based on the estimated transformation relationship, and iterates continuously until the set objective function reaches the minimum value, thereby obtaining the optimal translation matrix and rotation matrix to determine the final transformation relationship.

[0109] The objective function mentioned above can be referenced from the following function.

[0110]

[0111] In the formula, R represents the rotation matrix, T represents the translation matrix, k is the number of points in the point cloud to be registered, and p i For reference point cloud; q i Point cloud to be registered.

[0112] Finally, the point cloud data to be registered is matched one-to-one with the reference point cloud data, thus completing the registration of the two phases of point cloud data.

[0113] Example 2:

[0114] This invention provides an automatic material handling method and device for bucket wheels based on lidar, based on embodiment 1. The difference from embodiment 1 is that this embodiment only uses a first lidar 21, and uses the point cloud data identified by the first lidar 21 as the basis for feedback control of the working state of the bucket wheel and the first lidar 21.

[0115] The lidar-based automatic bucket wheel material handling device provided in this embodiment is applicable to the lidar-based automatic bucket wheel material handling method described in the subsequent scheme, such as... Figure 9As shown, the device includes: a bucket wheel 1 and a first lidar 21, the first lidar 21 being fixed to the bucket wheel 1; the bucket wheel 1 includes a bucket wheel body 10, multiple buckets 11, and a baffle 12, the multiple buckets 11 being disposed on the outer surface of the bucket wheel body 10; the baffle 12 being slidably disposed on the inner surface of the bucket wheel body 10 with a preset arc length to block the discharge port of the upward rotating buckets 11; wherein, the preset arc length is 1 / 3C-1 / 4C of the bucket wheel body; the detection surface of the first lidar 21 is oriented towards the buckets 11 that have an upward moving tendency and are close to the lowest point of the bucket wheel body 10, in order to detect the volume of material in the buckets 11.

[0116] For bucket 11, such as Figure 10 As shown, the bucket wheel body 10 includes two opposing circular frames 101, with multiple crossbeams 102 arranged between the two circular frames 101 to divide multiple mounting slots 100. The bucket 11 is mounted on the mounting slots 100, with the tail of the bucket 11 fixedly connected to the crossbeams 102, and both sides of the bucket 11 fixedly connected to the circular frames 101 respectively; see reference. Figure 10 As shown, the first lidar 21 is positioned towards the mounting slot 100 near the lowest end of the bucket wheel body 10, wherein, Figure 11 The dashed box shown represents the area detected by the first lidar 21. In actual applications, the first lidar 21 only detects the material carried in the bucket 11 within the area of ​​the dashed box at this angle.

[0117] Based on the above-described device, Embodiment 1 of the present invention provides an automatic material handling method for bucket wheels based on lidar, such as... Figure 12 As shown, it includes:

[0118] In step S6, point cloud data of the material in the bucket 11 identified by the first lidar 21 is obtained, and the volume V of the material is calculated based on the point cloud data.

[0119] In step S7, the mass m of the material in the bucket 11 is calculated in real time based on the volume V and the material density ρ.

[0120] In step S8, the total mass M of the material is calculated based on the mass m collected each time, so as to control the working state of the bucket wheel according to the total mass M of the material.

[0121] In this embodiment of the invention, the executing entity can be a processor with computing capabilities, such as a general server.

[0122] The volume V of the material in the bucket 11 is continuously identified by the point cloud data acquired by the first lidar 21. The integrated server calculates the mass m collected by the bucket 11 each time based on the volume V and the material density ρ. The multiple masses m are added together to obtain the total mass M of the collected material. The integrated server controls whether the bucket wheel continues to collect material based on the preset material collection tonnage and the total mass M. This invention uses the first lidar 21 for point cloud identification. The processor combines the point cloud data to calculate and control the material collection mass. Compared with the existing method of using a cantilever belt scale for mass calculation, the calculation and feedback control scheme adopted in this invention is more automated and the error control of the material collection mass is more accurate.

[0123] To fully illustrate the solutions provided by the embodiments of the present invention, the details of the above solutions will be further described below.

[0124] In step S6 above, the point cloud data of the material inside the bucket 11 identified by the first lidar 21 is acquired, and the volume V of the material is calculated based on the point cloud data, such as... Figure 13 As shown, it specifically includes:

[0125] In step S601, point cloud data of the material inside the bucket 11 identified by the first lidar 21 is acquired.

[0126] In step S602, a three-dimensional model of the bucket 11 is obtained.

[0127] In step S603, the volume V of the material inside the bucket 11 is calculated by combining the three-dimensional model and the point cloud data.

[0128] To achieve more accurate identification and avoid dust interference, the first lidar 21 is equipped with a millimeter-wave radar. The reason for using millimeter-wave radar as an auxiliary identification tool is that it has strong penetrating power and is almost unaffected by adverse weather conditions such as rain, fog, and dust. In dusty environments such as coal mines and coal mines, millimeter-wave radar can penetrate the dust layer and accurately detect target objects, reducing false identification caused by dust interference. Although the first lidar 21 has high precision and high resolution, it is easily interfered with in dusty environments. The penetrating power of millimeter-wave radar can compensate for this deficiency of the first lidar 21. The combination of the two can significantly improve the identification accuracy.

[0129] In step 601, after acquiring point cloud data, the integrated server preprocesses the point cloud data. Acquiring the point cloud data of the material in the bucket 11 identified by the first lidar 21 specifically includes denoising and registration preprocessing of the point cloud data. Point cloud denoising includes using a sparse outlier removal method to denoise the initial point cloud data. This method calculates the average distance from each point to all its neighboring points. Assuming the result is a Gaussian distribution, points whose average distance is outside the standard range are defined as outliers and removed from the dataset. Point cloud registration includes using the IPC algorithm on two adjacent point cloud data sets. The IPC algorithm finds the closest point pair in two sets of point cloud sets, calculates the error of the closest point pair after transformation based on the estimated transformation relationship, and iterates until the set objective function reaches its minimum value to obtain the optimal translation matrix and rotation matrix to determine the final transformation relationship.

[0130] The objective function mentioned above can be referenced from the following function.

[0131]

[0132] In the formula, R represents the rotation matrix, T represents the translation matrix, k is the number of points in the point cloud to be registered, and p i For reference point cloud; q i Point cloud to be registered.

[0133] Finally, the point cloud data to be registered is matched one-to-one with the reference point cloud data, thus completing the registration of the two phases of point cloud data.

[0134] Since the computational load required for each volume V identification process by the first lidar 21 is large, it is not conducive to the long-term stable operation of the system. Therefore, in step S6 above, the step of acquiring the point cloud data of the material in the bucket 11 identified by the first lidar 21 and calculating the volume V of the material based on the point cloud data specifically includes:

[0135] When the buckets of the bucket wheel reclaimer are in a state of uneven material collection, the first lidar 21 is controlled to continuously emit laser signals to the bucket 11 to continuously calculate the volume V of the material based on the point cloud data of the material in the bucket 11.

[0136] When the buckets of the bucket wheel reclaimer are in a state of uniform material collection, the average volume calculated by the previous preset number of times is taken as the volume V of the material in the bucket 11, and the first laser radar 21 is controlled to continuously emit laser signals to the bucket 11 to obtain the distance L between the edge of the material in the bucket 11 and the edge of the bucket 11, and then the bucket wheel reclaimer is determined to be in a state of uneven material collection again based on the distance L.

[0137] In practical applications, since material piles are typically pyramid-shaped, the bucket wheel reclaimer operates by sweeping material laterally from one side of the pile to the other while continuously rotating. This method effectively prevents the pile from collapsing. In the initial stages of reclaiming, because the diameter of the material pile at the top of the pyramid is small, the volume and mass of material reclaimed by the bucket 11 vary with each reclaim. As reclaiming continues to the middle of the pile, the shape becomes more stable, reducing the likelihood of collapse, and the volume and mass of material reclaimed by the bucket 11 remain relatively consistent each time. However, as reclaiming continues to the bottom of the pile, the height of the pile limits the bucket wheel's downward movement, resulting in uneven material reclaiming by the bucket 11 at this stage. The term "uniform material collection" can be understood as meaning that the volume of material collected by the bucket 11 within a preset number of times is approximately equal, i.e., the distance L between the edge of the material and the edge of the bucket 11 is also approximately equal; with a maximum capacity of 0.5m³ for the bucket 11. 3 For example, the volume difference of materials collected within the first preset number of times can range from 0 to 0.05 m³. 3 Within a certain range, the material is considered to be being picked up uniformly. The value of the difference range can be set according to the actual size of the bucket 11. Assuming the preset number of times can be 10, that is, the first laser radar 21 detects a difference in the volume of material in the bucket 11 within 0-0.05m for 10 consecutive times. 3 When the material volume is within the specified range, this stage is the uniform material collection stage. Since the baffle plate will temporarily close the bucket 11 during the upward movement of the bucket 11, the material protruding from the bucket 11 will be scraped flat by the baffle plate. Therefore, if the integrated service center detects that the volume of the material in the bucket 11 exceeds the volume of the bucket 11 itself, the integrated service center will record the volume V of the material collected this time as the volume of the bucket 11.

[0138] For the above solution, to determine whether the buckets of the bucket wheel reclaimer are in a state of uniform or uneven material collection, it can be done according to the following... Figure 14 The method steps shown specifically include:

[0139] In step S611, when the difference between the volumes V calculated continuously by the integrated server is not within the first preset range, the integrated server determines that the buckets of the bucket wheel reclaimer are in a state of uneven material collection.

[0140] Among them, the bucket 11 has a maximum capacity of 0.5m³. 3 For example, the first preset range can be 0-0.05m. 3 When the difference in volume V between adjacent calculations by the integrated server is greater than or less than 0-0.05m... 3At that time, the buckets of the bucket wheel reclaimer are in a state of uneven material collection, and the first lidar 21 continuously identifies the surface of the material inside the bucket 11.

[0141] In step S612, when the difference between the volumes V calculated by the integrated server for a first preset number of consecutive times is within a first preset range, the integrated server determines that the buckets of the bucket wheel reclaimer are in a state of uniform material collection.

[0142] In one embodiment, determining whether the bucket wheel reclaimer has returned to an uneven material collection state based on the distance L includes: if the distance L is within a preset difference range, the bucket wheel reclaimer remains in a uniform material collection state; if the distance L exceeds the preset difference range, the bucket wheel reclaimer re-enters an uneven material collection state. Assuming the first preset number of times is set to 10, when the volume V difference between 10 consecutive material collection times calculated by the integrated server is all within 0-0.05m... 3 At this time, the buckets of the bucket wheel reclaimer are in a state of uniform material collection. During the 11th material collection, the first lidar 21 goes into sleep mode, ceasing point cloud recognition of the material surface inside the bucket 11 and only performing point cloud recognition on the edge of the material inside the bucket 11. The method for recognizing the distance L specifically includes: the first lidar 21 generating a point cloud on the edge of the material inside the bucket 11 and recognizing the distance L between the material edge and the edge of the bucket 11. During the point cloud recognition process of the first lidar 21 for the previous preset number of times, the distance L between the edge of the material inside the bucket 11 and the edge of the bucket 11 is also simultaneously uploaded to the integrated server. As mentioned above, the uniform material collection state can be understood as the volume of material collected by the bucket 11 within the preset number of times being approximately equal, that is, the distance L between the material edge and the edge of the bucket 11 is also approximately equal. Therefore, the preset difference range of distance L can be 0-5cm, and the specific value can be set according to the size of the bucket 11. During the identification of distance L, since the edge of the material inside the bucket 11 is uneven, the average distance of each point on the edge of the material to the edge of the bucket 11 is taken to obtain the distance L.

[0143] In step 8 above, the total material mass M is calculated based on the mass m collected each time, and the working state of the bucket wheel is controlled according to the total material mass M. Figure 15 As shown, it specifically includes:

[0144] In step S80, the mass m of the material collected in the bucket 11 each time is accumulated to obtain the total mass M of the material.

[0145] In step S81, when the total mass M of the material matches the preset material handling tonnage, the bucket wheel is raised to stop conveying material to the transmission belt.

[0146] The timing for lifting the bucket wheel is as follows: when the integrated processor calculates that the mass m of the material in the current bucket 11 is added to the current total mass M of the material and matches the preset material taking tonnage, the integrated server controls the bucket wheel to lift and the bucket wheel stops taking material. Since the bucket wheel consumes a lot of energy when it starts up, it is still rotating when it is lifted.

[0147] Example 3:

[0148] This invention provides a second detection method for the first lidar 21 and a processing method for the integrated server, based on embodiment 2. The main difference between this embodiment and embodiment 2 lies in step S6: the process of acquiring point cloud data of the material inside the bucket 11 identified by the first lidar 21 and calculating the volume V of the material based on the point cloud data differs. In this embodiment, step S6 specifically includes: when the bucket wheel reclaimer is in a state of uneven material collection between the buckets, controlling the first lidar 21 to emit laser signals at a first acquisition frequency to continuously calculate the volume V of the material based on the point cloud data of the material inside the bucket 11; wherein, the first lidar 21 emits a first laser signal towards the bucket 11, and during the rotation of the bucket wheel 1, the first lidar 21 emits a second laser signal towards the gap in the bucket 11; the frequency used for the first laser signal is the second acquisition frequency, and the frequency used for the second laser signal is the third acquisition frequency, the first acquisition frequency being composed of time-division multiplexing of the second acquisition frequency and the third acquisition frequency. The second laser signal is used to obtain the distance D between the edge of the material pile and the edge of the bucket 11, and then to determine whether the bucket wheel enters or exits the uneven material picking state between the buckets based on the distance D; when the bucket wheel reclaimer is in the uniform material picking state between the buckets, the average volume of material picking at the beginning of the uniform material picking is used to calculate the volume of subsequent material picking at the preset number of times in this uniform material picking stage. For example, the integrated server determines that the bucket wheel has entered the uniform feeding stage, calculates the volume of the first feeding to the tenth feeding when the uniform feeding stage begins, and calculates the average volume of these 10 feedings. During the eleventh feeding, the first lidar 21 stops identifying the point cloud of the material pile in the bucket 11, and only identifies the distance D from the edge of the material pile to the edge of the bucket 11 and the number of times the bucket 11 passes the first lidar 21 through the gap between the buckets 11. From the eleventh feeding to the end of this uniform feeding stage, the volume of all subsequent feedings is calculated based on the average volume of the first 10 feedings. When the first lidar 21 detects that the bucket 11 is close to the edge of the material pile, the bucket wheel reclaimer enters the non-uniform feeding stage.

[0149] In practical application scenarios, such as Figure 16As shown, the distance D between the edge of the material pile and the edge of the bucket 11 is used to detect the material pile through the gap between the buckets 11. Figure 17 Taking the orientation shown as an example, when the bucket 11 moves continuously towards the left edge of the material pile until the first lidar 21 can identify the edge of the material pile through the gap between the buckets 11, the integrated server combines the distance data detected by the first lidar 21 and the model of the bucket 11 to calculate the distance D. When the distance D is less than or equal to 0, that is, the left edge of the bucket coincides with or exceeds the edge of the material pile, the integrated server controls the bucket wheel 1 to move to the right and reverse the operation. As the bucket wheel 1 continues to operate to the right, it gradually moves away from the left edge of the material pile until the first lidar 21 can no longer detect the left edge of the material pile. At this point, the bucket wheel reclaimer enters the uniform material collection stage until the first lidar 21 can identify the distance D between the right edge of the material pile and the right edge of the bucket 11. The above actions are repeated.

[0150] Example 4:

[0151] Based on Embodiments 1-3, this invention provides a lidar-based coal reclaimer with fusion sensing, applicable to the lidar-based hybrid control coal reclaimer automatic material handling method and lidar-based bucket wheel automatic material handling method described in the above embodiments.

[0152] like Figure 18 and Figure 19 As shown, the device includes: a bucket wheel 1 and a first radar assembly 2, the first radar assembly 2 being fixed to the bucket wheel 1; the bucket wheel 1 includes a bucket wheel body 10, a plurality of buckets 11 and a baffle 12, the plurality of buckets 11 being disposed on the outer surface of the bucket wheel body 10, and a notch being present at the junction of the buckets 11 and the bucket wheel body 10 to serve as a discharge port; the baffle 12 being slidably disposed on the inner surface of the bucket wheel body 10 with a predetermined arc length to block the discharge port of the upward rotating buckets 11; the detection surface of the first radar assembly 2 is oriented towards the buckets 11 that have an upward tendency and are close to the lowest point of the bucket wheel body 10 to detect the volume of material inside the buckets 11.

[0153] The bucket wheel body 10 is equipped with an inner frame (not shown in the diagram). This inner frame is fixed, and the baffle 12 is fixed to the inner frame. Therefore, the baffle 12 is slidably configured to slide along the inner surface of the bucket wheel body 10 with a predetermined arc length. Specifically, the baffle 12 remains fixed while the bucket wheel body 10 rotates, causing the baffle 12 to close the inner side of the bucket 11 during upward movement, preventing material from falling out of the bucket 11. Specifically, the lower end of the baffle 12 with the predetermined arc length is close to the lowest point of the bucket wheel body 10, and the upper end is close to the highest point of the bucket wheel body 10. Simultaneously, the lower end of the baffle 12 needs to leave an area for detection by the first radar component 2, without obstructing the detection range of the first radar component 2.

[0154] In one embodiment, the bucket wheel body 10 is circular, the circumference of the bucket wheel body 10 is C, and the arc length range of the baffle 12 is [missing information].

[0155] In addition to the first radar component 2, to automate the material handling process of the bucket wheel excavator, a second radar component 3 is also included. The second radar component 3 is used to identify the volume of the material pile. The second radar component 3 is located on the top of the hopper 6 or on a drone 7 (e.g., Figure 26 As shown in the figure, it is used to monitor the volume of the material pile in real time.

[0156] The first radar component 2 includes a first lidar 21 (such as...) Figure 23 The second radar component 3 includes a second lidar 31 (e.g., Figure 25 The first lidar 21 and the second lidar 31 are connected to the integrated server. The first lidar 21 is used to identify the point cloud data of the material in the bucket 11 so that the integrated server can calculate the volume based on the point cloud data. The second lidar 31 is used to identify the point cloud data of the material pile in the warehouse so that the integrated server can calculate the volume based on the point cloud data.

[0157] Compared to existing technologies that use cantilever belt scales to provide feedback on material handling quality, this new technology, by installing a first radar component 2 on the bucket wheel 1 to identify the volume of material in the bucket 11 in real time, can more quickly obtain the mass of material in each bucket 11 and calculate the total mass handled. This avoids the situation where the total mass of material has reached the expected mass when using a cantilever belt scale, but the bucket wheel 1 continues to handle material, leading to over-handling. Furthermore, by calculating the mass of material in each bucket 11 separately, it also overcomes the problem of under-handling caused by the pit in the cantilever belt scale. In the preferred embodiment, by setting a second radar component 3 to identify the volume of the material pile, combined with the volume of material in the bucket 11 identified by the first radar component 2, the working state of the bucket wheel 1 can be adjusted and controlled in real time based on the above data, which plays a positive role in improving the material handling efficiency of the bucket wheel machine.

[0158] To improve material handling efficiency, when the volume of material in the bucket 11 is detected to be too small (or the distance between the height of the material in the bucket 11 and the edge of the bucket 11 is too large), the integrated server determines whether the height of the material pile allows the bucket wheel 1 to descend a certain distance based on the volume information of the material pile transmitted back by the second lidar 31, so that the bucket 11 can collect more material at once. If the volume of the material pile is too small and the height is too low, the bucket wheel 1 will no longer descend; if the volume of the material pile is large and the height is high, the bucket wheel 1 can be allowed to descend a certain distance.

[0159] In addition to the above structure, to ensure that the material collected by the bucket 11 falls onto the drive belt, such as... Figure 20 As shown, the lidar-based coal bin reclaimer with fusion sensing also includes a hopper 4 and a conveyor belt 5. The hopper 4 is positioned above the conveyor belt 5 and directly below the highest point of the bucket wheel body 10. The hopper 4 is fixed to the steel beams on both sides of the conveyor belt 5. The hopper 4 is used to guide the material in the bucket 11 onto the conveyor belt 5.

[0160] According to the above structure, a first radar component 2 is installed on the bucket wheel 1, and a second radar component 3 is installed on the top of the hopper 6. The two work together to determine the material handling status of the bucket wheel machine based on the volume of the material in the bucket 11 identified by the first radar component 2, and the material pile volume identified by the second radar component 3 and the distance relationship between the bucket wheel 1 and the material pile. If the volume of the material in the bucket 11 is too small and the height of the material pile is within the allowable range for the bucket wheel 1 to continue to descend, the bucket wheel 1 will be lowered so that the bucket 11 can collect more material, thereby improving the material handling efficiency and uniformity of the bucket wheel machine. Furthermore, by identifying the volume of the material in the bucket 11 through the first radar component 2 and the material pile volume and the distance relationship between the bucket wheel 1 and the material pile through the second radar component 3, real-time monitoring and accurate analysis of the material pile status can be achieved, thereby dynamically adjusting the material handling parameters of the bucket wheel machine to ensure the stability, efficiency and safety of the material handling process. The first radar component 2, the second radar component 3 and the bucket wheel 1 form a feedback control, which improves the automation level of the bucket wheel 1 material handling machine.

[0161] For the baffle 12 inside the bucket wheel body 10, such as Figure 21 As shown, this is the shape of the baffle 12 used in a traditional bucket wheel 1. In this embodiment of the invention, since the first radar component 2 needs to be installed on a fixed object, and the laser signal of the first lidar 21 needs to enter the bucket 11 and cannot be blocked, and the installation of the radar cannot hinder the normal operation of the bucket wheel machine, this embodiment of the invention improves the shape of the traditional baffle 12 by cutting off a portion of the lower end of the baffle 12 (e.g., Figure 21 (As shown in the dashed box), so that the detection port of the first lidar 21 is not blocked. At the same time, cutting off this part will not cause the material in the bucket 11 to fall out. The baffle 12 is fixed and will not rotate with the rotation of the bucket wheel 1.

[0162] like Figure 22 As shown, the bucket wheel body 10 includes two opposing circular frames 101, and a plurality of crossbeams 102 are provided between the two circular frames 101 to divide a plurality of mounting slots 100. The bucket 11 is mounted on the mounting slots 100, the tail of the bucket 11 is fixedly connected to the crossbeams 102, and the two sides of the bucket 11 are fixedly connected to the circular frames 101 respectively.

[0163] In practical applications, the materials collected by the bucket wheel excavator can be coal or sand. Taking coal as an example, the particle size of coal is uneven. If larger coal particles get stuck between the baffle 12 and the bucket 11, the friction between the baffle 12 and the bucket wheel 1 will be too great during the rotation of the bucket wheel 1, thus wearing down the baffle 12, causing metal fatigue, and reducing the service life of the bucket wheel 1 and the baffle 12. Based on this, a preset gap is provided between the baffle 12 and the ring frame 101 to ensure the smooth rotation of the bucket wheel 1. The preset gap can be 1-8mm. Furthermore, it is worth noting that due to the uneven particle size of coal, gaps may exist between particles during stacking. This results in the overall actual density of the coal stacked in bucket 11 being less than the density of the coal itself. Therefore, to determine the density used for calculating the mass of coal in bucket 11, a bulk density experiment was conducted on the coal. Experimental analysis revealed that the bulk density of coal (i.e., the density under natural stacking conditions) is between 0.8 and 1.0 tons / cubic meter. Based on these conclusions, 0.9 tons / cubic meter can be used as the density meter when calculating the coal mass. Furthermore, since the coal extraction mass does not need to be exactly the same as the preset extraction tonnage during the extraction process, it is permissible for the extraction tonnage to be slightly greater or slightly less than the preset extraction tonnage. Therefore, this invention utilizes the first lidar 21 to assist in identifying and calculating the volume of coal in each bucket 11. Based on the calculated volume and the density obtained from experiments, the mass of coal in each bucket 11 is obtained. The total extraction mass is obtained by adding the masses of coal in each bucket 11. Compared with using a cantilever belt scale for weighing, the error between the final total extraction mass and the preset extraction tonnage is smaller.

[0164] To ensure the stability and reliability of baffle 12 during operation, and to adapt to different materials and operating conditions, thereby improving the operating efficiency and safety of the bucket wheel mechanism, please refer to [further details needed]. Figure 19 The bucket wheel reclaimer also includes a connecting frame 121, which is connected to the baffle 12 by a hinge. The first radar assembly 2 is fixedly connected to the connecting frame 121. The connecting frame 121 not only supports and fixes the baffle 12, but also allows adjustment of the gap between the baffle 12 and the bucket wheel 1, or the position of the baffle 12, via an adjusting component (not shown in the figure) provided on the connecting frame 121.

[0165] For the first radar component 2, such as Figure 23 As shown, the first radar assembly 2 includes a first mounting frame 20 and a first lidar 21. The first mounting frame 20 includes a first fixing end 201 and a first connecting end 202. The first fixing end 201 is fixedly connected to the connecting frame 121, and the first connecting end 202 is connected to the first lidar 21 via a hinge. Specifically, as shown... Figure 24As shown, the first lidar 21 is externally provided with a housing 210, which is fixedly connected to one of the hinge units in the hinge; the hinge unit is provided with a mounting piece 211, and the housing 210 is fixedly connected to the mounting piece 211. The first connecting end 202 is provided with a fixing bolt 203 and a fixing nut 204. The fixing bolt 203 is inserted into the through hole of the hinge, and the fixing nut 204 is threadedly connected to the fixing bolt 203. During the installation of the first lidar 21, after fixing the first fixed end 201 of the first fixing bracket 20 to the connecting bracket 121, the outer shell 210 of the first lidar 21 is fixed to the mounting plate 211. The angle of the first lidar 21 is adjusted and tested to check whether the detection range of the first lidar 21 is blocked and whether the detection range of the first lidar 21 can cover the entire area where the bucket 11 is located. After adjusting the position of the first lidar 21 accordingly, the fixing bolts 203 and fixing nuts 204 are fixed to lock the position and angle of the first lidar 21.

[0166] For the second radar component 3, such as Figure 25 As shown, the second radar component 3 is used to identify the volume of the material pile. The second radar component 3 includes a connecting column 30 and a second lidar 31. One end of the connecting column 30 is fixedly connected to the second lidar 31, and the other end of the connecting column 30 is connected to a supporting component. In the scenario preset in the embodiment of the present invention, the bucket wheel excavator is a small warehouse operation bucket wheel excavator. Therefore, for the identification of the volume of the material pile and the distance between the edge of the material pile and the bucket wheel 1, the second lidar 31 can be set above the material pile. Therefore, the embodiment of the present invention adopts the following two schemes.

[0167] The first option involves placing the second lidar 31 on the top of the warehouse, see [reference]. Figure 25As shown, the supporting component is a slider 601, and a slide rail 60 is provided on the top of the hopper 6. The slide rail 60 is fixedly connected to the steel frame on the top of the hopper 6, and the other end of the connecting column 30 is fixedly connected to the slider 601. The slider 601 is slidably connected to the slide rail 60. To prevent the slider 601 from slipping off the slide rail 60, both ends of the slide rail 60 are bent. Since the slide rail 60 is straight, to facilitate the control of the position of the second lidar 31, landmarks can be set on the warehouse floor for fixed-point material stacking. When it is necessary to retrieve material from the pile, a landmark number command is input to the integrated server. The second lidar 31 slides above the corresponding landmark number, and its position is finely adjusted according to the position of the pile. After the second lidar 31 is adjusted, it sends a signal to the integrated server, and the integrated server starts the first lidar 21 and the bucket wheel 1. The slider 601 is equipped with a power unit (not shown in the figure), which is used to receive instructions from the integrated server and drive the slider 601 to move on the slide rail 60.

[0168] The second option, such as Figure 26 As shown, the supporting component is a drone 7, and the second lidar 31 is mounted on the drone 7. The other end of the connecting column 30 is fixedly connected to the drone 7. In practical applications, the drone 7, equipped with the second lidar 31, is positioned directly above the material pile to identify its volume and height.

[0169] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic material handling method for a hybrid control coal reclaimer based on lidar, characterized in that, include: Obtain the first distance L1 between the bucket wheel and the edge area of ​​the material pile as identified by the second lidar, and determine the material picking status of the bucket based on the first distance L1; The process involves acquiring the first point cloud data of the material inside the bucket identified by the first lidar, and calculating the volume V1 of the material inside the bucket based on the first point cloud data and the material handling status. Specifically, this includes: when the buckets of the bucket wheel reclaimer are in a state of uneven material handling, controlling the first lidar to continuously emit laser signals to the bucket to calculate the volume V1 of the material based on the first point cloud data of the material inside the bucket; when the buckets of the bucket wheel reclaimer are in a state of uniform material handling, using the average volume obtained from the previous preset number of calculations as the volume V1 of the material inside the bucket. The mass m of the material in the bucket is calculated in real time based on the volume V1 and the material density ρ, so as to calculate the total mass M of the material taken out based on multiple masses m; The working state of the bucket wheel is controlled according to the total mass M.

2. The automatic material handling method for a hybrid control coal reclaimer based on lidar according to claim 1, characterized in that, The determination of the bucket's material handling status based on the first distance L1 includes: When the first distance L1 is less than or equal to the first preset value, the integrated server determines that the bucket wheel is in an uneven feeding state; When the first distance L1 is greater than the first preset value, the integrated server determines that the bucket is in a uniform material picking state.

3. The automatic material handling method for a hybrid control coal reclaimer based on lidar according to claim 1, characterized in that, The calculation of the material volume V1 based on the first point cloud data of the material in the bucket specifically includes: Acquire the first point cloud data of the material inside the bucket identified by the first lidar; Obtain a three-dimensional model of the bucket; Based on the three-dimensional model and the first point cloud data, the volume V1 of the material inside the bucket is calculated.

4. The automatic material handling method for a hybrid control coal reclaimer based on lidar according to claim 1, characterized in that, When the buckets of the bucket wheel reclaimer are in a state of uniform material collection, the average volume calculated from the previous preset number of times is taken as the volume V1 of the material in the bucket, specifically including: When the buckets of the bucket wheel reclaimer are in a state of uniform material collection, it is determined whether each bucket is full. If it is not full, the bucket wheel is controlled to descend a preset distance so that each bucket is full when the material collection is uniform. If the bucket is full, the average volume calculated from the previous preset number of times will be used as the volume V1 of the material in the bucket.

5. The automatic material handling method for a hybrid control coal reclaimer based on lidar according to claim 4, characterized in that, When the buckets of the bucket wheel reclaimer are in a state of uniform material collection, determining whether each bucket is full; if not, controlling the bucket wheel to descend a preset distance so that each bucket is full when material collection is uniform includes: If, within the preset number of calculations obtained by the integrated server, the difference between the volume of material in each bucket and the volume of the bucket is greater than a second preset value, the integrated server acquires the second point cloud data identified by the second lidar to calculate the current height H of the material pile. If the integrated server determines that the height H allows the bucket wheel to descend a preset distance, the integrated server controls the bucket wheel to descend the preset distance. After taking material again for a first preset number of times, if the integrated server determines that the bucket is in a uniform material taking state, the first laser radar goes into sleep mode.

6. The automatic material handling method for a hybrid control coal reclaimer based on lidar according to claim 1, characterized in that, The control of the bucket wheel's working state based on the total mass M specifically includes: When the total mass M of the material matches the preset material handling tonnage, the bucket wheel is raised to stop conveying material to the transmission belt.

7. The automatic material handling method for a hybrid control coal reclaimer based on lidar according to claim 5, characterized in that, Acquiring the first point cloud data and the second point cloud data specifically includes performing denoising and registration preprocessing on the first point cloud data and the second point cloud data; Point cloud denoising includes denoising the initial point cloud data using a sparse outlier removal method. This method calculates the average distance from each point to all its neighboring points. Assuming the result is a Gaussian distribution, points whose average distance is outside the standard range are defined as outliers and removed from the dataset. Point cloud registration includes using the ICP algorithm on two adjacent point cloud data sets. The ICP algorithm finds the closest point pair in the two point cloud sets, calculates the error of the closest point pair after transformation based on the estimated transformation relationship, and iterates continuously until the set objective function reaches the minimum value to obtain the optimal translation matrix and rotation matrix to determine the final transformation relationship. Finally, the point cloud data to be registered is matched one-to-one with the reference point cloud data, thus completing the registration of the two phases of point cloud data.

8. An automatic material handling device for a hybrid control coal reclaimer based on lidar, applicable to the automatic material handling method for a hybrid control coal reclaimer based on lidar as described in any one of claims 1-7, characterized in that, include: Bucket wheel (1), first laser radar (21) and second laser radar (31), the first laser radar (21) is fixed on the bucket wheel (1) and the second laser radar (31) is set above the material pile; The bucket wheel (1) includes a bucket wheel body (10), multiple buckets (11) and a baffle (12). The multiple buckets (11) are disposed on the outer surface of the bucket wheel body (10). The baffle (12) is slidably disposed on the inner surface of the bucket wheel body (10) with a preset arc length to block the discharge port of the upward rotating buckets (11). The first laser radar (21) is fixed on the baffle (12). The detection surface of the first laser radar (21) is facing the bucket (11) which has an upward movement tendency and is close to the lowest point of the bucket wheel body (10) to detect the volume of material in the bucket (11).

9. The automatic material handling device for a hybrid control coal reclaimer based on lidar according to claim 8, characterized in that, The second lidar (31) is located on the top of the silo (6); or, the second lidar (31) is mounted on a drone (7) for point cloud identification of the material pile.

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