A stockpiling method, stockpiling device, and storage medium for a c-type stockpile

Abstract

The application provides a kind of for C type stockyard's method for stacking, stacking device and storage medium, the method for stacking is: S1, obtains the height distribution of material pile in material grid;S2, obtains all the material height array and position array of wave crest and wave trough in the cross-section trapezoidal of limit material height, material grid stacking starting point, material grid stacking terminal point and rest angle composition;S3, calculates the operation limit material height, operation starting point position and operation terminal point position;S4, unloading car is between operation starting point position and operation terminal point position and is carried out travel stacking, scans travel position and updates the height distribution of material pile with the volume shape of stacking;S5, if the real-time material height detected in travel position is less than limit material height, then enter S6, otherwise enter S7;S6, if the real-time material height detected in travel position is less than operation limit material height, then enter S4, otherwise enter S2;S7, end stacking.The application realizes the unmanned stacking operation of unloading car and the accurate control and flattening management of stacking.

Description

Technical Field

[0001] This invention relates to the field of stockpiling technology, and more specifically to a stockpiling method, stockpiling device, and storage medium for C-type stockyards. Background Technology

[0002] Currently, in the C-type material yard stacking operation, on-site operators determine the unloading point based on the planned stacking volume and the shape of the material pile in the stacking grid, relying on experience. The unloading truck is then driven to the unloading point for fixed-point unloading. The shape of the material pile is observed manually at regular intervals, and the unloading position of the unloading truck is adjusted according to the pile shape for fixed-point stacking.

[0003] The current stockpiling method allows for a high degree of arbitrariness in on-site operations and a low frequency of adjustments, resulting in irregular stockpile shapes. This affects the rational utilization of the stockyard space and stockpiling efficiency, making it difficult to achieve precise control and leveling management of the stockpiles, and increasing the difficulty and time required for subsequent material removal operations.

[0004] Therefore, developing a stacking method, stacking device, and storage medium that can intelligently control the stacking process and achieve leveled management of the stack has significant practical application value. Summary of the Invention

[0005] The purpose of this invention is to provide a stockpiling method for C-type stockyards, aiming to solve the problem of difficulty in achieving precise control and leveling management of stockpiling in existing technologies. The specific technical solution is as follows:

[0006] A stockpiling method for a type C stockyard includes the following steps:

[0007] Step S1: Obtain the height distribution map of the material pile inside the material cell;

[0008] Step S2: Obtain the maximum material height h max The cross-sectional trapezoid formed by the starting point sp of the material grid, the ending point ep of the material grid, and the angle of repose α of the material pile is used to obtain the material height array H = [h1, h2, ..., h] of all the peaks and troughs within the cross-sectional trapezoid. i 3h n ] and the position array P = [p1, p2, 3, p i 3p n ], where n is the sum of the number of peaks and the number of troughs, and i represents any integer between 1 and n;

[0009] Step S3: Based on the starting point sp of the material grid, the ending point ep of the material grid, the angle of repose α of the material, and the height distribution diagram of the material, calculate the working limit material height hl, the starting point position spl, and the ending point position epl.

[0010] Step S4: The unloading vehicle travels and piles up materials between the starting point position spl and the ending point position epl, and scans the volume and shape of the piled materials at the travel position to update the height distribution map of the pile.

[0011] Step S5: If the real-time material height h detected by the travel position detection... s All are less than the limit material height h max If yes, proceed to step S6; otherwise, proceed to step S7.

[0012] Step S6: If the real-time material height h detected by the travel position detection... s If all values ​​are less than the work limit material height hl, proceed to step S4; otherwise, proceed to step S2.

[0013] Step S7: End the stockpiling process.

[0014] In the preferred embodiment of the above technical solutions, step S3 specifically includes:

[0015] Extract the minimum value from the material height array H to find the material height h of the lowest trough. i ;

[0016] Obtain the lowest trough material height h from the material height array H. i Adjacent material height h i-1 and h i+1 This allows for the calculation of the work limit material height hl, the work start position spl, and the work end position epl, specifically:

[0017] If the adjacent material height h i-1 and h i+1 If neither of these conditions exists, then the work limit material height hl = h i +h z The starting position of the operation is spl = sp + hl / tanα, and the ending position of the operation is epl = ep - hl / tanα, where h z To add more material;

[0018] If the adjacent material height h i-1 h exists i+1 If it does not exist, then p i-1 As the starting point of the operation, spl, the operation limit material height hl = h i-1 The endpoint position of the operation is epl = ep - hl / tanα;

[0019] If the adjacent material height h i-1 h does not exist i+1 If it exists, then p i+1 As the endpoint of the operation, epl, the specified material height hl = h i+1 Calculate the starting position of the operation: spl = sp + hl / tanα;

[0020] If the adjacent material height hi-1 and h i+1 Both exist and h i-1 <h i+1 When h is found in the cross-sectional trapezoid. i with h i+1 Between and h i-1 At the same height, cp will p i-1 The starting position of the operation is spl, and the ending position of the operation is cp. The material height of the operation is limited to h. i-1 ;

[0021] If the adjacent material height h i-1 and h i+1 Both exist and h i-1 >h i+1 When h is found in the cross-sectional trapezoid. i with h i-1 Between and h i+1 At the same height, cp will p i+1 As the end point of the operation (epl), and as the starting point of the operation (spl), the operation is limited to a material height (hl = h). i+1 ;

[0022] If the adjacent material height h i-1 and h i+1 Both exist and h i-1 =h i+1 At that time, p i+1 As the endpoint of the operation, epl, p i-1 As the starting point of the operation, spl, the operation limit material height hl is equal to h. i-1 or equal to h i+1 .

[0023] In the preferred embodiment of the above technical solutions, the height of the additional material is h. z It should be less than or equal to the maximum material height h. max .

[0024] In the preferred embodiment of the above technical solutions, the unloading vehicle travels on a T-shaped platform and scans the material grid with a laser scanning device to obtain a height distribution map of the material pile within the grid.

[0025] In the preferred embodiment of the above technical solutions, the operating limit material height hl should be less than or equal to the maximum material height h. max .

[0026] In the preferred embodiment of the above technical solution, during the movement of the unloading vehicle between the starting point position spl and the ending point position epl: the unloading vehicle is in motion only when the material flow detection device detects incoming material; the unloading vehicle stops moving when the material flow detection device does not detect incoming material.

[0027] The present invention also provides a stockpiling device for a C-type stockyard, comprising:

[0028] The detection unit is used to acquire data on the volume and shape of the stockpile, the real-time material height under the unloading vehicle, and to detect whether material is arriving.

[0029] The control model calculation unit constructs a digital model of the stockpile volume and shape based on the stockpile volume and shape data, and executes the stockpile method to generate the unloading vehicle material placement control parameters.

[0030] The control unit is used to collect the status signal of the unloading vehicle, the position signal of the unloading vehicle, the real-time material height signal below the unloading vehicle, and the incoming material signal; and to receive the material placement control parameters to control the material placement of the unloading vehicle.

[0031] In a preferred embodiment of the above technical solutions, the detection unit includes:

[0032] A laser scanning device is used to scan the material pile during the movement of the unloading vehicle to obtain data on the volume and shape of the material pile.

[0033] Material height detection device, used to detect the real-time material height under the unloading vehicle;

[0034] Material flow detection device, used to detect whether material has arrived.

[0035] The present invention also provides a storage medium storing the aforementioned stacking method.

[0036] The application of the technical solution of the present invention has the following beneficial effects:

[0037] The material stacking method of the present invention realizes unmanned material stacking operation of C-type material yard unloading vehicle on site, as well as precise control and leveling management of material stacking, and solves the problems of disorderly material stacking under manual control, low efficiency of material stacking and reclaiming operation, and low space utilization of material yard in C-type material yard.

[0038] The material stacking method of the present invention aims to achieve a flat material pile. It scans the height distribution map of the material pile in real time, and calculates the starting position, ending position and limiting material height of the operation based on the material characteristics in the material stacking balance and the dynamic calculation of the stacking balance. This enables the planning of the material placement path of the unloading vehicle, controls the movement of the unloading vehicle to stack the material, ensures the flatness and precise control of the material pile, and improves the space utilization rate of the material yard.

[0039] 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

[0040] 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:

[0041] Figure 1 This is a structural diagram of a C-type material yard;

[0042] Figure 2 This is a flowchart of the material stacking method of the present invention;

[0043] Figure 3 This is a schematic diagram of the trapezoidal cross-section of the stockpile;

[0044] Figure 4 This is a schematic diagram of the first type of trapezoidal cross-section for the stockpile;

[0045] Figure 5 This is a schematic diagram of the second type of trapezoidal cross-section for the stockpile;

[0046] Figure 6 This is a schematic diagram of the third type of trapezoidal cross-section for material stockpiling;

[0047] Figure 7 This is a schematic diagram of the fourth type of trapezoidal cross-section for material stockpiling;

[0048] Figure 8 This is a schematic diagram of the fifth type of trapezoidal cross-section for stockpiling.

[0049] Figure 9 This is a schematic diagram of the sixth type of trapezoidal cross-section for stockpiling.

[0050] The components include: 1. unloading truck, 2. T-shaped platform, 3. retaining wall, and 4. material grid. Detailed Implementation

[0051] To facilitate understanding of the present invention, a more complete description is provided below, along with preferred embodiments. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the present invention.

[0052] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0053] Example:

[0054] like Figure 1 As shown, a C-type material yard is a long, enclosed material yard with retaining walls 3 between material piles. The material storage areas separated by the retaining walls 3 are called storage cells 4. Materials are input from the top of the material yard via a conveyor belt set on a T-shaped platform 2 at the top of the middle of the material yard. The unloading car 1 set on the T-shaped platform 2 is used for stacking operations to transport and store the materials into designated storage cells.

[0055] In order to achieve precise control and leveling management of stockpiling, and to improve the rational utilization of stockyard space and stockpiling effect, this embodiment provides a stockpiling device and stockpiling method for C-type stockyards.

[0056] Preferably, the stacking device includes:

[0057] The detection unit is used to acquire data on the volume and shape of the stockpile, the real-time material height under the unloading vehicle, and to detect whether material is arriving.

[0058] The control model calculation unit constructs a digital model of the stockpile volume and shape based on the stockpile volume and shape data, and executes the stockpile method to generate control parameters for the unloading vehicle's material placement.

[0059] The control unit is used to collect the status signal of the unloading vehicle, the position signal of the unloading vehicle, the real-time material height signal below the unloading vehicle, and the incoming material signal; and to receive the material placement control parameters to control the material placement of the unloading vehicle.

[0060] Specifically, the detection unit includes:

[0061] A laser scanning device is used to scan the material pile during the movement of the unloading vehicle to obtain data on the volume and shape of the material pile.

[0062] Material height detection device, used to detect the real-time material height under the unloading vehicle;

[0063] Material flow detection device, used to detect whether material has arrived.

[0064] Specifically, the control model calculation unit further includes a storage medium storing the stacking method. The control model calculation unit generates the material placement control parameters based on the digital model of the stack volume and shape and the stacking method, thereby controlling the unloading vehicle to place the material. Figure 2 As shown, the stacking method includes the following steps:

[0065] Step S1: Obtain the height distribution map of the material pile inside the material cell;

[0066] Specifically, in step S1, the unloading vehicle moves on the T-shaped platform and scans the material grid with a laser scanning device to obtain a height distribution map of the material pile inside the grid.

[0067] Step S2, as follows Figure 3 As shown, the limit material height h is obtained. max The cross-sectional trapezoid formed by the starting point sp of the material grid, the ending point ep of the material grid, and the angle of repose α of the material pile is used to obtain the material height array H = [h1, h2, h3, h4] of all peaks and troughs within the cross-sectional trapezoid. i 3h n and the position array P = [p1, p2, ..., p i ...p n], where n is the sum of the number of peaks and the number of troughs, and i represents any integer between 1 and n;

[0068] Step S3: Based on the starting point sp of the material grid, the ending point ep of the material grid, the angle of repose α of the material, and the height distribution diagram of the material, calculate the working limit material height hl, the starting point position spl, and the ending point position epl.

[0069] Preferably, step S3 specifically involves:

[0070] 1) Extract the minimum value from the material height array H to find the material height h of the lowest trough. i ;

[0071] 2) Obtain the lowest trough material height h from the material height array H. i Adjacent material height h i-1 and h i+1 This allows for the calculation of the work limit material height hl, the work start position spl, and the work end position epl, specifically:

[0072] like Figure 4 As shown, if the adjacent material height h i-1 and h i+1 If none of these conditions are met, meaning the upper surface of the stockpile is a flat surface, then the operating limit material height is taken as hl = h. i +h z The starting position of the operation is spl = sp + hl / tanα, and the ending position of the operation is epl = ep - hl / tanα, where h z To add more material;

[0073] like Figure 5 As shown, if the adjacent material height h i-1 h exists i+1 If it does not exist, then p i-1 As the starting point of the operation, spl, the maximum material height for the operation is hl = h. i-1 Take the endpoint position of the operation as epl = ep - hl / tanα;

[0074] like Figure 6 As shown, if the adjacent material height h i-1 h does not exist i+1 If it exists, then p i+1 As the endpoint position epl, take the work limit material height hl = h. i+1 Calculate the starting position of the operation: spl = sp + hl / tanα;

[0075] like Figure 7 As shown, if the adjacent material height h i-1 and h i+1 Both exist and h i-1 <h i+1When h is found in the cross-sectional trapezoid. i with h i+1 Between and h i-1 At the same height, cp will p i-1 As the starting position of the operation, spl, and as the ending position of the operation, epl, the material height limit of the operation is hl = h. i-1 ;

[0076] like Figure 8 As shown, if the adjacent material height h i-1 and h i+1 Both exist and h i-1 >h i+1 When h is found in the cross-sectional trapezoid. i with h i-1 Between and h i+1 At the same height, cp will p i+1 As the end point of the operation (epl), and as the starting point of the operation (spl), the material height limit for the operation (hl = h) is taken. i+1 ;

[0077] like Figure 9 As shown, if the adjacent material height h i-1 and h i+1 Both exist and h i-1 =h i+1 At that time, p i+1 As the endpoint of the operation, epl, p i-1 As the starting point of the operation, sp1, the minimum material height hl is equal to h. i-1 or equal to h i+1 .

[0078] Step S4: The unloading vehicle travels and piles up materials between the starting point position spl and the ending point position epl, and scans the volume and shape of the piled materials at the travel position to update the height distribution map of the pile.

[0079] Preferably, in step S4, the unloading vehicle first moves to the starting position spl. If incoming material is detected, it moves to the ending position epl. If no incoming material is detected, it stops moving and waits for incoming material. During the movement, the unloading vehicle stacks material and scans the shape of the material below, thereby dynamically updating the height distribution map of the material stack.

[0080] Step S5: If the real-time material height h detected by the travel position detection... s All are less than the limit material height h max If yes, proceed to step S6; otherwise, proceed to step S7.

[0081] Specifically, step S5 involves updating the stack height and the limit height h within the walking position. maxIf the judgment condition in S5 is met, it means that the height of the stockpile has not reached the limit height h. max If the conditions in S5 are met, it means that the stacking height has reached the limit height h. max At this point, the stockpiling should be stopped.

[0082] Step S6: If the real-time material height h detected by the travel position detection... s If all values ​​are less than the work limit material height hl, proceed to step S4; otherwise, proceed to step S2.

[0083] Specifically, step S6 involves determining whether the material stacking between the start and end points of a single small cycle has reached the set operational limit material height h1. If the condition of S6 is met, it means that the material stacking between the start and end points of a single small cycle has not yet reached the operational limit material height h1, and the unloading truck needs to continue moving between the start and end points to stack material. If the condition of S6 is not met, it means that the material stacking operation of a single small cycle has been completed, and at this time, the limit material height h needs to be re-obtained based on the updated material stack height distribution map. max The cross-sectional trapezoid formed by the starting point sp of the material grid, the ending point ep of the material grid, and the angle of repose α of the material pile, and the material height array H = [h1, h2, ..., h] of all the peaks and troughs within the cross-sectional trapezoid. i ...h n and the position array P = [p1, p2, ..., p i ...p n A new large-cycle stockpiling operation has begun.

[0084] Step S7: End the stockpiling process.

[0085] Preferably, in the stacking method of this embodiment, the additional material height h z It should be less than or equal to the maximum material height h. max The working limit material height hl should be less than or equal to the maximum material height h. max To prevent the stockpiling height from exceeding the limit h max .

[0086] Preferably, after the control model calculation unit obtains the cross-sectional trapezoid, material height array H, and position array P based on the collected material pile height distribution map, it needs to calculate the material height h at the lowest trough. i With adjacent material height h i-1 h i+1 The relationship determines whether the current stockpile shape conforms to Figures 4-9Which one is it? Then, the end point position, start point position, and limit material height are determined according to the corresponding method. The stacking device and method in this embodiment are based on the material characteristics in the material stacking balance and the dynamic calculation of the stacking balance to determine the start point position, end point position, and limit material height. This enables unmanned stacking operations, ensures the flatness of the material pile, and improves the space utilization rate of the material yard.

[0087] The above description is merely a preferred embodiment of the present invention and is not intended to limit the 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 stockpiling method for a C-type stockyard, characterized in that, Includes the following steps: Step S1: Obtain the height distribution map of the material pile inside the material cell; Step S2: Obtain the maximum material height Starting point of material stacking End point of material stacking and the angle of repose of the stockpile The cross-sectional trapezoid is formed, and the material height array of all peaks and troughs within the cross-sectional trapezoid is obtained. and position array , It is the sum of the number of peaks and the number of troughs. Indicates 1 to Any integer between; Step S3: Based on the starting point of the material stacking grid End point of material stacking Angle of repose for stockpiled materials And a height distribution map of the stockpile, to calculate the operating limit material height. Starting point of the operation and the end point of the operation ; Step S4: The unloading vehicle is at the starting point of the operation. and the end point of the operation The system moves between the stacks and scans the volume and shape of the stacks at the moving locations to update the height distribution map of the stacks. Step S5: If the real-time material height detected by the travel position detection... All are less than the maximum material height If yes, proceed to step S6; otherwise, proceed to step S7. Step S6: If the real-time material height detected by the travel position detection... All are less than the work limit material height If yes, proceed to step S4; otherwise, proceed to step S2. Step S7: End stockpiling; Step S3 is as follows: From the material high array Extract the minimum value to find the material height of the lowest trough. ; From the material high array Obtain the lowest wave height Adjacent material height and Therefore, the material height limit for the operation can be calculated. Starting point of the operation and the end point of the operation Specifically: If adjacent material height and If none of these exist, then the work requires a high material limit. Starting point of the operation and the end point of the operation ,in To add more material; If adjacent material height Existence If it does not exist, then As the starting point of the operation Work limits material height End point of the operation ; If adjacent material height does not exist If it exists, then it will As the end point of the operation Work limits material height Calculate the starting position of the operation ; If adjacent material height and Both exist and < At that time, find in the trapezoidal cross section and Between and Elevation position ,Will As the starting point of the operation ,Will As the end point of the operation Work limits material height ; If adjacent material height and Both exist and > At that time, find in the trapezoidal cross section and Between and Elevation position ,Will As the end point of the operation ,Will As the starting point of the operation Work limits material height ; If adjacent material height and Both exist and = At that time, As the end point of the operation , As the starting point of the operation Work limits material height equal or equal to .

2. The stockpiling method for a C-type stockyard according to claim 1, characterized in that, The additional material is high It should be less than or equal to the maximum material height. .

3. The stockpiling method for a C-type stockyard according to claim 1, characterized in that, The unloading vehicle moves on the T-shaped platform and scans the material grid with a laser scanning device to obtain a height distribution map of the material pile inside the grid.

4. The stockpiling method for a C-type stockyard according to claim 1, characterized in that, Work limits material height It should be less than or equal to the maximum material height. .

5. The stockpiling method for a C-type stockyard according to claim 1, characterized in that, The unloading truck is at the starting point of the operation. and the end point of the operation During the movement: the unloading vehicle only moves when the material flow detection device detects incoming material; the unloading vehicle stops moving when the material flow detection device does not detect incoming material.

6. A stockpiling device for a C-type stockyard, characterized in that, include: The detection unit is used to acquire data on the volume and shape of the stockpile, the real-time material height under the unloading vehicle, and to detect whether material is arriving. The control model calculation unit constructs a digital model of the stockpile volume and shape based on the stockpile volume and shape data, and executes the stockpile method as described in any one of claims 1-5 to generate the unloading vehicle material placement control parameters; The control unit is used to collect the status signal of the unloading vehicle, the position signal of the unloading vehicle, the real-time material height signal below the unloading vehicle, and the incoming material signal; and to receive the material placement control parameters to control the material placement of the unloading vehicle.

7. The stockpiling device for a C-type stockyard according to claim 6, characterized in that, The detection unit includes: A laser scanning device is used to scan the material pile during the movement of the unloading vehicle to obtain data on the volume and shape of the material pile. Material height detection device, used to detect the real-time material height under the unloading vehicle; Material flow detection device, used to detect whether material has arrived.

8. A storage medium, characterized in that, The storage medium stores the stacking method as described in any one of claims 1-5.

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