Dumping plough device

Abstract

The invention provides a dumping plough device which comprises a dumping plough, and the dumping plough comprises a sealing-tape machine, a discharging car, a receiving arm, a discharging arm, a walking mechanism and a cab. The sealing-tape machine is laid along the edge of the dumping site and used for conveying materials to be discharged. The unloading vehicle is straddled on the sealing-tape machine and can move along the sealing-tape machine; one end of the receiving arm is connected with the discharging arm, and the other end of the receiving arm is located below the discharging trolley. The cab is arranged at the joint of the receiving arm and the discharging arm, and the traveling mechanism is arranged below the cab; the dumping plough device further comprises a control system. The control system is used for controlling the dumping machine to move, and the materials are stacked in a dumping site in a squamous stacking mode. The device has the advantages that the dumping working efficiency is improved, and the risk of manual operation errors is reduced; the space of the waste dump can be utilized to the maximum extent; and a safety protection system is arranged, so that the safety of personnel and machinery in the operation process of the dumping plough is guaranteed.

Description

Technical Field

[0001] The invention belongs to the field of mining machinery and mechanical automation, and in particular relates to a soil dumper device. Background Art

[0002] The spoil dumper is an auxiliary equipment for the continuous or semi-continuous transportation mining process in open-pit mines and is located at the terminal of the spoil transportation system.

[0003] The soil discharging machine is generally composed of a discharging arm, a receiving arm and a traveling mechanism. The discharging arm and the receiving arm can rotate relative to each other in the horizontal plane to meet the needs of discharging soil. The discharging arm is a cantilever type, one end of which is hinged on the turntable, and the other end is lifted or lowered by an electric winch through a steel rope. The discharging arm is an integral type or an articulated type. The former is a truss structure or a tubular structure; the latter is made up of several parts articulated. The arm is suspended at the hinge point, and a belt conveyor is installed on the arm. Since the receiving arm is shorter than the discharging arm, it is generally a cantilever type and can be raised and lowered and rotated independently. The bridge-type receiving arm is a truss steel structure, one end of which is hinged on the machine body, and the other end is equipped with an auxiliary supporting traveling mechanism, and its transportation distance is large. A belt conveyor is installed on the receiving arm. The position where the receiving arm conveyor transfers to the discharging arm conveyor should be consistent with the rotation center. There are four types of traveling mechanisms: track type, crawler type, walking type and track walking type. Generally, small and medium-sized earthmovers adopt crawler type, while large ones mostly adopt walking type or track walking type.

[0004] The waste rock produced in the open-pit mine is transferred from the receiving end of the receiving arm of the dumper to the discharge arm via the belt conveyor on the arm, and then discharged to the dumping site via the belt conveyor on the arm.

[0005] In the process of traditional soil dumping, the driver in the cab needs to manually observe the height of the pile when operating the soil dumper. When the height of the pile reaches a certain value, the operator operates the joystick to move the truck inching and continue to pile up the next pile. However, long-term human observation and judgment can easily cause the pile height to be too high due to fatigue or lack of concentration of the staff, which will bring serious consequences and low work efficiency; stacking materials through manual judgment cannot maximize the use of the space of the soil dump.

[0006] The working environment of the spoil dump is often bad, with a lot of dust. When the driver operates the spoil dumper, he will inhale the dust, which affects his health. When the weather is bad, it is impossible to operate the spoil dumper manually, so the progress of the project is greatly affected by the weather. Summary of the invention

[0007] The purpose of the present invention is to overcome the defects of traditional dumpers, such as excessive stacking height due to fatigue or inattention of the workers, which brings serious consequences, low work efficiency, inability to maximize the use of the space in the dumping ground, and the working environment seriously affecting the personal health of the driver and the weather environment also affecting the operation of the dumper.

[0008] In order to achieve the above-mentioned object, the present invention provides a soil dumper device, comprising a soil dumper;

[0009] The soil dumper comprises: a belt conveyor, a dump truck, a receiving arm, a dump arm, a traveling mechanism and a driver's cab; wherein,

[0010] The belt conveyor is laid along the edge of the dumping ground and is used to convey the materials to be discharged;

[0011] The unloading vehicle sits astride the belt conveyor and can move along the belt conveyor;

[0012] One end of the receiving arm is connected to the discharging arm, and the other end is located below the unloading vehicle;

[0013] The driver's cab is arranged at the connection between the receiving arm and the discharging arm, and the traveling mechanism is arranged below the driver's cab;

[0014] The dumping machine device also includes a control system for controlling the movement of the dumping machine to deposit materials in a dumping field in a scale-like manner.

[0015] As an improvement of the above device, the control system includes a plurality of positioning devices; the positioning devices are used to determine the positions and postures of various components of the earthmoving machine.

[0016] As an improvement of the above device, the positioning equipment is respectively installed on the unloading vehicle, the middle part of the receiving arm and the end of the discharging arm close to the driver's cab.

[0017] As an improvement of the above device, the control system also includes sensing devices installed on both sides below the driver's cab; the sensing devices are combined with the positioning device to measure the height difference between the top of the material pile below the discharge arm and the discharge end of the discharge arm.

[0018] As an improvement of the above device, the material is piled up in the dump in a scale-like manner, and the specific working process is as follows:

[0019] Step 1: Initialize the soil displacer; place the unloading vehicle at the head end of the belt conveyor, and adjust the vertical distance between the walking mechanism and the belt conveyor in the belt laying direction to a set distance; the set distance is the minimum value of the vertical distance between the walking mechanism and the belt conveyor in the belt laying direction when the soil displacer can work normally;

[0020] Step 2: Initialize the position of the discharge arm; in the horizontal direction, the discharge arm forms an acute angle of N degrees with the tape laying direction of the tape conveyor;

[0021] Step 3: Perform soil discharge operation;

[0022] The belt conveyor conveys the material, the unloading vehicle transfers the material to the receiving arm, the receiving arm transfers the material to the discharging arm, and the discharging arm discharges the material into the dumping ground; the sensor device monitors the height difference between the top of the material pile and the discharging end of the discharging arm. When the height difference is less than the set threshold, it goes to step 4;

[0023] Step 4: According to the current soil discharge situation, determine the next action of the soil discharger:

[0024] When the discharge arm can continue to rotate, proceed to step 5;

[0025] When the discharge arm reaches the limit of rotation, execute step 6;

[0026] Step 5: Rotate the discharge arm;

[0027] The discharging arm is rotated horizontally by K degrees with one end of the walking mechanism as the axis, so that the angle between the discharging arm and the tape laying direction of the tape conveyor increases; return to step 3;

[0028] Step 6: According to the position of the traveling mechanism, determine the next action of the soil dumper:

[0029] When the traveling mechanism has not reached the end of the belt conveyor, execute step 7;

[0030] When the walking mechanism reaches the end of the belt conveyor or the distance from the end is less than the set value L, and the distance between the walking mechanism and the edge of the spoil dump is less than the set distance, execute step 10;

[0031] When the walking mechanism reaches the end of the belt conveyor or the distance from the end is less than the set value L, and the vertical distance from the belt conveyor in the belt laying direction does not reach the set value, execute step 8;

[0032] When the walking mechanism reaches the end of the belt conveyor or the distance from the end is less than the set value L, and the vertical distance from the belt conveyor in the belt laying direction reaches the set value, execute step 9;

[0033] Step 7: Move the unloading vehicle and the traveling mechanism;

[0034] The unloading vehicle and the traveling mechanism move the set value L toward the end of the belt conveyor along the belt laying direction of the belt conveyor, and return to execute step 2;

[0035] Step 8: Turn the walking mechanism around;

[0036] The walking mechanism turns away from the belt conveyor. After the turn, the vertical distance between the walking mechanism and the belt conveyor in the belt laying direction increases by a set value P; the end of the belt conveyor close to the unloading vehicle is set as the head end, and the other end is set as the end end, and the process returns to step 2;

[0037] Step 9: Move the soil spreader;

[0038] The soil dumper moves as a whole toward the edge of the soil dumping field by a set value, and the end of the belt conveyor close to the unloading vehicle is set as the head end and the other end as the tail end, and then return to step 1.

[0039] Step 10: Stop the soil spreader.

[0040] As an improvement of the above device, the angle between the discharge arm and the tape laying direction of the tape conveyor is set to range from N degrees to M degrees, M>N;

[0041] The discharging arm can continue to rotate means that when the angle between the discharging arm and the tape laying direction of the tape conveyor is less than M degrees, the discharging arm can continue to rotate;

[0042] The discharging arm reaching the limit of rotation means that when the angle between the discharging arm and the tape laying direction of the tape conveyor is equal to M degrees, the discharging arm reaches the limit of rotation.

[0043] As an improvement of the above device, the soil dumper device also includes a safety protection system;

[0044] The safety protection system comprises:

[0045] Personnel prevention module, used to detect whether there are people approaching the soil dumper;

[0046] The soil dumper chassis anti-collision module is used to detect the surrounding environment of the soil dumper and prevent collision with other objects.

[0047] As an improvement of the above device, the personnel prevention module includes a plurality of security cameras installed on the earthmoving machine.

[0048] As an improvement of the above device, the soil dumper chassis anti-collision module includes a millimeter wave radar installed on the chassis of the walking mechanism.

[0049] As an improvement of the above device, the process of piling materials in a dump in a scale-like manner also includes:

[0050] When the soil dumper is working, the safety protection system will detect whether the surrounding environment is safe in real time and send out an alarm when the surrounding environment is unsafe;

[0051] Whether the surrounding environment is safe refers to whether there are people approaching the earthmoving machine and whether the earthmoving machine will collide with other objects when moving.

[0052] Compared with the prior art, the advantages of the present invention are:

[0053] 1. During the soil discharge process, there is no need for manual judgment of the current soil discharge situation. The soil discharger can automatically pile up the materials in the soil discharge yard in a scale-like manner, which improves the efficiency of soil discharge and reduces the risk of human operation errors.

[0054] 2. The soil dumping machine uses calculated soil dumping rules to accurately perform soil dumping operations, which can maximize the use of the space in the soil dumping yard.

[0055] 3. It has a safety protection system to ensure the safety of personnel and machinery during the operation of the soil dumper. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 Shown is a schematic diagram of a soil dumper;

[0057] Figure 2 The figure shows the schematic diagram of the location of RTK and IMU installed on the earthmoving machine;

[0058] Figure 3 The figure shows a schematic diagram of fixed-point accumulation in a spoil dump;

[0059] Figure 4 The figure shows the schematic diagram of the scale accumulation in the spoil dump;

[0060] Figure 5 The figure shows a top view of multiple rows of fixed-point accumulation in the spoil dump;

[0061] Figure 6 The figure shows the operation flow chart of the soil dumper in the scale accumulation mode;

[0062] Figure 7 The figure shows the installation diagram of the earthmoving machine safety protection system equipment.

[0063] Reference numerals:

[0064] 1. Belt conveyor 2. Unloading car

[0065] 3. Receiving arm 4. Traveling mechanism

[0066] 5. Discharge arm 6. Material

[0067] 7. Material pile 8. Dumping area

[0068] 9. Driver's cab 10. Positioning equipment installation location

[0069] 11. Installation location of sensor equipment DETAILED DESCRIPTION

[0070] The technical solution of the present invention is described in detail below with reference to the accompanying drawings.

[0071] The present application provides a soil dumper device comprising a soil dumper, a control system and a safety protection system.

[0072] The control system is to transform the manually operated soil dumper into an unmanned one that can automatically dump soil. This mainly includes two parts of work. First, it is necessary to carry out wire control transformation, that is, to transform the manually operated soil dumper into a soil dumper that can be controlled by electrical signals, that is, wire control; then it is necessary to carry out intelligent transformation, that is, by adding RTK / IMU, laser radar and other sensors to the soil dumper, and through positioning attitude fusion algorithm and laser point cloud processing algorithm and other parts, to realize the monitoring of the soil dumper's own state and surrounding environment, and combine the user-defined soil dumping process rule decision to realize the automatic execution of the soil dumper.

[0073] RTK (Real-time kinematic) carrier phase differential technology is a new and commonly used satellite positioning measurement method. It uses the differential method of real-time processing of the carrier phase observations of two measurement stations to send the carrier phase collected by the base station to the user receiver for coordinate difference calculation.

[0074] IMU (Inertial Measurement Unit) is a sensor used to detect and measure acceleration and rotational motion.

[0075] The unmanned transformation of the soil dumper is mainly to realize the unmanned operation of the soil dumper under the premise of ensuring the operating capacity of the soil dumper, which is mainly divided into two parts: line control transformation and intelligent transformation. The line control transformation means that all the execution units of the soil dumper equipment can be controlled by electric control signals; while the intelligent transformation is mainly based on the line control soil dumper, installing sensors such as RTK / IMU and laser radar, and realizing the positioning attitude information fusion, real-time soil dumping monitoring, soil dumper automatic control drive, soil dumper process rule decision and other functions in the controller.

[0076] The wire control transformation of the soil spreader is to realize the purpose of controlling all the execution units of the soil spreader equipment through electric control signals. The main actions of the execution units of the soil spreader include the travel and turning of the soil spreader, the rotation of the loading mechanism, the pitching of the discharge arm, the start and stop of the belt conveyor of the discharge receiving arm, the travel of the unloading vehicle and other functions. The wire control transformation requires that all the above actions can be controlled by unified PLC control instructions.

[0077] On the basis of the wire-controlled transformation of the soil dumper, to realize the intelligent transformation of the soil dumper, it is necessary to know the posture information of each part of the soil dumper (including the unloading vehicle) and the stacking situation of the soil dumping yard at the current location.

[0078] 1) Intelligent sensor installation

[0079] like Figure 1As shown, the soil dumper comprises a belt conveyor 1, a dump truck 2, a receiving arm 3, a dump arm 5, a traveling mechanism 4 and a driver's cab 9. The belt conveyor 1 is laid along the edge of the dumping ground and is used to transport the materials to be discharged; the dump truck 2 sits on the belt conveyor 1 and can move along the belt conveyor 1; one end of the receiving arm 3 is connected to the dump arm 5, and the other end is located below the dump truck 2; a driver's cab 9 is set at the connection between the receiving arm 3 and the dump arm 5, and a traveling mechanism 4 is set below.

[0080] Intelligent transformation requires the installation of three positioning devices (GPS or RTK, etc.), and the use of sensor equipment (lidar, etc.) to comprehensively calculate and evaluate the position and attitude information of each component of the earthmoving machine, that is, the information fusion of positioning attitude, such as Figure 2 As shown, a positioning device is installed on the unloading vehicle 2, the middle of the receiving arm 3, and the end of the discharging arm 5 near the driver's cab, respectively. Figure 2 The location of the positioning device installation position 10. A sensor device is installed on both sides below the driver's cab 9, such as Figure 2 The position of the sensor device installation position 11. Use positioning equipment to monitor the position and posture information of each component of the soil discharging machine. The position and posture information of the discharging arm 5 detected by the positioning equipment is combined with the laser radars installed on both sides under the cab of the soil discharging machine to detect the soil discharging situation under the discharging arm in real time. Each laser radar is equipped with an IMU.

[0081] Based on the posture information of the soil dumper itself and the accumulation situation of the soil dumping site at the current location, the intelligent transformation of the soil dumper can be realized by combining the technological rule decision of the soil dumper.

[0082] 2) Decision-making on soil removal process rules

[0083] The height and width of the dump pile are different according to the different terrain, location and working conditions of the dump. According to the different dump conditions, the most efficient dumping technology should be selected for automatic dumping operation, so the selection of dumping technology is particularly important.

[0084] In the process of traditional soil spreader, the driver in the cab manually observes the height of the pile when operating the soil spreader. When the height of the pile reaches a certain value, the operator operates the joystick to move the truck inching to continue the next pile. However, long-term manual observation and judgment can easily cause the pile height to be too high due to fatigue or lack of concentration of the staff, which will bring serious consequences, significantly reduce efficiency, and is difficult to achieve automation.

[0085] The same dumping site usually has multiple material piles. The bearing capacity of the dumping site must be calculated first. The purpose is to classify the material piles according to the pile height and width allowed by the dumping site. When the bearing capacity of the dumping site is high, for example, the pile height is allowed to be 12m and the pile width is 34m, fixed-point pile is used, such as Figure 3shown.

[0086] If the dumping site has a low carrying capacity, the maximum stacking height is 7m, and the stacking width still needs to be 34m to fully utilize the dumping site, then a multi-row and multi-column stacking method must be adopted: scale stacking, to ensure full utilization of the dumping site, such as Figure 4 shown.

[0087] The top view of multi-column fixed-point stacking is as follows Figure 5 As shown, the left side view is shown Figure 4 That is, when discharging, the discharging arm is first rotated to a certain set angle, and a fixed-point stacking method is used. According to the set stacking length, the first column is stacked, and then the discharging arm is rotated to a new angle for fixed-point stacking. When the length of the material pile reaches the set value, the above actions are repeated many times until the soil discharge task is completed. This process method is simple and easy to operate, and can solve the problem of low utilization rate of the soil dumping site to a certain extent. After program optimization, a scale-like multi-row and multi-column stack is designed to carry out the automatic multi-row and multi-column scale-like soil discharge process, as shown in the top view. Figure 5 As shown, multi-row fixed-point stacking is a pile of rows. After the first row is stacked, the walking mechanism moves forward to stack the second row, and the above actions are repeated many times. In this way, even if the planners make inaccurate address estimates, wrong parameter settings, or changes are made during the soil discharge process, there will usually be no large-scale waste of soil discharge space. Figure 5 In the process of dumping, if the dumping needs to be stopped after the third row is arranged, although the area behind the fourth row along the tape laying direction of the tape conveyor becomes an open space, other goods can be piled up or piled up in the open space, which will not cause waste of the dumping field and easily and efficiently improve the utilization value of the dumping field. The choice of dumping technology needs to be based on the requirements of the dumping field. When it is higher, the scale-like stacking technology with multiple rows and columns is often used.

[0088] When the soil discharger is working, the belt conveyor 1 conveys the material 6 to be discharged, the unloading vehicle 2 transfers the material 6 to the receiving arm 3, the receiving arm 3 transfers the material 6 to the discharging arm 5, and finally the discharging arm 5 discharges the material 6 into the soil discharge yard 8.

[0089] The belt conveyor 1 is arranged along one side of the dumping ground 8, and the length of the belt conveyor 1 is similar to that of the dumping ground 8. The middle of the belt conveyor 1 is a belt for conveying materials, and the two sides are continuous multiple sets of frames. The unloading vehicle 2 sits on the belt conveyor 1 and can move along the belt conveyor 1.

[0090] A walking mechanism 4 is provided at the connection between the receiving arm 3 and the discharging arm 5, and the walking mechanism 4 can carry the receiving arm 3 and the discharging arm 5 to move. The discharging arm 5 can rotate horizontally with the connection end with the walking mechanism 4 as the axis to adjust the discharge position of the material 6.

[0091] The laser radar disposed on the discharge arm 5 monitors the height difference between the top of the material pile 7 under the discharge arm 5 and the end of the discharge arm 5 away from the walking mechanism 4.

[0092] like Figure 6 As shown in the figure, when the scale accumulation method is adopted, the control system controls the operation mode of the soil dumper as follows:

[0093] Step 1: Initialize the soil dumper;

[0094] Initialize the soil displacer so that the unloading vehicle is located at the head end of the belt conveyor, and adjust the vertical distance between the traveling mechanism and the belt conveyor in the belt laying direction to the set distance; the set distance is the minimum value of the vertical distance between the traveling mechanism and the belt conveyor in the belt laying direction when the soil displacer can work normally.

[0095] Step 2: Initialize the position of the discharge arm;

[0096] The initialization state of the discharging arm posture is that in the horizontal direction, the discharging arm and the belt laying direction of the belt conveyor form an acute angle of N degrees. The specific value of N needs to be determined according to the performance of the soil discharging machine.

[0097] Step 3: Perform soil discharge operation;

[0098] The belt conveyor conveys the material, the unloading vehicle transfers the material to the receiving arm, the receiving arm transfers the material to the discharging arm, and the discharging arm discharges the material into the dumping ground; the sensor monitors the height difference between the top of the material pile and the end of the discharging arm away from the walking mechanism. When the height difference is less than the set threshold, it goes to step 4;

[0099] Step 4: According to the current soil discharge situation, determine the next action of the soil discharger:

[0100] When the discharge arm can continue to rotate, proceed to step 5;

[0101] When the discharge arm reaches the limit of rotation, execute step 6;

[0102] The angle range between the discharge arm and the tape laying direction of the tape conveyor is set to N degrees to M degrees, M>N. When the angle between the discharge arm and the tape laying direction of the tape conveyor is less than M degrees, the discharge arm can continue to rotate; when the angle between the discharge arm and the tape laying direction of the tape conveyor is equal to M degrees, the rotation of the discharge arm reaches its limit.

[0103] Step 5: Rotate the discharge arm;

[0104] The discharging arm is rotated horizontally by K degrees with one end of the walking mechanism as the axis, so that the angle between the discharging arm and the tape laying direction of the tape conveyor increases; return to step 3;

[0105] Step 6: According to the position of the traveling mechanism, determine the next action of the soil dumper:

[0106] When the traveling mechanism has not reached the end of the belt conveyor, execute step 7;

[0107] When the walking mechanism reaches the end of the belt conveyor or the distance from the end is less than the set value L, and the distance between the walking mechanism and the edge of the spoil dump is less than the set distance, execute step 10;

[0108] When the walking mechanism reaches the end of the belt conveyor or the distance from the end is less than the set value L, and the vertical distance from the belt conveyor in the belt laying direction does not reach the set value, execute step 8;

[0109] When the walking mechanism reaches the end of the belt conveyor or the distance from the end is less than the set value L, and the vertical distance from the belt conveyor in the belt laying direction reaches the set value, execute step 9.

[0110] Step 7: Move the unloading vehicle and the traveling mechanism;

[0111] The unloading vehicle and the traveling mechanism move the set value L toward the end of the belt conveyor along the belt laying direction of the belt conveyor, and return to execute step 2;

[0112] Step 8: Turn the walking mechanism around;

[0113] The traveling mechanism turns away from the belt conveyor. After the turn, the vertical distance between the traveling mechanism and the belt conveyor in the belt laying direction increases by a set value P; the end of the belt conveyor close to the unloading vehicle is set as the head end, and the other end is set as the end end, and return to step 2.

[0114] Step 9: Move the soil spreader;

[0115] The soil dumper moves as a whole toward the edge of the soil dumping field by a set value, and the end of the belt conveyor close to the unloading vehicle is set as the head end and the other end as the tail end, and then return to step 1.

[0116] Step 10: Stop the soil spreader.

[0117] The safety protection system installs sensors such as industrial cameras and millimeter-wave radars around the earthmoving machine, and uses algorithms such as pedestrian target detection and target fusion to detect and provide early warnings for pedestrians and other vehicles that mistakenly enter the site.

[0118] The safety protection system mainly consists of two parts: personnel protection and spoiler chassis anti-collision.

[0119] 1) Personnel prevention: Two security cameras are installed on the soil dumper, which can automatically identify and warn when there are people approaching the soil dumper.

[0120] 2) Anti-collision of the earthmoving machine chassis. About 6 millimeter-wave radars are installed on the crawler chassis of the walking mechanism to detect the surrounding environment of the earthmoving machine and the unloading vehicle to prevent accidental collision with other vehicles and equipment. The layout of the millimeter-wave radar sensor is as follows: Figure 7 shown.

[0121] When the soil dumper is working, real-time personnel protection and anti-collision detection of the soil dumper chassis are carried out. When it is found that there are people approaching around the soil dumper or there is a possibility of collision with other vehicles or equipment during movement, an alarm will be issued and the work of the soil dumper can be taken over manually.

[0122] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention is described in detail with reference to the embodiments, it should be understood by those skilled in the art that any modification or equivalent replacement of the technical solutions of the present invention does not depart from the spirit and scope of the technical solutions of the present invention and should be included in the scope of the claims of the present invention.

Claims

1. A soil dumper device, comprising a soil dumper; The soil dumper comprises: Belt conveyor, unloading car, receiving arm, discharging arm, traveling mechanism and driver's cab; among them, The belt conveyor is laid along the edge of the dumping ground and is used to convey the materials to be discharged; The unloading vehicle sits astride the belt conveyor and can move along the belt conveyor; One end of the receiving arm is connected to the discharging arm, and the other end is located below the unloading vehicle; The driver's cab is arranged at the connection between the receiving arm and the discharging arm, and the traveling mechanism is arranged below the driver's cab; It is characterized in that the dumping machine device also includes a control system for controlling the movement of the dumping machine to deposit materials in the dumping field in a scale-like manner.

2. The soil dumper device according to claim 1, characterized in that: The control system includes a plurality of positioning devices; the positioning devices are used to determine the positions and postures of various components of the earthmoving machine.

3. The soil dumper device according to claim 2, characterized in that: The positioning devices are respectively installed on the unloading vehicle, the middle part of the receiving arm and the end of the discharging arm close to the driver's cab.

4. The soil dumper device according to claim 2, characterized in that: The control system also includes sensing devices installed on both sides below the driver's cab; the sensing devices are combined with the positioning device to measure the height difference between the top of the material pile below the discharge arm and the discharge end of the discharge arm.

5. The earthmoving device according to claim 4, characterized in that: The specific working process of piling materials in the dump in a scale-like manner is as follows: Step 1: Initialize the soil displacer; place the unloading vehicle at the head end of the belt conveyor, and adjust the vertical distance between the walking mechanism and the belt conveyor in the belt laying direction to a set distance; the set distance is the minimum value of the vertical distance between the walking mechanism and the belt conveyor in the belt laying direction when the soil displacer can work normally; Step 2: Initialize the position of the discharge arm; in the horizontal direction, the discharge arm forms an acute angle of N degrees with the tape laying direction of the tape conveyor; Step 3: Perform soil discharge operation; The belt conveyor conveys the material, the unloading vehicle transfers the material to the receiving arm, the receiving arm transfers the material to the discharging arm, and the discharging arm discharges the material into the dumping ground; the sensor device monitors the height difference between the top of the material pile and the discharging end of the discharging arm. When the height difference is less than the set threshold, it goes to step 4; Step 4: According to the current soil discharge situation, determine the next action of the soil discharger: When the discharge arm can continue to rotate, proceed to step 5; When the discharge arm reaches the limit of rotation, execute step 6; Step 5: Rotate the discharge arm; The discharging arm is rotated horizontally by K degrees with one end of the walking mechanism as the axis, so that the angle between the discharging arm and the tape laying direction of the tape conveyor increases; return to step 3; Step 6: According to the position of the traveling mechanism, determine the next action of the soil dumper: When the traveling mechanism has not reached the end of the belt conveyor, execute step 7; When the walking mechanism reaches the end of the belt conveyor or the distance from the end is less than the set value L, and the distance between the walking mechanism and the edge of the spoil dump is less than the set distance, execute step 10; When the walking mechanism reaches the end of the belt conveyor or the distance from the end is less than the set value L, and the vertical distance from the belt conveyor in the belt laying direction does not reach the set value, execute step 8; When the walking mechanism reaches the end of the belt conveyor or the distance from the end is less than the set value L, and the vertical distance from the belt conveyor in the belt laying direction reaches the set value, execute step 9; Step 7: Move the unloading vehicle and the traveling mechanism; The unloading vehicle and the traveling mechanism move the set value L toward the end of the belt conveyor along the belt laying direction of the belt conveyor, and return to execute step 2; Step 8: Turn the walking mechanism around; The walking mechanism turns away from the belt conveyor. After the turn, the vertical distance between the walking mechanism and the belt conveyor in the belt laying direction increases by a set value P; the end of the belt conveyor close to the unloading vehicle is set as the head end, and the other end is set as the end end, and the process returns to step 2; Step 9: Move the soil spreader; The dumper moves as a whole toward the edge of the dumping ground by a set value, and the end of the belt conveyor close to the unloading vehicle is set as the head end, and the other end is set as the tail end, and the process returns to step 1; Step 10: Stop the soil spreader.

6. The soil dumper device according to claim 5, characterized in that: Set the angle between the discharge arm and the tape laying direction of the tape conveyor to range from N to M degrees, M>N; The discharging arm can continue to rotate means that when the angle between the discharging arm and the tape laying direction of the tape conveyor is less than M degrees, the discharging arm can continue to rotate; The discharging arm reaching the limit of rotation means that when the angle between the discharging arm and the tape laying direction of the tape conveyor is equal to M degrees, the discharging arm reaches the limit of rotation.

7. The soil dumper device according to claim 5, characterized in that: The soil dumper device also includes a safety protection system; The safety protection system comprises: Personnel prevention module, used to detect whether there are people approaching the soil dumper; The soil dumper chassis anti-collision module is used to detect the surrounding environment of the soil dumper and prevent collision with other objects.

8. The earthmoving device according to claim 7, characterized in that: The personnel prevention module includes a plurality of security cameras installed on the earthmoving machine.

9. The soil dumper device according to claim 7, characterized in that: The soil dumper chassis anti-collision module includes a millimeter wave radar installed on the chassis of the walking mechanism.

10. The earthmoving device according to claim 7, characterized in that: The process of piling the materials in the dump in a scale-like manner also includes: When the soil dumper is working, the safety protection system will detect whether the surrounding environment is safe in real time and send out an alarm when the surrounding environment is unsafe; Whether the surrounding environment is safe refers to whether there are people approaching the earthmoving machine and whether the earthmoving machine will collide with other objects when moving.

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