An apparatus for a dragline

Abstract

The application provides a kind of dump truck device, including dump truck, the dump truck includes: belt conveyor, unloading car, receiving arm, discharge arm, walking mechanism and driver's room;The belt conveyor is laid along the edge of dump site, for conveying material to be discharged;The unloading car straddles on the belt conveyor, can move along the belt conveyor;The receiving arm one end is connected with the discharge arm, one end is located below the unloading car;The receiving arm is provided with the driver's room at the connection with the discharge arm, the walking mechanism is provided below the driver's room;The dump truck device further includes control system;The control system is used to control the movement of dump truck, to scale accumulation mode to accumulate material into dump site.The advantage of the application is: improve the efficiency of dumping work, reduce the risk of human operation failure;Can maximize the use of the space of dump site;With safety protection system, guarantee the personnel and mechanical safety during the operation of dump truck.

Description

Technical Field

[0001] This invention belongs to the field of mining machinery and mechanical automation, and specifically relates to a soil dumping machine device. Background Technology

[0002] The spoil disposal machine is an auxiliary equipment for continuous or semi-continuous transportation mining processes in open-pit mines, located at the end of the spoil disposal transportation system.

[0003] A typical soil dumping machine consists of a discharge arm, a receiving arm, and a traveling mechanism. The discharge and receiving arms can rotate relative to each other in the horizontal plane to accommodate soil dumping needs. The discharge arm is cantilevered, with one end hinged to a turntable and the other end raised or lowered by an electric winch via steel cables. The discharge arm can be integral or articulated; the former is a truss or tubular structure, while the latter is composed of several articulated parts. The arm is suspended at the hinge point and equipped with a belt conveyor. Since the receiving arm is shorter than the discharge arm, it is generally also cantilevered and can be independently raised, lowered, and rotated. A bridge-type receiving arm is a truss steel structure, with one end hinged to the machine body and the other end equipped with an auxiliary supporting traveling mechanism, allowing for a large transport distance. A belt conveyor is mounted on the receiving arm. The transfer point from the receiving arm conveyor to the discharge arm conveyor should be aligned with the center of rotation. There are four types of walking mechanisms: tracked, crawler, stepping, and track-stepping. Generally, small and medium-sized dumping machines use tracked mechanisms, while large ones mostly use stepping or track-stepping mechanisms.

[0004] Waste rock generated from open-pit mines is transferred from the receiving end of the receiving arm of the dumper to the discharge arm via a belt conveyor on the arm, and then discharged to the dump site via a belt conveyor on the arm.

[0005] In traditional dumping operations, the operator in the cab needs to manually observe the height of the material pile. Once the pile reaches a certain height, the operator moves the control lever to move the tractor slightly to continue stacking the next pile. However, relying on manual observation for extended periods can easily lead to excessive pile height due to operator fatigue or inattention, resulting in serious consequences. Furthermore, this method is inefficient. Moreover, manual judgment in stacking materials fails to maximize the utilization of the dumping site's space.

[0006] Work environments at spoil heaps are often harsh, with high levels of dust. Drivers inhale dust while operating spoil heaps, which can negatively impact their health. Furthermore, manual operation of spoil heaps is impossible in inclement weather, significantly affecting project progress. Summary of the Invention

[0007] The purpose of this invention is to overcome the shortcomings of traditional dumping machines, which are prone to excessive stacking height due to operator fatigue or lack of concentration, resulting in serious consequences. In addition, they have low work efficiency, cannot maximize the use of dumping site space, and the working environment seriously affects the health of the driver. Weather conditions also affect the operation of dumping machines.

[0008] To achieve the above objectives, the present invention provides a soil dumping machine device, including a soil dumping machine;

[0009] The soil dumping machine includes: a belt conveyor, a unloading truck, a receiving arm, a discharging arm, a traveling mechanism, and a driver's cab; wherein...

[0010] The conveyor belt is laid along the edge of the spoil heap and is used to transport the material to be discharged.

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

[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 located at the connection between the receiving arm and the discharging arm, and the traveling mechanism is located below the driver's cab;

[0014] The spoil disposal unit also includes a control system for controlling the movement of the spoil disposal machine to pile materials into the spoil disposal site in a scale-like manner.

[0015] As an improvement to the above-mentioned device, the control system includes multiple positioning devices; the positioning devices are used to determine the position and orientation of each component of the dumping machine.

[0016] As an improvement to the above-mentioned device, the positioning equipment is respectively installed on the unloading car, the middle of the receiving arm, and the end of the discharge arm near the driver's cab.

[0017] As an improvement to the above-mentioned device, the control system further includes sensing devices installed on both sides below the driver's cab; the sensing devices and the positioning devices are combined 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 to the above-mentioned device, the specific workflow for accumulating materials in a scale-like manner at the spoil heap is as follows:

[0019] Step 1: Initialize the soil dumping machine; position the unloading vehicle at the beginning of the conveyor belt, and adjust the vertical distance between the traveling mechanism and the conveyor belt laying direction to the set distance; this set distance is the minimum value of the vertical distance between the traveling mechanism and the conveyor belt laying direction when the soil dumping machine 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 conveyor belt;

[0021] Step 3: Perform the soil removal operation;

[0022] The conveyor belt conveys the material, the unloading car transfers the material to the receiving arm, the receiving arm transfers the material to the discharge arm, and the discharge arm discharges the material into the spoil disposal area; the sensing equipment monitors the height difference between the top of the material pile and the discharge end of the discharge arm, and when the height difference is less than the set threshold, proceed to step 4.

[0023] Step 4: Based on the current soil removal situation, determine the next action of the soil removal machine:

[0024] If the discharge arm can still rotate, proceed to step 5;

[0025] When the discharge arm reaches its limit of rotation, proceed to step 6;

[0026] Step 5: Rotate the discharge arm;

[0027] The discharge arm rotates horizontally by K degrees with one end of the traveling mechanism as the axis, increasing the angle between the discharge arm and the belt laying direction of the conveyor belt; return to step 3.

[0028] Step 6: Based on the position of the traveling mechanism, determine the next action of the excavator:

[0029] If the traveling mechanism has not reached the end of the conveyor belt, proceed to step 7;

[0030] When the traveling mechanism reaches the end of the conveyor belt or the distance to the end is less than the set value L, and the traveling mechanism is less than the set distance from the edge of the spoil heap, step 10 is executed;

[0031] When the traveling mechanism reaches the end of the conveyor belt or the distance to the end is less than the set value L, and the perpendicular distance to the conveyor belt laying direction does not reach the set value, step 8 is executed;

[0032] When the traveling mechanism reaches the end of the conveyor belt or the distance to the end is less than the set value L, and the perpendicular distance to the conveyor belt laying direction reaches the set value, step 9 is executed;

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

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

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

[0036] The traveling mechanism turns away from the conveyor belt. After turning around, the vertical distance between the traveling mechanism and the conveyor belt in the belt laying direction increases by a set value P. The end of the conveyor belt that is close to the unloading vehicle is set as the beginning end and the other end as the end end. Then, return to step 2.

[0037] Step 9: Move the spoil heap;

[0038] The entire dumping machine moves towards the edge of the dumping site by a set value, setting the end of the conveyor belt closer to the unloading vehicle as the beginning and the other end as the end, and then returns to step 1.

[0039] Step 10: The soil dumping machine stops running.

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

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

[0042] The term "discharge arm rotation reaches its limit" refers to the situation where the angle between the discharge arm and the tape laying direction of the conveyor belt is equal to M degrees.

[0043] As an improvement to the above-mentioned device, the soil dumping machine device also includes a safety protection system;

[0044] The security protection system includes:

[0045] The personnel protection module is used to detect whether anyone is approaching the dumping machine.

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

[0047] As an improvement to the aforementioned device, the personnel protection module includes multiple security cameras installed on the dump truck.

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

[0049] As an improvement to the above-mentioned device, the process of accumulating materials to the spoil heap in a scale-like manner further includes:

[0050] When the dumping machine is working, the safety protection system monitors the surrounding environment in real time to ensure its safety, and issues an alarm when the surrounding environment is unsafe.

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

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

[0053] 1. During the soil dumping process, there is no need for manual judgment of the current soil dumping situation. The soil dumping machine can automatically pile up the material in the soil dumping site in a scale-like stacking manner, which improves the efficiency of soil dumping work and reduces the risk of human operation error.

[0054] 2. The dumping machine uses pre-calculated dumping rules to precisely execute dumping operations, maximizing the use of dumping site space.

[0055] 3. It has a safety protection system to ensure the safety of personnel and machinery during the operation of the dumping machine. Attached Figure Description

[0056] Figure 1 The diagram shown is of a soil dumping machine;

[0057] Figure 2 The diagram shows the installation locations of the RTK and IMU on the spoil heap.

[0058] Figure 3 The diagram shown is a schematic diagram of a designated dump site.

[0059] Figure 4 The diagram shows a scale-like accumulation of spoil heaps.

[0060] Figure 5 The image shown is a top view of a multi-column fixed-point stockpile at a spoil heap.

[0061] Figure 6 The diagram shown is a flowchart of the operation of a scale-type spoil heap machine.

[0062] Figure 7 The diagram shows the installation of the safety protection system for the dumping machine.

[0063] Figure label:

[0064] 1. Belt conveyor 2. Unloading vehicle

[0065] 3. Receiving arm; 4. Traveling mechanism

[0066] 5. Discharge arm 6. Material

[0067] 7. Material stockpile 8. Waste dump

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

[0069] 11. Sensor installation location Detailed Implementation

[0070] The technical solution of the present invention will now be described in detail with reference to the accompanying drawings.

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

[0072] The control system transforms a manually operated and controllable dumping machine into an automated one capable of dumping soil. This mainly involves two parts: first, a wired control conversion, transforming the manually operated dumping machine into one that can be controlled via electrical signals; and second, an intelligent upgrade, which involves adding sensors such as RTK / IMU and LiDAR to the dumping machine, and using positioning and attitude fusion algorithms and laser point cloud processing algorithms to monitor the machine's own status and the surrounding environment. Combined with user-defined dumping process rules, this enables the dumping machine to execute its tasks automatically.

[0073] RTK (Real-time kinematic) carrier phase differential technology is a new and commonly used satellite positioning measurement method. It uses a differential method to process the carrier phase observations of two measurement stations in real time, and sends the carrier phase collected by the reference station to the user receiver to calculate the coordinates by difference.

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

[0075] The unmanned transformation of dump looms aims to achieve unmanned operation while maintaining their operational capabilities. This process is mainly divided into two parts: wired control transformation and intelligent transformation. Wired control transformation refers to enabling all execution units of the dump loom to be controlled via electrical signals. Intelligent transformation, on the other hand, involves installing sensors such as RTK / IMU and LiDAR on the wired control dump loom, and implementing functions in the controller such as positioning and attitude information fusion, real-time monitoring of dumping conditions, automatic control and drive of the dump loom, and decision-making regarding the dump loom's process rules.

[0076] The wired control retrofit of a spoil heap aims to enable all actuators of the spoil heap equipment to be controlled via electrical signals. The main actions of the spoil heap's actuators include the heap's movement and turning, the rotation of the upper mechanism, the pitching of the discharge arm, the start and stop of the belt conveyor of the receiving arm, and the movement of the unloading vehicle. The wired control retrofit requires that all these actions be controlled through unified PLC control commands.

[0077] To achieve intelligent transformation of the dumping machine, based on the wired control system upgrade, it is necessary to know the attitude information of each part of the dumping machine (including the unloading vehicle) and the current accumulation status of the dumping site.

[0078] 1) Installation of intelligent sensors

[0079] like Figure 1As shown, the spoil disposal machine includes a conveyor belt 1, a discharge trolley 2, a receiving arm 3, a discharge arm 5, a traveling mechanism 4, and a driver's cab 9. The conveyor belt 1 is laid along the edge of the spoil disposal site and is used to transport the material to be discharged; the discharge trolley 2 straddles the conveyor belt 1 and can move along the conveyor belt 1; one end of the receiving arm 3 is connected to the discharge arm 5, and the other end is located below the discharge trolley 2; the driver's cab 9 is located at the connection between the receiving arm 3 and the discharge arm 5, and the traveling mechanism 4 is located below it.

[0080] Intelligent upgrades require the installation of three positioning devices (GPS or RTK, etc.) and the integration of sensing devices (LiDAR, etc.) to comprehensively calculate and evaluate the position and attitude information of each component of the dumping machine, i.e., information fusion of positioning and attitude. Figure 2 As shown, one positioning device is installed at the middle of the unloading vehicle 2, the receiving arm 3, and the end of the discharge arm 5 near the driver's cab. Figure 2 The location of the positioning device is shown in Figure 10. One sensor is installed on each side below the driver's cab 9. Figure 2 The location of the sensor equipment at position 11. Positioning equipment is used to monitor the position and attitude information of various components of the dumping machine. The position and attitude information of the discharge arm 5 detected by the positioning equipment, combined with the lidar installed on both sides below the driver's cab of the dumping machine, can detect the dumping situation under the discharge arm in real time. Each lidar is equipped with an IMU.

[0081] Based on the attitude information of the dumping machine itself and the current accumulation status of the dump site, and combined with the decision-making process rules of the dumping machine, the intelligent transformation of the dumping machine can be realized.

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

[0083] The permissible height and width of the spoil heap vary depending on the terrain, location, and operating conditions of the spoil heap. Therefore, selecting the most efficient spoil heap technology for automated spoil heap operations is crucial, as it must be tailored to the specific conditions of each spoil heap.

[0084] In traditional dumping operations, the operator manually observes the height of the material pile while maneuvering the machine. Once the pile reaches a certain height, the operator uses a lever to move the trolley slightly to continue stacking the next pile. However, relying on manual observation for extended periods can easily lead to excessive pile height due to operator fatigue or inattention, resulting in serious consequences. Furthermore, it significantly reduces efficiency and makes automation difficult.

[0085] A single spoil heap typically contains multiple stockpiles. The first step is to calculate the spoil heap's carrying capacity, classifying the stockpiles according to their permissible height and width. When the spoil heap has a high carrying capacity, such as a permissible stockpile height of 12m and a stockpile width of 34m, fixed-point stockpiling is used. Figure 3As shown.

[0086] If the spoil heap has a low carrying capacity, and the maximum pile height is 7m, but a width of 34m is still required to fully utilize the spoil heap, then a multi-row, multi-column piling method—a scale-like piling method—must be adopted to ensure the full utilization of the spoil heap. Figure 4 As shown.

[0087] Multi-column fixed-point stacked top view as follows Figure 5 As shown, see the left-side view. Figure 4 The process involves first rotating the discharge arm to a set angle and then stacking the material at fixed points according to a set length. The first column is then piled up. The discharge arm is then rotated to a new angle for the same fixed-point stacking process. This process is repeated until the pile length reaches the set value. This method is simple, easy to operate, and can address the low utilization rate of spoil heaps to some extent. After program optimization, a multi-row, multi-column scale-shaped pile design was created for automatic multi-row, multi-column scale-shaped spoil heaping. A top view of this design is shown in the diagram. Figure 5 As shown, multi-row fixed-point stacking involves stacking one row at a time. After the first row is stacked, the traveling mechanism moves forward to stack the second row, and this process is repeated multiple times. In this way, even if the planners make inaccurate site estimates, set incorrect parameters, or make changes during the waste disposal process, large-scale waste disposal site waste will usually not occur. Figure 5 If, after laying the third row, the spoil disposal process needs to be completed, although the area beyond the fourth row along the conveyor belt's laying direction becomes empty, other types of goods can be added or piled up in this empty space. This avoids waste in the spoil disposal area and easily and efficiently improves its utilization value. The choice of spoil disposal process depends on the requirements of the spoil disposal area; for higher requirements, a multi-row, multi-column scale-like stacking process is often used.

[0088] When the spoil disposal machine is working, the conveyor belt 1 conveys the material 6 that needs 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 discharge arm 5, and finally the discharge arm 5 discharges the material 6 into the spoil disposal site 8.

[0089] The conveyor belt 1 is laid out along one side of the spoil heap 8, and the length of the conveyor belt 1 is approximately the same as the length of the spoil heap 8. The conveyor belt 1 has a conveyor belt in the middle for conveying materials, and multiple sets of frames on both sides. The unloading trolley 2 straddles the conveyor belt 1 and can move along the conveyor belt 1.

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

[0091] The lidar installed 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, when using a scale-like stacking method, the control system controls the operation of the spoil heap as follows:

[0093] Step 1: Initialize the spoil disposal machine;

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

[0095] Step 2: Initialize the position and orientation of the material unloading arm;

[0096] The initial position of the discharge arm is horizontal, with the discharge arm forming an acute angle of N degrees with the conveyor belt laying direction. The specific value of N needs to be determined based on the performance of the discharge machine.

[0097] Step 3: Perform the soil removal operation;

[0098] The conveyor belt conveys the material, the unloading car transfers the material to the receiving arm, the receiving arm transfers the material to the discharge arm, and the discharge arm discharges the material into the waste disposal area; the sensor monitors the height difference between the top of the material pile and the end of the discharge arm away from the traveling mechanism. When the height difference is less than the set threshold, proceed to step 4.

[0099] Step 4: Based on the current soil removal situation, determine the next action of the soil removal machine:

[0100] If the discharge arm can still rotate, proceed to step 5;

[0101] When the discharge arm reaches its limit of rotation, proceed to step 6;

[0102] The angle between the discharge arm and the tape laying direction of the conveyor belt is set to be N degrees to M degrees, where M>N. When the angle between the discharge arm and the tape laying direction of the conveyor belt 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 conveyor belt is equal to M degrees, the discharge arm reaches its rotation limit.

[0103] Step 5: Rotate the discharge arm;

[0104] The discharge arm rotates horizontally by K degrees with one end of the traveling mechanism as the axis, increasing the angle between the discharge arm and the belt laying direction of the conveyor belt; return to step 3.

[0105] Step 6: Based on the position of the traveling mechanism, determine the next action of the excavator:

[0106] If the traveling mechanism has not reached the end of the conveyor belt, proceed to step 7;

[0107] When the traveling mechanism reaches the end of the conveyor belt or the distance to the end is less than the set value L, and the traveling mechanism is less than the edge of the spoil heap, step 10 is executed.

[0108] When the traveling mechanism reaches the end of the conveyor belt or the distance to the end is less than the set value L, and the perpendicular distance to the conveyor belt laying direction does not reach the set value, step 8 is executed;

[0109] When the traveling mechanism reaches the end of the conveyor belt or the distance to the end is less than the set value L, and the perpendicular distance to the conveyor belt laying direction reaches the set value, step 9 is executed.

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

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

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

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

[0114] Step 9: Move the spoil heap;

[0115] The entire dumping machine moves towards the edge of the dumping site by a set value, setting the end of the conveyor belt closer to the unloading vehicle as the beginning and the other end as the end, and then returns to step 1.

[0116] Step 10: The soil dumping machine stops running.

[0117] The safety protection system involves installing industrial cameras and millimeter-wave radar sensors around the dumping machine, and using algorithms such as pedestrian target detection and target fusion to detect and warn pedestrians and other vehicles that have mistakenly entered the site.

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

[0119] 1) Personnel protection. Two security cameras are installed on the dump machine, which can automatically identify and issue an alert when personnel approach the dump machine.

[0120] 2) Collision protection for the dumper chassis. Approximately six millimeter-wave radars are installed on the tracked chassis of the traveling mechanism to detect the surrounding environment of the dumper and unloading truck, preventing accidental collisions with other vehicles and equipment. The millimeter-wave radar sensor layout scheme is as follows: Figure 7 As shown.

[0121] When the dumping machine is working, it is monitored in real time for personnel protection and chassis collision prevention. When it is detected that personnel are approaching the dumping machine or that there is a possibility of collision with other vehicles or equipment during movement, an alarm is issued, and the operation of the dumping machine 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 it. Although the present invention has been described in detail with reference to the embodiments, those skilled in the art should understand that modifications or equivalent substitutions to the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A method for operating a spoil disposal device, the spoil disposal device comprising a spoil disposal machine; The soil dumping machine includes: The system includes a conveyor belt system, a unloading trolley, a receiving arm, a discharging arm, a traveling mechanism, and a driver's cab; among which, The conveyor belt is laid along the edge of the spoil heap and is used to transport the material to be discharged. The unloading vehicle straddles the conveyor belt and can move along the conveyor belt; 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 located at the connection between the receiving arm and the discharging arm, and the traveling mechanism is located below the driver's cab; The spoil disposal device also includes a control system for controlling the movement of the spoil disposal machine to pile up materials into the spoil disposal site in a scale-like manner. The control system includes multiple positioning devices; the positioning devices are used to determine the position and orientation of each component of the dumping machine. The control system also includes sensing devices installed on both sides below the driver's cab; the sensing devices and the positioning devices are combined to measure the height difference between the top of the material pile below the discharge arm and the discharge end of the discharge arm. The feature is that the specific workflow for piling materials to the spoil heap in a scale-like manner is as follows: Step 1: Initialize the soil dumping machine; position the unloading vehicle at the beginning of the conveyor belt, and adjust the vertical distance between the traveling mechanism and the conveyor belt laying direction to the set distance; this set distance is the minimum value of the vertical distance between the traveling mechanism and the conveyor belt laying direction when the soil dumping machine 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 conveyor belt; Step 3: Perform the soil removal operation; The conveyor belt conveys the material, the unloading car transfers the material to the receiving arm, the receiving arm transfers the material to the discharge arm, and the discharge arm discharges the material into the spoil disposal area; the sensing equipment monitors the height difference between the top of the material pile and the discharge end of the discharge arm, and when the height difference is less than the set threshold, proceed to step 4. Step 4: Based on the current soil removal situation, determine the next action of the soil removal machine: If the discharge arm can still rotate, proceed to step 5; When the discharge arm reaches its limit of rotation, proceed to step 6; Step 5: Rotate the discharge arm; The discharge arm rotates horizontally by K degrees with one end of the traveling mechanism as the axis, increasing the angle between the discharge arm and the belt laying direction of the conveyor belt; return to step 3. Step 6: Based on the position of the traveling mechanism, determine the next action of the excavator: If the traveling mechanism has not reached the end of the conveyor belt, proceed to step 7; When the traveling mechanism reaches the end of the conveyor belt or the distance to the end is less than the set value L, and the traveling mechanism is less than the set distance from the edge of the spoil heap, step 10 is executed; When the traveling mechanism reaches the end of the conveyor belt or the distance to the end is less than the set value L, and the perpendicular distance to the conveyor belt laying direction does not reach the set value, step 8 is executed; When the traveling mechanism reaches the end of the conveyor belt or the distance to the end is less than the set value L, and the perpendicular distance to the conveyor belt laying direction reaches the set value, step 9 is executed; Step 7: Move the unloading vehicle and its traveling mechanism; The unloading vehicle and the traveling mechanism move a set value L along the belt laying direction of the conveyor belt towards the end of the conveyor belt, and then return to execute step 2; Step 8: Turn the walking mechanism around; The traveling mechanism turns away from the conveyor belt. After turning around, the vertical distance between the traveling mechanism and the conveyor belt in the belt laying direction increases by a set value P. The end of the conveyor belt that is close to the unloading vehicle is set as the beginning end and the other end as the end end. Then, return to step 2. Step 9: Move the spoil heap; The entire dumping machine moves towards the edge of the dump site by a set value. The end of the conveyor belt that is close to the unloading vehicle is set as the beginning end and the other end is set as the end end. Then return to step 1. Step 10: The soil dumping machine stops running.

2. The working method of the soil dumping machine according to claim 1, characterized in that: The angle between the discharge arm and the conveyor belt laying direction is set to be N degrees to M degrees, where M>N; The fact that the discharge arm can continue to rotate means that when the angle between the discharge arm and the tape laying direction of the conveyor belt is less than M degrees, the discharge arm can continue to rotate. The term "discharge arm rotation reaches its limit" refers to the situation where the angle between the discharge arm and the tape laying direction of the conveyor belt is equal to M degrees.

3. The working method of the soil dumping machine according to claim 1, characterized in that, The soil dumping machine also includes a safety protection system; The security protection system includes: The personnel protection module is used to detect whether anyone is approaching the dumping machine. The anti-collision module of the dumper chassis is used to detect the surrounding environment of the dumper and prevent it from colliding with other objects.

4. The working method of the soil dumping machine according to claim 3, characterized in that, The personnel protection module includes multiple security cameras installed on the dump truck.

5. The working method of the soil dumping machine according to claim 3, characterized in that, The anti-collision module of the dumper chassis includes a millimeter-wave radar installed on the chassis of the walking mechanism.

6. The working method of the soil dumping machine according to claim 3, characterized in that, The process of piling materials to the spoil heap in a scale-like manner also includes: When the dumping machine is working, the safety protection system monitors the surrounding environment in real time to ensure its safety, and issues an alarm when the surrounding environment is unsafe. Whether the surrounding environment is safe refers to whether there are people approaching the dumper and whether the dumper will collide with other objects when it moves.

7. The working method of the soil dumping machine according to claim 1, characterized in that, The positioning devices are respectively installed on the unloading vehicle, the middle of the receiving arm, and the end of the discharge arm near the driver's cab.

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