Method and device for determining stack buffering distance, storage medium and computer program

Abstract

The invention relates to a stack buffering distance determining method and device, a storage medium and a computer program.The stack buffering distance determining method comprises the steps that the instantaneous material taking flow of a material taking machine belt weigher before a preset duration is obtained; according to the relation between the instantaneous material taking flow and the material taking flow in a plurality of preset operation capability intervals, the maximum fluctuation quantity of a bucket wheel body when the material taking machine takes materials at the bottom layer is determined, and the multiple operation capability intervals are determined according to the material taking quantity of the material taking machine in unit time; according to the maximum fluctuation quantity of the bucket wheel body, the pitching reference shutdown position of the material taking machine is determined; and according to the pitching reference stopping position, the stacking buffering distance of the bottom layer of the material taking machine is determined. In this way, time and labor can be saved in the process of adjusting the pitching angle of the arm support of the material taking machine, and safety in the process of adjusting the pitching angle of the arm support can be guaranteed.

Description

Technical Field

[0001] The present disclosure relates to the technical field of material taking control, and in particular to a method, device, storage medium and computer program for determining a stack buffer distance. Background Art

[0002] During the reclaiming operation at the bottom of the pile, the reclaimer relies on the pitch angle of the boom to control the thickness of the bottom of the pile. Due to the unevenness of the track and the material field, the up and down fluctuation of the bucket wheel of the reclaimer during the operation, and the fluctuation value is affected by the type and flow of materials, and the pitch stop buffer distance is affected by the environment and the equipment's own load, the thickness of the bottom of the pile of the reclaimer is difficult to be effectively controlled. If the thickness of the bottom of the pile is too large, it will be very difficult for the loader to stack the pile again, which will have a great impact on production efficiency; if the thickness of the bottom of the pile is too small, for individual piles with severe track settlement, when encountering the peak of the collapse, the bucket wheel of the reclaimer will collide with the ground, which will have a serious impact on production and equipment.

[0003] At present, in response to the above situation, when retrieving materials from the bottom layer, it is necessary to arrange special personnel to measure the thickness of the pile bottom and observe the material retrieving situation of the bucket wheel on site. The operator adjusts the pitch angle of the boom according to the actual situation, so as to achieve the purpose of adjusting the thickness of the pile bottom. The whole process is not only time-consuming and labor-intensive, but also has great safety risks such as the bucket wheel of the reclaimer colliding with the ground. Summary of the invention

[0004] The present invention provides a method, device, storage medium and computer program for determining a stack buffer distance, so as to solve the problem in the prior art that manually adjusting the boom pitch angle is not only time-consuming and labor-intensive, but also has safety risks such as the bucket wheel of the reclaimer colliding with the ground.

[0005] In a first aspect, the present disclosure provides a method for determining a stack buffer distance, comprising:

[0006] Get the instantaneous material flow rate of the belt scale of the reclaimer before the preset time;

[0007] Determine the maximum fluctuation of the bucket wheel body of the reclaimer when reclaiming materials at the bottom layer according to the relationship between the instantaneous reclaiming flow rate and the reclaiming flow rates in a plurality of preset operating capacity intervals, wherein the plurality of operating capacity intervals are determined according to the reclaiming amount per unit time of the reclaimer;

[0008] Determining the pitch reference parking position of the reclaimer according to the maximum fluctuation amount of the bucket wheel body;

[0009] The buffer distance of the bottom layer of the reclaimer to the stack is determined according to the pitch reference stop position.

[0010] In some embodiments, before obtaining the instantaneous material taking flow rate of the belt scale of the material taking machine before the preset time period, it also includes:

[0011] Obtain the arm pitch angle of the reclaimer after stacking at the top or middle layer last time the reclaimer stacked, and the arm pitch angle of the reclaimer during stacking at the top or middle layer last time the reclaimer stacked;

[0012] Determine the last change value of the boom pitch angle of the reclaimer according to the boom pitch angle after the stacking and the boom pitch angle in the stacking;

[0013] According to the change value of the boom pitch angle and the boom length of the reclaimer, the up and down fluctuation value of the bucket wheel body of the reclaimer at the last time is determined.

[0014] In some embodiments, the determining of the maximum fluctuation of the bucket wheel body of the reclaimer when reclaiming materials at the bottom layer according to the relationship between the instantaneous reclaiming flow rate and the reclaiming flow rates within a plurality of preset operating capacity intervals includes:

[0015] Determine whether the instantaneous material taking flow rate is within the target operating capacity interval. If so, determine whether the up and down fluctuation value of the bucket wheel body is greater than the preset maximum fluctuation amount of the bucket wheel body corresponding to the target operating capacity interval. Otherwise, determine whether the instantaneous material taking flow rate is within the next operating capacity interval until all operating capacity intervals are traversed;

[0016] If the up and down fluctuation value of the bucket wheel body is greater than the preset maximum fluctuation amount of the bucket wheel body corresponding to the target operating capacity interval, the up and down fluctuation value of the bucket wheel body is used as the maximum fluctuation amount of the bucket wheel body of the material reclaimer within the target operating capacity interval; otherwise, the preset maximum fluctuation amount of the bucket wheel body is used as the maximum fluctuation amount of the bucket wheel body of the material reclaimer within the target operating capacity interval.

[0017] In some embodiments, determining the pitch reference parking position of the reclaimer according to the maximum fluctuation amount of the bucket wheel body includes:

[0018] Determining the planned material reclaiming flow rate of the bottom layer operation of the reclaimer according to the preset operation plan;

[0019] Determine whether the planned material fetching flow is within the target operating capacity range. If so, determine the pitch reference parking position of the material fetcher according to the maximum fluctuation of the bucket wheel body corresponding to the target operating capacity range, the bottom stacking buffer distance of the previous material fetcher, and the preset safety distance value. Otherwise, determine whether the planned material fetching flow is within the next operating capacity range until all operating capacity ranges are traversed.

[0020] In some embodiments, after determining the pitch reference parking position of the reclaimer according to the maximum fluctuation amount of the bucket wheel body, the method further includes:

[0021] Step A, sending a descending command to the reclaimer to make the boom of the reclaimer descend, and obtaining the pitch speed of the boom of the reclaimer and the height value of the boom radar of the reclaimer from the ground;

[0022] Step B, determining whether the boom pitch speed of the reclaimer reaches the reference pitch speed, if so, determining whether the height value of the boom radar of the reclaimer from the ground is greater than the pitch reference stop position of the reclaimer, otherwise, returning to step A;

[0023] Step C: if the height of the reclaimer boom radar from the ground is greater than the pitch reference stop position of the reclaimer, return to step A; otherwise, send a stop command to the reclaimer to stop the reclaimer boom.

[0024] In some embodiments, determining the buffer distance of the bottom layer of the reclaimer to the stack according to the pitch reference stop position includes:

[0025] Obtain the pre-stop height value of the reclaimer arm radar from the ground when the reclaimer arm receives a stop command during the process of descending the reclaimer arm during the current bottom stacking, and the post-stop height value of the reclaimer arm radar from the ground after the reclaimer arm stops moving during the current bottom stacking process;

[0026] The bottom layer stacking buffer distance of the reclaimer is determined according to the pre-stop height value and the post-stop height value.

[0027] In some embodiments, after determining the buffer distance of the bottom layer of the reclaimer to the stack according to the pitch reference stop position, the method further includes:

[0028] Obtain the pitch angle change value of the boom of the reclaimer and the up and down fluctuation value of the bucket wheel of the reclaimer;

[0029] When the up and down fluctuation value of the bucket wheel body of the reclaimer is greater than the preset planned reclaiming flow rate of the bottom operation of the reclaimer, the pitching boom of the reclaimer is controlled to lift upward to a target height value.

[0030] In a second aspect, the present disclosure provides a computer device, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method described in the above aspect.

[0031] In a third aspect, the present disclosure provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the method described in the above aspects when executed by a processor.

[0032] In a fourth aspect, the present disclosure provides a computer program product, including a computer program, which implements the steps of the method described in the above aspects when executed by a processor.

[0033] In a fifth aspect, the present disclosure provides a computer program product, including a computer program / instructions, which implements the steps of the method described in the above aspects when the computer program is executed by a processor.

[0034] The present disclosure provides a method, device, storage medium and computer program for determining the buffer distance for stacking, which obtains the instantaneous material taking flow rate of the belt scale of the reclaimer before a preset time; determines the maximum fluctuation amount of the bucket wheel body of the reclaimer when reclaiming materials at the bottom layer according to the relationship between the instantaneous material taking flow rate and the material taking flow rates in a plurality of preset operating capacity intervals, wherein the plurality of operating capacity intervals are determined according to the material taking amount per unit time of the reclaimer; determines the pitch reference stop position of the reclaimer according to the maximum fluctuation amount of the bucket wheel body; and determines the buffer distance for stacking at the bottom layer of the reclaimer according to the pitch reference stop position. It can save time and effort in the process of adjusting the pitch angle of the reclaimer boom, and can also ensure the safety in the process of adjusting the pitch angle of the boom. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The present disclosure will be described in more detail below based on embodiments and with reference to the accompanying drawings:

[0036] Figure 1 A schematic flow chart of a method for determining a stack buffer distance provided in an embodiment of the present disclosure;

[0037] Figure 2 Another schematic flow chart of a method for determining a stack buffer distance provided in an embodiment of the present disclosure;

[0038] Figure 3 A schematic diagram of a process for determining the maximum fluctuation amount of a bucket wheel body corresponding to a preset operating capacity interval provided in an embodiment of the present disclosure;

[0039] Figure 4 A schematic diagram of a process for determining a reference stop position of a reclaimer provided in an embodiment of the present disclosure;

[0040] Figure 5 A schematic diagram of a processing flow before determining a stacking buffer distance provided in an embodiment of the present disclosure;

[0041] Figure 6 A schematic diagram of the processing flow of the material reclaiming operation of the material reclaimer provided in the embodiment of the present disclosure;

[0042] Figure 7 A schematic diagram of the mechanical structure of a stack bottom thickness control device for a reclaimer provided in an embodiment of the present disclosure;

[0043] Figure 8 A schematic diagram of the structure of a distance measuring device for a reclaimer arm provided in an embodiment of the present disclosure;

[0044] Fig. 9 A schematic diagram of a module of a device for determining a stack buffer distance provided in an embodiment of the present disclosure.

[0045] In the drawings, the same reference numerals are used for the same components and the drawings are not drawn to scale. DETAILED DESCRIPTION

[0046] In order to enable those skilled in the art to better understand the technical solution of the present disclosure, and to fully understand and implement how the present disclosure applies technical means to solve technical problems and achieve the corresponding technical effects, the technical solution in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only embodiments of a part of the present disclosure, not all of the embodiments. The embodiments of the present disclosure and the various features in the embodiments can be combined with each other without conflict, and the technical solutions formed are all within the scope of protection of the present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present disclosure.

[0047] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0048] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0049] At present, during the operation of reclaiming materials at the bottom of a pile, the reclaimer relies on the pitch angle of the boom to control the thickness of the pile bottom, that is, the buffer distance for the pile described in the present disclosure. Due to the inconsistent settlement amounts of the reclaimer's walking track and different pile positions in the material yard, the reclaimer's boom fluctuates up and down during the operation, and the fluctuation value may change at any time due to the influence of the type of material, the boom coal flow load and the cutting force of the bucket wheel. The pitch stop buffer distance may continue to change due to the external environment and the equipment's own load, making it difficult to effectively control the thickness of the reclaimer's pile bottom. If the thickness of the pile bottom is too large, it will bring great difficulties to the loader's secondary stacking, and the production efficiency will be greatly affected. If the thickness of the pile bottom is too small, for individual pile positions with severe track settlement, when encountering the peak of pile collapse, the reclaimer's bucket wheel may collide with the ground, which will have a serious impact on production and equipment safety.

[0050] Embodiment 1

[0051] Figure 1 A flowchart of a method, device, storage medium, and computer program for determining a stack buffer distance provided by an embodiment of the present disclosure. Figure 1 As shown, the method for determining the stack buffer distance includes:

[0052] Step 101, obtaining the instantaneous material reclaiming flow rate of the reclaimer belt scale before a preset time;

[0053] Step 102, determining the maximum fluctuation of the bucket wheel body of the reclaimer when reclaiming materials at the bottom layer according to the relationship between the instantaneous reclaiming flow rate and the reclaiming flow rates in a plurality of preset operating capacity intervals, wherein the plurality of operating capacity intervals are determined according to the reclaiming amount per unit time of the reclaimer;

[0054] Step 103, determining the pitch reference stop position of the reclaimer according to the maximum fluctuation amount of the bucket wheel body;

[0055] Step 104, determining the buffer distance of the bottom layer of the reclaimer to the stack according to the pitch reference stop position.

[0056] In this embodiment, through the steps 101 to 104, time and effort can be saved in the process of adjusting the pitch angle of the boom of the material reclaimer, and safety can be ensured in the process of adjusting the pitch angle of the boom.

[0057] Embodiment 2

[0058] Based on the above embodiment, the length of the preset time is directly related to the bucket wheel diameter of the material reclaimer, the bucket wheel speed, the length of the discharge plate, the belt speed of the belt scale, and the distance from the discharge plate to the belt scale, and can be determined based on these parameters.

[0059] In step 101, the process of determining the preset duration may include:

[0060] Determine the preset duration based on the time the material stays on the bucket wheel body of the reclaimer, the time the material stays on the discharge plate of the reclaimer, and the time the material leaves the discharge plate of the reclaimer and reaches the belt scale;

[0061] Specifically, T = T1 + T2 + T3;

[0062] Among them, T is the preset duration; T1 is the time the material stays on the bucket wheel body of the reclaimer; T2 is the time the material stays on the discharge plate of the reclaimer; and T3 is the time the material stays from leaving the discharge plate of the reclaimer to the belt scale.

[0063] The process of determining the time T1 during which the material stays in the bucket wheel of the reclaimer may include:

[0064]

[0065] Wherein, π is the ratio of pi; D is the diameter of the bucket wheel of the reclaimer; and V1 is the rotation speed of the bucket wheel.

[0066] The process of determining the time T2 that the material stays on the unloading plate of the reclaimer may include:

[0067]

[0068] Wherein, L3 is the length of the discharge plate; g is the weight of the material.

[0069] The time T3 of the material from leaving the discharge plate to the belt scale at the reclaimer may include:

[0070]

[0071] Wherein, L4 is the distance from the unloading plate to the belt scale; V2 is the belt speed of the belt scale.

[0072] In this embodiment, the preset time length is determined by comprehensively considering the impact of the bucket wheel diameter of the material reclaimer, the bucket wheel rotation speed, the length of the discharge plate, the belt speed of the belt scale, and the distance from the discharge plate to the belt scale on the length of the preset time length, thereby ensuring the accuracy of the preset time length setting.

[0073] Embodiment 3

[0074] Based on the above embodiment, before step 101, the following steps may also be included:

[0075] Step 098, obtaining the arm pitch angle of the reclaimer after stacking at the top layer or the middle layer last time the reclaimer stacked, and the arm pitch angle of the reclaimer during stacking at the top layer or the middle layer last time the reclaimer stacked;

[0076] Step 099, determining the last arm pitch angle change value of the reclaimer according to the arm pitch angle after the stacking and the arm pitch angle during the stacking;

[0077] Step 100, determining the up and down fluctuation value of the bucket wheel body of the reclaimer last time according to the change value of the boom pitch angle and the boom length of the reclaimer.

[0078] It should be noted that, based on the characteristic that the up and down fluctuation values ​​of the bucket wheel body of the reclaimer for the same material and the same flow rate are basically the same in a short period of time, the up and down fluctuation values ​​of the bucket wheel body at different flow rates when the reclaimer is operating on the top and middle layers can be used as the up and down fluctuation values ​​of the bucket wheel body when reclaiming materials at the bottom layer of the same stack.

[0079] Specifically, the process of determining the up and down fluctuation value of the bucket wheel of the reclaimer last time may include:

[0080] Obtain the arm pitch angle α1 of the reclaimer after stacking at the top or middle layer last time the reclaimer stacked, the arm pitch angle α2 of the reclaimer during stacking at the top or middle layer last time the reclaimer stacked, and the arm length L2 of the reclaimer;

[0081] The last arm pitch angle change value Δα of the reclaimer = the arm pitch angle α1 after stacking - the arm pitch angle α2 during stacking;

[0082] The up and down fluctuation value H1 of the bucket wheel body of the last reclaimer = the arm length L2 of the reclaimer × the pitch angle change value Δα of the arm of the last reclaimer.

[0083] In this embodiment, the up and down fluctuation value of the bucket wheel of the reclaimer can be determined according to the arm pitch angle of the reclaimer after stacking at the top or middle layer, the arm pitch angle of the reclaimer during the last stacking operation of the reclaimer at the top or middle layer, and the arm length of the reclaimer. In this way, the up and down fluctuation amount of the bucket wheel of the bottom layer can be sensed in advance, which provides a prerequisite for controlling the thickness of the bottom of the stack, thereby ensuring the safe operation of the equipment, improving the efficiency of reclaiming, and ensuring the safety of the operator.

[0084] Embodiment 4

[0085] Based on the above embodiment, step 102 may include:

[0086] Step 1021: Determine whether the instantaneous material taking flow rate is within the target operation capacity range. If it is, then determine whether the up-and-down fluctuation value of the bucket wheel body is greater than the preset maximum fluctuation amount of the bucket wheel body corresponding to the target operation capacity range. Otherwise, determine whether the instantaneous material taking flow rate is within the next operation capacity range until all operation capacity ranges are traversed;

[0087] Step 1022: If the up-and-down fluctuation value of the bucket wheel body is greater than the preset maximum fluctuation amount of the bucket wheel body corresponding to the target operation capacity range, then use the up-and-down fluctuation value of the bucket wheel body as the maximum fluctuation amount of the bucket wheel body of the material taking machine within the target operation capacity range. Otherwise, use the preset maximum fluctuation amount of the bucket wheel body as the maximum fluctuation amount of the bucket wheel body of the material taking machine within the target operation capacity range.

[0088] It should be noted that the operation capacity range can be preset. The operation capacity range can be determined according to the material taking amount per unit time of the material taking machine. If the material taking amount per unit time of the material taking machine is Q, the operation capacity range can be set as follows: the first operation capacity range: <Q / 3, the second operation capacity range: Q / 3 to 2Q / 3, the third operation capacity range: >2Q / 3;

[0089] Specifically, as Figure 3 shown, the determination process of the maximum fluctuation amount of the bucket wheel body of the material taking machine within the target operation capacity range may include:

[0090] Determine whether the instantaneous material taking flow rate q1 is within the first operation capacity range <Q / 3. If it is, then determine whether the up-and-down fluctuation value H1 of the bucket wheel body is greater than the preset maximum fluctuation amount H1max of the bucket wheel body corresponding to the first operation capacity range <Q / 3. Otherwise, determine whether the instantaneous material taking flow rate q1 is within the first operation capacity range Q / 3 to 2Q / 3;

[0091] If the up-and-down fluctuation value H1 of the bucket wheel body is greater than the preset maximum fluctuation amount H1max of the bucket wheel body corresponding to the first operation capacity range <Q / 3, then use the up-and-down fluctuation value H1 of the bucket wheel body as the maximum fluctuation amount of the bucket wheel body of the material taking machine within the first operation capacity range. Otherwise, use the preset maximum fluctuation amount H1max of the bucket wheel body as the maximum fluctuation amount H1max1 of the bucket wheel body of the material taking machine within the first operation capacity range.

[0092] If the instantaneous material taking flow rate q1 is within the first operation capacity range Q / 3 to 2Q / 3, then determine whether the up-and-down fluctuation value H1 of the bucket wheel body is greater than the preset maximum fluctuation amount H2max of the bucket wheel body corresponding to the second operation capacity range Q / 3 to 2Q / 3. Otherwise, determine whether the instantaneous material taking flow rate q1 is within the third operation capacity range >2Q / 3;

[0093] If the bucket wheel body up and down fluctuation value H1 is greater than the preset bucket wheel body maximum fluctuation amount H2max corresponding to the second operating capacity interval Q / 3 to 2Q / 3, then determine whether the bucket wheel body up and down fluctuation value H1 is greater than the preset bucket wheel body maximum fluctuation amount H2max corresponding to the second operating capacity interval Q / 3 to 2Q / 3. If so, the bucket wheel body up and down fluctuation value H1 is greater than the preset bucket wheel body maximum fluctuation amount H2max1 corresponding to the second operating capacity interval Q / 3 to 2Q / 3. Otherwise, the preset bucket wheel body maximum fluctuation amount H2max is used as the bucket wheel body maximum fluctuation amount H2max1 of the reclaimer in the second operating capacity interval;

[0094] If the instantaneous material taking flow rate q1 is within the third operating capacity interval >2Q / 3, then determine whether the up and down fluctuation value H1 of the bucket wheel body is greater than the preset maximum fluctuation amount H3max of the bucket wheel body corresponding to the third operating capacity interval >2Q / 3. If so, the up and down fluctuation value H1 of the bucket wheel body is used as the maximum fluctuation amount H3max1 of the bucket wheel body of the material taking machine within the third operating capacity interval; otherwise, the preset maximum fluctuation amount H3max of the bucket wheel body is used as the maximum fluctuation amount H3max1 of the bucket wheel body of the material taking machine within the third operating capacity interval.

[0095] In this embodiment, multiple operating capacity intervals are determined based on the material taking amount of the reclaimer per unit time, and the maximum fluctuation amount of the bucket wheel body is determined based on the relationship between the instantaneous material taking flow rate and the material taking flow rate within the operating capacity interval. This can effectively prevent the bucket wheel body from colliding with the ground, thereby ensuring the equipment safety of the reclaimer.

[0096] Embodiment 5

[0097] Based on the above embodiment, step 103 may include:

[0098] Step 1031, determining the planned material reclaiming flow rate of the bottom layer operation of the reclaimer according to the preset operation plan;

[0099] Step 1032, determine whether the planned material fetching flow rate is within the target operating capacity interval. If so, determine the pitch reference parking position of the material fetcher based on the maximum fluctuation of the bucket wheel body corresponding to the target operating capacity interval, the bottom stack buffer distance of the previous material fetcher, and the preset safety distance value. Otherwise, determine whether the planned material fetching flow rate is within the next operating capacity interval until all operating capacity intervals are traversed.

[0100] Specifically, Figure 4 As shown, the process of determining the pitch reference stopping position of the reclaimer may include:

[0101] Determine whether the planned material flow rate q2 is in the first operating range

[0102] Furthermore, the pitch reference stop position H8 of the reclaimer = the maximum fluctuation amount H1max1 of the bucket wheel body of the reclaimer in the first operating capacity range + the last stacking buffer distance H6 of the reclaimer + the preset safety distance value H7;

[0103] If the planned material flow rate q2 is within the second operating capacity interval Q / 3 to 2Q / 3, the pitch reference stop position H8 of the reclaimer is determined according to the maximum fluctuation amount H2max1 of the bucket wheel body of the reclaimer in the second operating capacity interval, the last stacking buffer distance H6 of the reclaimer, and the preset safety distance value H7. Otherwise, it is determined whether the planned material flow rate q2 is within the third operating capacity interval>2Q / 3;

[0104] Furthermore, the pitch reference stop position H8 of the reclaimer = the maximum fluctuation amount H2max1 of the bucket wheel body of the reclaimer in the second operating capacity range + the last stacking buffer distance H6 of the reclaimer + the preset safety distance value H7;

[0105] If the planned reclaiming flow rate q2 is within the third operating capacity interval>2Q / 3, the pitch reference parking position H8 of the reclaimer is determined according to the maximum fluctuation amount H3max1 of the bucket wheel body of the reclaimer in the third operating capacity interval, the last stacking buffer distance H6 of the reclaimer, and the preset safety distance value H7;

[0106] Furthermore, the pitch reference stopping position H8 of the reclaimer=the maximum fluctuation amount H3max1 of the bucket wheel body of the reclaimer in the third operating capacity range+the last stacking buffer distance H6 of the reclaimer+the preset safety distance value H7.

[0107] In this embodiment, by determining the reference stop position, the bucket wheel body of the reclaimer can be effectively prevented from colliding with the ground, thereby ensuring the equipment safety of the reclaimer.

[0108] Embodiment 6

[0109] Based on the above embodiment, after step 103, the following steps may also be included:

[0110] Step A, sending a descending command to the reclaimer to make the boom of the reclaimer descend, and obtaining the pitch speed of the boom of the reclaimer and the height value of the boom radar of the reclaimer from the ground;​

[0111] Step B, determining whether the boom pitch speed of the reclaimer reaches the reference pitch speed, if so, determining whether the height value of the boom radar of the reclaimer from the ground is greater than the pitch reference stop position of the reclaimer, otherwise, returning to step A;

[0112] Step C: if the height of the reclaimer boom radar from the ground is greater than the pitch reference stop position of the reclaimer, return to step A; otherwise, send a stop command to the reclaimer to stop the reclaimer boom.

[0113] Specifically, Figure 5 As shown, after determining the pitch reference stop position, the processing before determining the stacking buffer distance may include:

[0114] Sending a descending command to the reclaimer to make the boom of the reclaimer descend, and obtaining the pitch speed of the boom of the reclaimer and the height value of the boom radar of the reclaimer from the ground;

[0115] Determine whether the pitch speed of the reclaimer reaches the reference pitch speed. If so, determine whether the height value of the reclaimer boom radar from the ground is greater than the pitch reference stop position of the reclaimer. Otherwise, send a descending command to the reclaimer to make the reclaimer boom descend, obtain the reclaimer boom pitch speed and the height value of the reclaimer boom radar from the ground, and determine whether the reclaimer pitch speed reaches the reference pitch speed, until the reclaimer pitch speed reaches the reference pitch speed;

[0116] If the height value of the reclaimer arm radar from the ground is greater than the pitch reference stopping position of the reclaimer, a descending command is sent to the reclaimer to make the arm of the reclaimer descend, and the pitch speed of the reclaimer arm and the height value of the reclaimer arm radar from the ground are obtained, and it is judged whether the pitch speed of the reclaimer reaches the reference pitch speed. When the pitch speed of the reclaimer reaches the reference pitch speed, it is judged that the height value of the reclaimer arm radar from the ground is greater than the pitch reference stopping position of the reclaimer, until the height value of the reclaimer arm radar from the ground is less than or equal to the pitch reference stopping position of the reclaimer, a stop command is sent to the reclaimer to make the arm of the reclaimer stop moving.

[0117] In this embodiment, by judging the relationship between the pitch speed of the reclaimer and the reference pitch speed, as well as the relationship between the height of the reclaimer boom radar from the ground and the reference stop position, the stacking buffer distance is further determined, thereby ensuring the accuracy of the determination of the stacking buffer distance.

[0118] Embodiment 7

[0119] Based on the above embodiment, step 104 may include:

[0120] Step 1041, obtaining a pre-stop height value of the reclaimer arm radar from the ground when the reclaimer arm receives a stop command during the process of descending the reclaimer arm during the current bottom stacking, and a post-stop height value of the reclaimer arm radar from the ground after the reclaimer arm stops during the current bottom stacking process;

[0121] Step 1042, determining the bottom stack buffer distance of the reclaimer according to the pre-stop height value and the post-stop height value.

[0122] It should be noted that the height value before stopping and the height value after stopping are the actual distances between the lowermost edge of the bucket wheel body of the reclaimer and the ground.

[0123] Specifically, the process of determining the buffer distance of the bottom layer of the reclaimer to the stack may include:

[0124] Obtain the pre-stop height value of the reclaimer arm radar from the ground when the reclaimer arm receives a stop command during the process of descending the reclaimer arm during the current bottom stacking, and the post-stop height value of the reclaimer arm radar from the ground after the reclaimer arm stops moving during the current bottom stacking process;

[0125] The bottom stack buffer distance of the reclaimer is obtained by subtracting the height value after stopping from the height value before stopping.

[0126] In this embodiment, the stacking buffer distance is determined by obtaining the distance between the radar of the reclaimer arm and the ground when the reclaimer arm is lowered and receives a stop command when the reclaimer is stacking at the bottom layer, and the actual distance between the radar of the reclaimer arm and the ground after the arm stops moving. In this way, accurate alignment during stacking can be achieved, thereby achieving accurate control of the thickness of the stack.

[0127] Embodiment 8

[0128] Based on the above embodiment, after step 104, the following steps may also be included:

[0129] Step 105, obtaining the pitch angle change value of the boom of the reclaimer and the up and down fluctuation value of the bucket wheel of the reclaimer;

[0130] Step 106, when the up and down fluctuation value of the bucket wheel body of the reclaimer is greater than the preset planned reclaiming flow rate of the bottom operation of the reclaimer, the pitching boom of the reclaimer is controlled to rise upward to a target height value.

[0131] Specifically, after step 104, the process may also include the implementation process of the material taking operation of the material taking machine, such as Figure 6As shown, it may specifically include:

[0132] Obtain the up and down fluctuation amount H11 of the bucket wheel of the reclaimer during this reclaiming process;

[0133] Determine whether the up and down fluctuation amount H11 of the bucket wheel body is greater than the preset maximum fluctuation amount Hmax of the bucket wheel body. If so, send an ascending command to the material reclaimer, so that the boom of the material reclaimer rises to the target height value H12, and continues the bottom-level material reclaiming operation. Then determine whether the actual material reclaiming flow rate of the material reclaimer in this material reclaiming operation is equal to the planned material reclaiming flow rate. If so, end the bottom-level material reclaiming operation. Otherwise, continue the bottom-level material reclaiming operation until the actual material reclaiming flow rate of the material reclaimer in this material reclaiming operation is equal to the planned material reclaiming flow rate, and end the bottom-level material reclaiming operation.

[0134] In this embodiment, the planned fluctuation amount of the bucket wheel body of the reclaimer is used as a reference to judge the relationship between the up and down fluctuation amount of the bucket wheel body of the reclaimer and the planned fluctuation amount, thereby controlling the pitch height of the pitch arm of the reclaimer to avoid the bucket wheel body of the reclaimer from colliding with the ground, and completing the reclaiming task quickly and effectively while ensuring the equipment safety of the reclaimer.

[0135] Embodiment 9

[0136] Based on the above embodiments, this embodiment provides an application example.

[0137] like Figures 2 to 6 As shown, the specific process of determining the stack buffer distance may include:

[0138] like Figure 2 As shown, step 1: start;

[0139] Step 2: Obtain the post-stacking boom pitch angle α1 of the reclaimer after the reclaimer last stacked on the top layer or the middle layer;

[0140] Step 3: Obtain the pitch angle α2 of the boom of the reclaimer during the last stacking operation of the reclaimer on the top layer or the middle layer;

[0141] Step 4: According to the arm pitch angle α1 after stacking and the arm pitch angle α2 during stacking, determine the last arm pitch angle change value Δα of the reclaimer, Δα=α1-α2;

[0142] Step 5: According to the reclaimer boom pitch angle Δα and the reclaimer boom length L2, determine the last up and down fluctuation value H1 of the bucket wheel of the reclaimer, H1 = L2 × Δα;

[0143] Step 6: Obtain the instantaneous material flow rate q1 of the belt scale of the reclaimer before the preset time;

[0144] It should be noted that since there is a lag in the material taking flow of the bucket wheel body of the material taking machine, it is necessary to obtain the instantaneous flow rate q1 of the belt scale before the preset time period T. The length of the preset time period T is directly related to the bucket wheel diameter D of the material taking machine, the bucket wheel rotation speed V1, the length L3 of the discharge plate, the belt speed V2 of the belt scale, and the distance L4 from the discharge plate to the belt scale;

[0145] Specifically, according to the analysis of the material flow process, it can be obtained that: T = T1 + T2 + T3;

[0146] Among them, T1 is the time when the material stays in the bucket wheel body of the material taking machine,

[0147] T2 is the time when the material stays in the discharge plate of the material taking machine,

[0148] T3 is the time when the material travels from the discharge plate to the belt scale in the material taking machine,

[0149] Step 7: Determine the maximum fluctuation amount Hmax of the bucket wheel body corresponding to the preset operation capacity interval according to the relationship between the instantaneous material taking flow rate q1 and the three preset operation capacity intervals;

[0150] It should be noted that according to the material taking amount Q per unit time of the material taking machine and the batching situation, the preset maximum fluctuation amount H1max of the bucket wheel body of the material taking machine corresponding to the first working capacity interval < Q / 3, the preset maximum fluctuation amount H2max of the bucket wheel body of the material taking machine corresponding to the second working capacity interval Q / 3 - 2Q / 3, and the preset maximum fluctuation amount H3max of the bucket wheel body of the material taking machine corresponding to the third working capacity interval > 2Q / 3 are preset in advance;

[0151] In specific implementation, the number of working capacity intervals is not limited to three. The specific number of working capacity intervals can be set according to the actual requirements of the operation site;

[0152] Furthermore, as Figure 3 shown:

[0153] Step 71: Determine whether the instantaneous material taking flow rate q1 is within the first operation capacity interval < Q / 3;

[0154] Step 72: If so, determine whether the up and down fluctuation value H1 of the bucket wheel body is greater than the preset maximum fluctuation amount H1max of the bucket wheel body corresponding to the first operation capacity interval < Q / 3;

[0155] Step 73: Otherwise, determine whether the instantaneous material taking flow rate q1 is within the second operation capacity interval Q / 3 - 2Q / 3;

[0156] Step 74: If the bucket wheel body up and down fluctuation value H1 is greater than the first operating capacity range

[0157] Step 75: Otherwise, the preset maximum fluctuation amount H1max of the bucket wheel body is used as the maximum fluctuation amount H1max1 of the bucket wheel body of the reclaimer within the first operating capacity range;

[0158] Step 76: If the instantaneous material taking flow rate q1 is within the second operating capacity interval Q / 3 to 2Q / 3, it is determined whether the bucket wheel body up and down fluctuation value H1 is greater than the preset bucket wheel body maximum fluctuation amount H2max corresponding to the second operating capacity interval Q / 3 to 2Q / 3;

[0159] Step 77: Otherwise, determine whether the instantaneous material flow rate q1 is within the third operating capacity range>2Q / 3;

[0160] Step 78: If the bucket wheel body up and down fluctuation value H1 is greater than the preset bucket wheel body maximum fluctuation amount H2max corresponding to the second operating capacity interval Q / 3 to 2Q / 3, the bucket wheel body up and down fluctuation value H1 is used as the bucket wheel body maximum fluctuation amount H2max1 of the reclaimer in the second operating capacity interval;

[0161] Step 79: Otherwise, the preset maximum fluctuation amount H2max of the bucket wheel body is used as the maximum fluctuation amount H2max1 of the bucket wheel body of the reclaimer within the second operating capacity range;

[0162] Step 80: If the instantaneous material taking flow rate q1 is within the third operating capacity interval>2Q / 3, it is determined whether the bucket wheel body up and down fluctuation value H1 is greater than the preset bucket wheel body maximum fluctuation amount H3max corresponding to the third operating capacity interval;

[0163] Step 81: If yes, the bucket wheel body up and down fluctuation value H1 is used as the bucket wheel body maximum fluctuation amount H3max1 of the reclaimer in the third operating capacity range;

[0164] Step 82: Otherwise, the preset maximum fluctuation amount H3max of the bucket wheel body is used as the maximum fluctuation amount H3max1 of the bucket wheel body of the reclaimer in the third operating capacity range;

[0165] like Figure 2 As shown, step 8: obtaining the height value H4 before stopping of the radar of the arm of the reclaimer from the ground when the arm of the reclaimer receives the stop command during the process of descending when the reclaimer stacks at the bottom layer last time;

[0166] Step 9: Obtain the height value H5 of the boom radar of the reclaimer from the ground after the boom stopped moving during the last stacking process of the reclaimer at the bottom layer; ​

[0167] Step 10: According to the height value H4 before stopping and the height value H5 after stopping, determine the last stacking buffer distance H6 of the reclaimer, H6 = H4-H5;

[0168] Step 11: Obtain the planned reclaiming flow rate q2 of the bottom operation of the reclaimer;

[0169] Step 12: Determine the pitch reference stop position H9 of the reclaimer according to the relationship between the planned reclaiming flow rate q2 and the reclaiming amount within the working capacity range;

[0170] Further, such as Figure 4 As shown, step 12 includes:

[0171] Step 121: Determine whether the planned material flow rate q2 is within the first operating capacity range

[0172] Step 122: If yes, then determine the pitch reference stop position H8 of the reclaimer according to the maximum fluctuation amount H1max1 of the bucket wheel body of the reclaimer in the first operating capacity interval, the last stack buffer distance H6 of the reclaimer, and the preset safety distance value H7, where H8=H1max1+H6+H7;

[0173] Step 123: Otherwise, determine whether the planned material flow rate q2 is within the second operating capacity range Q / 3 to 2Q / 3;

[0174] Step 124: If the planned reclaiming flow rate q2 is within the second operating capacity interval Q / 3 to 2Q / 3, the pitch reference stop position H8 of the reclaimer is determined according to the maximum fluctuation amount H2max1 of the bucket wheel body of the reclaimer within the second operating capacity interval, the last stacking buffer distance H6 of the reclaimer, and the preset safety distance value H7, where H8=H2max1+H6+H7;

[0175] Step 125: Otherwise, according to the maximum fluctuation amount H3max1 of the bucket wheel body of the reclaimer in the third operating capacity interval, the last stacking buffer distance H6 of the reclaimer, and the preset safety distance value H7, the pitch reference parking position H8 of the reclaimer is determined, H8=H3max1+H6+H7;

[0176] like Figure 5 As shown, step A: sending a descending command to the reclaimer to make the boom of the reclaimer descend, and obtaining the pitch speed of the boom of the reclaimer and the height value of the boom radar of the reclaimer from the ground;

[0177] Step B: Determine whether the pitching speed of the reclaimer reaches the reference pitching speed;

[0178] ​Step C: If yes, determine whether the height of the reclaimer boom radar from the ground is greater than the pitch reference stop position of the reclaimer, otherwise, return to step A;

[0179] If the height of the reclaimer boom radar from the ground is greater than the pitch reference stop position of the reclaimer, return to step A; otherwise, send a stop command to the reclaimer to stop the reclaimer boom;

[0180] like Figure 2 As shown, step 13: according to the pitch reference stop position H9, determine the stacking buffer distance of the bottom layer of the reclaimer;

[0181] Furthermore, step 13 includes:

[0182] Step 131: obtaining a pre-stop height value of the reclaimer arm radar from the ground when the reclaimer arm receives a stop command during the process of descending the reclaimer arm during the current bottom stacking, and a post-stop height value of the reclaimer arm radar from the ground after the reclaimer arm stops during the current bottom stacking process;

[0183] Step 132: Obtain the bottom stack buffer distance of the reclaimer by subtracting the post-stop height value from the pre-stop height value;

[0184] like Figure 6 As shown, step 14: obtaining the up and down fluctuation amount H11 of the bucket wheel body of the reclaimer during this reclaiming process;

[0185] Step 15: Determine whether the bucket wheel body up and down fluctuation amount H11 is greater than the preset bucket wheel body maximum fluctuation amount Hmax;

[0186] Step 16: If yes, a rising command is sent to the reclaimer, so that the boom of the reclaimer rises to the target height value H12, H12 = H11-H9, and the bottom reclaiming operation is continued;

[0187] Step 17: Otherwise, continue the bottom layer material taking operation;

[0188] Step 18: Determine whether the actual reclaiming flow rate of the reclaimer in this reclaiming operation is equal to the planned reclaiming flow rate;

[0189] Step 19: If yes, then end the bottom reclaiming operation; otherwise, return to step 17 and continue the bottom reclaiming operation until the actual reclaiming flow rate of the reclaimer in this reclaiming operation is equal to the planned reclaiming flow rate, and then end the bottom reclaiming operation.

[0190] In this embodiment, by obtaining the instantaneous material taking flow rate of the belt scale of the reclaimer before a preset time, the maximum fluctuation amount of the bucket wheel body of the reclaimer when reclaiming materials at the bottom layer is determined according to the relationship between the instantaneous material taking flow rate and the material taking flow rates in multiple preset operating capacity intervals, the pitch reference stop position of the reclaimer is determined according to the maximum fluctuation amount of the bucket wheel body, and the bottom layer stack buffer distance of the reclaimer is determined according to the pitch reference stop position. It can save time and effort in the process of adjusting the pitch angle of the reclaimer boom, and can also ensure the safety in the process of adjusting the pitch angle of the boom.

[0191] It is worth noting that, according to the characteristic that the up and down fluctuation values ​​of the bucket wheel body of the reclaimer for the same material and the same flow rate are basically the same in a short period of time, the up and down fluctuation values ​​of the bucket wheel body at different flow rates when the reclaimer is operating at the top and middle layers are used as the up and down fluctuation values ​​of the bucket wheel body when reclaiming materials at the bottom layer of the same stack, thereby realizing the advance perception of the up and down fluctuation amount of the bucket wheel body operating at the bottom layer, and providing a prerequisite for controlling the thickness of the stack bottom;

[0192] According to the characteristics of fixed process parameters such as the vertical distance from the lowest edge of the bucket wheel to the boom, a detection device is added to the head of the boom to indirectly detect the actual distance from the lowest edge of the bucket wheel to the ground, so as to achieve accurate measurement of the thickness of the pile bottom;

[0193] According to the fact that the environment and characteristics of the reclaimer are basically the same in a short period of time, and the boom stop buffer distance is basically the same when the reference pitch speed is reached, the buffer distance of the reclaimer when it was stacked at the bottom last time is used as the stop buffer distance this time, so as to achieve precise alignment of the reclaimer's pitch mechanism and precise control of the thickness of the stack bottom;

[0194] The thickness of the pile bottom is indirectly measured based on the fluctuation of the pitch angle of the bottom operation, and is monitored and adjusted in real time to achieve closed-loop control of the thickness of the pile bottom and avoid the problem of the bucket wheel of the reclaimer colliding with the ground.

[0195] Embodiment 10

[0196] Based on the above embodiments, Figure 7 As shown, a boom distance measuring device 1 and a pitch angle detection device 2 are installed on the boom of the reclaimer;

[0197] Specifically, Figure 7 and Figure 8As shown, the arm distance measuring device 1 can be installed at the front edge of the arm of the material reclaimer to detect the actual distance from the lowest point of the bucket wheel body to the ground 3 of the material field. The arm distance measuring device 1 is connected to the arm 4 of the material reclaimer through a connecting rod 7. By adjusting the distance measuring device bracket 8, the horizontal monitoring point 9 above the side-mounted device can be observed to ensure that the distance measuring switch 10 is kept horizontal with the ground 3 of the material field. The pitch angle detection device 2 uses the original pitch encoder of the equipment to collect the arm pitch angle α and the arm pitch angle change value Δα.

[0198] In this embodiment, the arm distance measuring device 1 can detect the actual distance from the lowest point of the bucket wheel body to the material yard ground 3; the pitch angle detection device 2 can collect the arm pitch angle α and the arm pitch angle change value Δα; thereby achieving accurate determination of the stack buffer distance, which is scientific, effective, safe and reliable.

[0199] Embodiment 11

[0200] The disclosed embodiment also provides a device 900 for determining the stack buffer distance, such as Fig. 9 As shown, including:

[0201] Acquisition module 901, acquires the instantaneous material reclaiming flow rate of the reclaimer belt scale before a preset time;

[0202] The first determination module 902 determines the maximum fluctuation of the bucket wheel body of the reclaimer when reclaiming materials at the bottom layer according to the relationship between the instantaneous reclaiming flow rate and the reclaiming flow rates in a plurality of preset operating capacity intervals, wherein the plurality of operating capacity intervals are determined according to the reclaiming amount per unit time of the reclaimer;

[0203] The second determination module 903 determines the pitch reference parking position of the reclaimer according to the maximum fluctuation amount of the bucket wheel body;

[0204] The third determination module 904 determines the buffer distance of the bottom layer of the reclaimer to the stack according to the pitch reference stop position.

[0205] In some embodiments, the acquisition module 901 may also be used to:

[0206] Obtain the arm pitch angle of the reclaimer after stacking at the top or middle layer last time the reclaimer stacked, and the arm pitch angle of the reclaimer during stacking at the top or middle layer last time the reclaimer stacked;

[0207] Determine the last change value of the boom pitch angle of the reclaimer according to the boom pitch angle after the stacking and the boom pitch angle in the stacking;

[0208] According to the change value of the boom pitch angle and the boom length of the reclaimer, the up and down fluctuation value of the bucket wheel body of the reclaimer at the last time is determined.

[0209] In some embodiments, the first determining module 902 may be used to:

[0210] Determine whether the instantaneous material taking flow rate is within the target operating capacity interval. If so, determine whether the up and down fluctuation value of the bucket wheel body is greater than the preset maximum fluctuation amount of the bucket wheel body corresponding to the target operating capacity interval. Otherwise, determine whether the instantaneous material taking flow rate is within the next operating capacity interval until all operating capacity intervals are traversed;

[0211] If the up and down fluctuation value of the bucket wheel body is greater than the preset maximum fluctuation amount of the bucket wheel body corresponding to the target operating capacity interval, the up and down fluctuation value of the bucket wheel body is used as the maximum fluctuation amount of the bucket wheel body of the material reclaimer within the target operating capacity interval; otherwise, the preset maximum fluctuation amount of the bucket wheel body is used as the maximum fluctuation amount of the bucket wheel body of the material reclaimer within the target operating capacity interval.

[0212] In some embodiments, the second determining module 903 may be used to:

[0213] Determining the planned material reclaiming flow rate of the bottom layer operation of the reclaimer according to the preset operation plan;

[0214] Determine whether the planned material fetching flow is within the target operating capacity range. If so, determine the pitch reference parking position of the material fetcher according to the maximum fluctuation of the bucket wheel body corresponding to the target operating capacity range, the bottom stacking buffer distance of the previous material fetcher, and the preset safety distance value. Otherwise, determine whether the planned material fetching flow is within the next operating capacity range until all operating capacity ranges are traversed.

[0215] In some embodiments, the second determining module 903 may also be used to:

[0216] Step A, sending a descending command to the reclaimer to make the boom of the reclaimer descend, and obtaining the pitch speed of the boom of the reclaimer and the height value of the boom radar of the reclaimer from the ground;

[0217] Step B, determining whether the boom pitch speed of the reclaimer reaches the reference pitch speed, if so, determining whether the height value of the boom radar of the reclaimer from the ground is greater than the pitch reference stop position of the reclaimer, otherwise, returning to step A;

[0218] Step C: if the height of the reclaimer boom radar from the ground is greater than the pitch reference stop position of the reclaimer, return to step A; otherwise, send a stop command to the reclaimer to stop the reclaimer boom.

[0219] In some embodiments, the third determination module 904 may be used to:

[0220] Obtain the pre-stop height value of the reclaimer arm radar from the ground when the reclaimer arm receives a stop command during the process of descending the reclaimer arm during the current bottom stacking, and the post-stop height value of the reclaimer arm radar from the ground after the reclaimer arm stops moving during the current bottom stacking process;

[0221] The bottom layer stacking buffer distance of the reclaimer is determined according to the pre-stop height value and the post-stop height value.

[0222] In some embodiments, the third determining module 904 may also be used to:

[0223] Obtain the pitch angle change value of the boom of the reclaimer and the up and down fluctuation value of the bucket wheel of the reclaimer;

[0224] When the up and down fluctuation value of the bucket wheel body of the reclaimer is greater than the preset planned reclaiming flow rate of the bottom operation of the reclaimer, the pitching boom of the reclaimer is controlled to lift upward to a target height value.

[0225] In this embodiment, the instantaneous material taking flow rate of the belt scale of the reclaimer before the preset time is obtained; the maximum fluctuation amount of the bucket wheel body of the reclaimer when reclaiming materials at the bottom layer is determined according to the relationship between the instantaneous material taking flow rate and the material taking flow rates in multiple preset operating capacity intervals, and the multiple operating capacity intervals are determined according to the material taking amount per unit time of the reclaimer; the pitch reference stop position of the reclaimer is determined according to the maximum fluctuation amount of the bucket wheel body; the buffer distance of the bottom layer of the reclaimer to the stack is determined according to the pitch reference stop position. This can save time and effort in the process of adjusting the pitch angle of the reclaimer boom, and can also ensure safety in the process of adjusting the pitch angle of the boom.

[0226] It should be noted that the device for determining the buffer distance between stacks is a device corresponding to the above-mentioned method for determining the buffer distance between stacks. All implementation methods in the above-mentioned method for determining the buffer distance between stacks are applicable to the embodiments of the device for determining the buffer distance between stacks, and can achieve the same technical effect.

[0227] Embodiment 12

[0228] On the basis of the above embodiments, this embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method described in the above embodiments.

[0229] In some implementations of this embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method described in the above embodiment are implemented.

[0230] In some implementations of this embodiment, a computer program product is provided, including a computer program / instructions, and when the computer program is executed by a processor, the steps of the method described in the above embodiment are implemented.

[0231] The processor may include, but is not limited to, one or more processors or microprocessors. Each processor may be an application specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array (FPGA), a controller, a microcontroller, a microprocessor or other electronic components to execute the method in the above embodiments.

[0232] The computer-readable storage medium may be implemented by any type of volatile or non-volatile storage device or a combination thereof, and the computer-readable storage medium may include but is not limited to, for example, random access memory (RAM), read-only memory (ROM), flash memory, EPROM memory, EEPROM memory, registers, computer storage media (e.g., hard disk, floppy disk, solid-state drive, removable disk, CD-ROM, DVD-ROM, Blu-ray disc, etc.).

[0233] The computer-readable storage medium may also store at least one computer executable program / instruction, which may be, for example, a computer-readable instruction. The computer-readable storage medium includes, but is not limited to, for example, a volatile memory and / or a non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache memory (cache), etc. The computer-readable storage medium may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. For example, a non-transitory computer-readable storage medium may be connected to a computing device such as a computer, and then, when the computing device runs the computer-readable instructions stored on the computer-readable storage medium, the various methods described above may be performed.

[0234] In addition, the computer device may also include (but not limited to) a data bus, an input / output (I / O) bus, a display, and input / output devices (eg, keyboard, mouse, speaker, etc.), etc.

[0235] The processor may communicate with external devices via an I / O bus via a wired or wireless network.

[0236] In one embodiment, the at least one computer executable instruction may also be compiled into or constitute a software product / computer program product, wherein one or more computer executable instructions are executed by a processor to perform the various functions and / or method steps in the embodiments described in the present technology.

[0237] In the embodiments provided in the present disclosure, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the above-mentioned module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0238] It should be noted that in the present disclosure, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element limited by the sentence "includes a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0239] Although the embodiments disclosed in the present disclosure are as above, the above contents are only embodiments adopted for facilitating the understanding of the present disclosure and are not intended to limit the present disclosure. Any technician in the technical field to which the present disclosure belongs can make any modifications and changes in the form and details of the implementation without departing from the spirit and scope disclosed in the present disclosure, but the scope of patent protection of the present disclosure shall still be subject to the scope defined in the attached claims.

Claims

1. A method for determining a stack buffer distance, characterized in that: include: Get the instantaneous material flow rate of the belt scale of the reclaimer before the preset time; Determine the maximum fluctuation of the bucket wheel body of the reclaimer when reclaiming materials at the bottom layer according to the relationship between the instantaneous reclaiming flow rate and the reclaiming flow rates in a plurality of preset operating capacity intervals, wherein the plurality of operating capacity intervals are determined according to the reclaiming amount per unit time of the reclaimer; Determining the pitch reference parking position of the reclaimer according to the maximum fluctuation amount of the bucket wheel body; The buffer distance of the bottom layer of the reclaimer to the stack is determined according to the pitch reference stop position.

2. The method for determining the stacking buffer distance according to claim 1, characterized in that: Before obtaining the instantaneous material flow of the belt scale of the reclaimer before the preset time period, it also includes: Obtain the arm pitch angle of the reclaimer after stacking at the top or middle layer last time the reclaimer stacked, and the arm pitch angle of the reclaimer during stacking at the top or middle layer last time the reclaimer stacked; Determine the last change value of the boom pitch angle of the reclaimer according to the boom pitch angle after the stacking and the boom pitch angle in the stacking; According to the change value of the boom pitch angle and the boom length of the reclaimer, the up and down fluctuation value of the bucket wheel body of the reclaimer at the last time is determined.

3. The method for determining the stacking buffer distance according to claim 2, characterized in that: The step of determining the maximum fluctuation of the bucket wheel when the reclaimer is reclaiming materials at the bottom layer according to the relationship between the instantaneous reclaiming flow rate and the reclaiming flow rates within a plurality of preset operating capacity intervals includes: Determine whether the instantaneous material taking flow rate is within the target operating capacity interval. If so, determine whether the up and down fluctuation value of the bucket wheel body is greater than the preset maximum fluctuation amount of the bucket wheel body corresponding to the target operating capacity interval. Otherwise, determine whether the instantaneous material taking flow rate is within the next operating capacity interval until all operating capacity intervals are traversed; If the up and down fluctuation value of the bucket wheel body is greater than the preset maximum fluctuation amount of the bucket wheel body corresponding to the target operating capacity interval, the up and down fluctuation value of the bucket wheel body is used as the maximum fluctuation amount of the bucket wheel body of the material reclaimer within the target operating capacity interval; otherwise, the preset maximum fluctuation amount of the bucket wheel body is used as the maximum fluctuation amount of the bucket wheel body of the material reclaimer within the target operating capacity interval.

4. The method for determining the stacking buffer distance according to claim 1, characterized in that: Determining the pitch reference parking position of the reclaimer according to the maximum fluctuation amount of the bucket wheel body includes: Determining the planned material reclaiming flow rate of the bottom layer operation of the reclaimer according to the preset operation plan; Determine whether the planned material fetching flow is within the target operating capacity range. If so, determine the pitch reference parking position of the material fetcher according to the maximum fluctuation of the bucket wheel body corresponding to the target operating capacity range, the bottom stacking buffer distance of the previous material fetcher, and the preset safety distance value. Otherwise, determine whether the planned material fetching flow is within the next operating capacity range until all operating capacity ranges are traversed.

5. The method for determining the stacking buffer distance according to claim 4, characterized in that: After determining the pitch reference stop position of the reclaimer according to the maximum fluctuation amount of the bucket wheel body, the method further includes: Step A, sending a descending command to the reclaimer to make the boom of the reclaimer descend, and obtaining the pitch speed of the boom of the reclaimer and the height value of the boom radar of the reclaimer from the ground; Step B, determining whether the boom pitch speed of the reclaimer reaches the reference pitch speed, if so, determining whether the height value of the boom radar of the reclaimer from the ground is greater than the pitch reference stop position of the reclaimer, otherwise, returning to step A; Step C: if the height of the reclaimer boom radar from the ground is greater than the pitch reference stop position of the reclaimer, return to step A; otherwise, send a stop command to the reclaimer to stop the reclaimer boom.

6. The method for determining the stacking buffer distance according to claim 1, characterized in that: According to the pitch reference stop position, the buffer distance of the bottom layer of the reclaimer to the stack is determined, including: Obtain the pre-stop height value of the reclaimer arm radar from the ground when the reclaimer arm receives a stop command during the process of descending the reclaimer arm during the current bottom stacking, and the post-stop height value of the reclaimer arm radar from the ground after the reclaimer arm stops moving during the current bottom stacking process; The bottom layer stacking buffer distance of the reclaimer is determined according to the pre-stop height value and the post-stop height value.

7. The method for determining the stacking buffer distance according to claim 5, characterized in that: After determining the stacking buffer distance of the bottom layer of the reclaimer according to the pitch reference stop position, the method further includes: Obtain the pitch angle change value of the boom of the reclaimer and the up and down fluctuation value of the bucket wheel of the reclaimer; When the up and down fluctuation value of the bucket wheel body of the reclaimer is greater than the preset planned reclaiming flow rate of the bottom operation of the reclaimer, the pitching boom of the reclaimer is controlled to lift upward to a target height value.

8. A computer device comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the method according to any one of claims 1 to 7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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