Method, device, storage medium and computer program for determining a buffer distance for a pile

Abstract

The present disclosure relates to a method, device, storage medium and computer program for determining a stockpile buffer distance, wherein the method comprises: obtaining an instantaneous stockpiling flow of a belt scale of a stocker in a preset time period; determining a maximum fluctuation amount of a bucket wheel body of the stocker when stockpiling at a bottom layer according to a relationship between the instantaneous stockpiling flow and stockpiling flows in a plurality of work capacity intervals, the plurality of work capacity intervals being determined according to a stockpiling amount per unit time of the stocker; determining a pitch reference stop position of the stocker according to the maximum fluctuation amount of the bucket wheel body; and determining a stockpile buffer distance of the stocker at the bottom layer according to the pitch reference stop position. This can save time and effort in adjusting the pitch angle of the stocker boom, and also ensure safety during adjustment of the pitch angle of the boom.

Description

Technical Field

[0001] This disclosure relates to the field of material handling control technology, and in particular to a method, apparatus, storage medium, and computer program for determining the stack buffer distance. Background Technology

[0002] During the material reclaiming operation at the bottom of the stack, the reclaimer relies on the boom pitch angle to control the stack thickness. However, due to uneven tracks and the material yard, the vertical movement of the reclaimer's bucket wheel during operation (the fluctuation being affected by material type and flow rate), and the influence of environmental factors and the equipment's own load on the pitch stop buffer distance, effective control of the stack thickness is difficult. If the stack thickness is too large, secondary stacking by the loader will be very difficult, significantly impacting production efficiency. If the stack thickness is too small, for stacks with severe track settlement, the reclaimer's bucket wheel may collide with the ground at the peak of the collapse, severely impacting both production and equipment.

[0003] Currently, to address the above situation, when retrieving materials from the bottom layer, it is necessary to assign a dedicated person to measure the thickness of the stack bottom and observe the material retrieval by the bucket wheel. The operator then adjusts the boom pitch angle according to the actual situation to adjust the thickness of the stack bottom. This process is not only time-consuming and labor-intensive, but also carries significant safety risks such as the bucket wheel of the retrieving machine colliding with the ground. Summary of the Invention

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

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

[0006] Obtain the instantaneous material handling flow rate of the conveyor belt scale before the preset time period;

[0007] Based on the relationship between the instantaneous material handling flow rate and the material handling flow rate within multiple preset operating capacity intervals, the maximum fluctuation of the bucket wheel body of the material handling machine when handling material at the bottom is determined, and the multiple operating capacity intervals are determined based on the material handling capacity of the material handling machine per unit time.

[0008] The pitch reference stopping position of the reclaimer is determined based on the maximum fluctuation of the bucket wheel body.

[0009] Based on the pitch reference stopping position, determine the bottom stack buffer distance of the reclaimer.

[0010] In some embodiments, before obtaining the instantaneous material handling flow rate of the conveyor belt scale before a preset time period, the method further includes:

[0011] Get the boom pitch angle of the reclaimer after stacking on the top or middle layer, and the boom pitch angle of the reclaimer during stacking operation on the top or middle layer.

[0012] The change value of the boom pitch angle of the previous stacking machine is determined based on the boom pitch angle after stacking and the boom pitch angle during stacking.

[0013] Based on the change in boom pitch angle and the boom length of the reclaimer, the previous vertical fluctuation value of the bucket wheel of the reclaimer is determined.

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

[0015] Determine whether the instantaneous material intake flow rate is within the target operating capacity range. If so, determine whether the vertical 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 range. Otherwise, determine whether the instantaneous material intake flow rate is within the next operating capacity range, until all operating capacity ranges have been traversed.

[0016] If the vertical fluctuation value of the bucket wheel is greater than the preset maximum fluctuation value of the bucket wheel corresponding to the target operating capacity range, then the vertical fluctuation value of the bucket wheel is taken as the maximum fluctuation value of the bucket wheel of the reclaimer within the target operating capacity range; otherwise, the preset maximum fluctuation value of the bucket wheel is taken as the maximum fluctuation value of the bucket wheel of the reclaimer within the target operating capacity range.

[0017] In some embodiments, determining the pitch reference stopping position of the reclaimer based on the maximum fluctuation of the bucket wheel body includes:

[0018] According to the preset work plan, the planned material handling flow rate of the bottom layer operation of the material handling machine is determined;

[0019] If the planned material handling flow rate is within the target operating capacity range, then the pitch reference stopping position of the material handling machine is determined based on the maximum fluctuation of the bucket wheel body corresponding to the target operating capacity range, the bottom stack buffer distance of the previous material handling machine, and the preset safety distance value. Otherwise, the plan material handling flow rate is determined to be within the next operating capacity range, until all operating capacity ranges have been traversed.

[0020] In some embodiments, after determining the pitch reference stopping position of the reclaimer based on the maximum fluctuation of the bucket wheel body, the method further includes:

[0021] Step A: Send a descent command to the reclaimer to lower its boom, and obtain the boom pitch speed and the height of the boom radar above the ground.

[0022] Step B: Determine whether the boom pitch speed of the reclaimer has reached the reference pitch speed. If so, determine whether the height of the reclaimer boom radar above the ground is greater than the pitch reference stopping position of the reclaimer. Otherwise, return to step A.

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

[0024] In some embodiments, determining the bottom stacking buffer distance of the reclaimer based on the pitch reference stopping position includes:

[0025] The system obtains the height value of the reclaimer's boom radar above the ground before the stop command is received during the boom descent of the reclaimer during the bottom stacking process, and the height value of the reclaimer's boom radar above the ground after the boom stops moving during the bottom stacking process.

[0026] The bottom stacking buffer distance of the material reclaimer is determined based on the height value before stopping and the height value after stopping.

[0027] In some embodiments, after determining the bottom stacking buffer distance of the reclaimer based on the pitch reference stopping position, the method further includes:

[0028] Obtain the boom pitch angle change value of the reclaimer and the bucket wheel body vertical fluctuation value of the reclaimer.

[0029] When the vertical fluctuation of the bucket wheel of the reclaimer is greater than the preset planned material handling flow of the bottom operation of the reclaimer, the tilt boom of the reclaimer is controlled to raise the target height.

[0030] In a second aspect, this 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 foregoing aspect.

[0031] Thirdly, this disclosure provides a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps of the method described above.

[0032] Fourthly, this disclosure provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the methods described in the above aspects.

[0033] Fifthly, this disclosure provides a computer program product, including a computer program / instructions that, when executed by a processor, implement the steps of the methods described in the foregoing aspects.

[0034] The method, device, storage medium, and computer program for determining the stacking buffer distance disclosed herein acquire the instantaneous material handling flow rate of the reclaimer's belt scale before a preset time period; determine the maximum fluctuation of the bucket wheel body when the reclaimer is handling material at the bottom layer based on the relationship between the instantaneous material handling flow rate and the material handling flow rate within multiple preset operating capacity intervals, wherein the multiple operating capacity intervals are determined based on the material handling capacity of the reclaimer per unit time; determine the pitch reference stopping position of the reclaimer based on the maximum fluctuation of the bucket wheel body; and determine the bottom stacking buffer distance of the reclaimer based on the pitch reference stopping position. This method saves time and effort in adjusting the boom pitch angle of the reclaimer and ensures safety during the adjustment process. Attached Figure Description

[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 flowchart illustrating a method for determining the stacking buffer distance provided in an embodiment of this disclosure;

[0037] Figure 2 This is another schematic flowchart illustrating a method for determining the stacking buffer distance provided in an embodiment of the present disclosure;

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

[0039] Figure 4 A schematic diagram illustrating the process for determining the reference stopping position of the material handling machine according to an embodiment of this disclosure;

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

[0041] Figure 6 This is a schematic diagram of the processing flow of the material handling machine for this material handling operation provided in an embodiment of this disclosure;

[0042] Figure 7 This is a schematic diagram of the mechanical structure of the stack bottom thickness control device for the material handling machine provided in an embodiment of this disclosure;

[0043] Figure 8 This is a schematic diagram of the structure of the boom ranging device for a material handling machine provided in an embodiment of this disclosure;

[0044] Figure 9 This is a schematic diagram of a device for determining the stacking buffer distance according to an embodiment of the present disclosure.

[0045] In the accompanying drawings, the same parts are referred to by the same reference numerals, and the drawings are not drawn to scale. Detailed Implementation

[0046] To enable those skilled in the art to better understand the technical solutions of this disclosure, and to fully understand and implement the process of how this disclosure applies technical means to solve technical problems and achieve corresponding technical effects, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, not all embodiments. The embodiments of this disclosure and the various features within them can be combined with each other without conflict, and the resulting technical solutions are all within the protection scope of this disclosure. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this disclosure.

[0047] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

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

[0049] Currently, during the bottom material reclaiming operation, the reclaimer relies on the boom pitch angle to control the bottom thickness of the stack, i.e., the stack buffer distance described in this disclosure. Because the settlement of different stack positions on the reclaimer's travel track is inconsistent, the boom of the reclaimer fluctuates up and down during operation. The fluctuation value changes constantly due to the influence of material type, boom coal flow load, and bucket wheel cutting force. The pitch stop buffer distance is continuously affected by the external environment and the equipment's own load, making it difficult to effectively control the bottom thickness of the reclaimer. If the bottom thickness is too large, it will make it very difficult for the loader to stack again, and the production efficiency will be greatly affected. If the bottom thickness is too small, for some stack positions with severe track settlement, when encountering the peak of the stack collapse, the bucket wheel of the reclaimer will collide with the ground, which will seriously affect production and equipment safety.

[0050] Example 1

[0051] Figure 1 This is a flowchart illustrating the method, apparatus, storage medium, and computer program for determining the stacking buffer distance provided in embodiments of this disclosure. Figure 1 As shown, the method for determining the stack buffer distance includes:

[0052] Step 101: Obtain the instantaneous material handling flow rate of the belt scale of the material handling machine before the preset time period;

[0053] Step 102: Based on the relationship between the instantaneous material handling flow rate and the material handling flow rate within a preset multiple operating capacity ranges, determine the maximum fluctuation of the bucket wheel body when the material handling machine is handling material at the bottom. The multiple operating capacity ranges are determined based on the material handling machine's material handling capacity per unit time.

[0054] Step 103: Determine the pitch reference stopping position of the reclaimer based on the maximum fluctuation of the bucket wheel body;

[0055] Step 104: Determine the bottom stack buffer distance of the reclaimer based on the pitch reference stopping position.

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

[0057] Example 2

[0058] Based on the above embodiments, the length of the preset duration is directly related to the diameter of the bucket wheel of the material handling machine, the speed of the bucket wheel, the length of the unloading plate, the belt speed of the belt scale, and the distance from the unloading 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] The preset duration is determined based on the time the material remains on the bucket wheel of the reclaimer, the time the material remains on the discharge plate of the reclaimer, and the time the material takes to travel from leaving the discharge plate to the belt scale.

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

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

[0063] The process of determining the time T1 during which the material remains stationary on the bucket wheel of the feeder may include:

[0064]

[0065] Wherein, π is the mathematical constant pi; D is the diameter of the bucket wheel of the feeder; and V1 is the rotational speed of the bucket wheel.

[0066] The process of determining the time T2 during which the material remains stationary on the unloading plate of the feeder may include:

[0067]

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

[0069] The time T3 during which the material travels from leaving the discharge plate to the belt scale at the material reclaimer can include:

[0070]

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

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

[0073] Example 3

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

[0075] Step 098: Obtain the boom pitch angle of the reclaimer after stacking on the top or middle layer, and the boom pitch angle of the reclaimer during stacking operation on the top or middle layer.

[0076] Step 099: Determine the change value of the boom pitch angle of the previous stacking machine based on the boom pitch angle after stacking and the boom pitch angle during stacking.

[0077] Step 100: Determine the previous vertical fluctuation value of the bucket wheel of the reclaimer based on 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 vertical fluctuation value of the bucket wheel body is basically the same when the material reclaimer is handling the same material and flow rate within a short period of time, the vertical fluctuation value of the bucket wheel body under different flow rates when the top and middle layers of the material reclaimer are operated can be taken as the vertical fluctuation value of the bucket wheel body when reclaiming material at the bottom layer of the same stack.

[0079] Specifically, the process of determining the vertical fluctuation value of the bucket wheel of the reclaimer in the previous instance may include:

[0080] The following information is obtained: the boom pitch angle α1 of the reclaimer after stacking on the top or middle layer, the boom pitch angle α2 of the reclaimer during stacking operation on the top or middle layer, and the boom length L2 of the reclaimer.

[0081] The change value of the boom pitch angle of the previous material handling machine Δα = the boom pitch angle α1 after stacking - the boom pitch angle α2 during stacking;

[0082] The previous vertical fluctuation value H1 of the bucket wheel of the reclaimer is equal to the boom length L2 of the reclaimer and the previous change in boom pitch angle Δα.

[0083] In this embodiment, the vertical fluctuation value of the bucket wheel of the reclaimer can be determined based on the boom pitch angle of the reclaimer after stacking at the top or middle layer, the boom pitch angle of the reclaimer during the previous stacking operation at the top or middle layer, and the boom length of the reclaimer. This allows for advance perception of the vertical fluctuation of the bucket wheel at the bottom layer, providing a prerequisite for controlling the thickness of the stack bottom, thereby ensuring safe equipment operation, improving material handling efficiency, and protecting operator safety.

[0084] Example 4

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

[0086] Step 1021: determining whether the instantaneous reclamation flow is within a target working capacity interval; if yes, determining whether the vertical fluctuation value of the bucket wheel body is greater than a preset maximum fluctuation value of the bucket wheel body corresponding to the target working capacity interval; if not, determining whether the instantaneous reclamation flow is within the next working capacity interval until all working capacity intervals are traversed;

[0087] Step 1022: if the vertical fluctuation value of the bucket wheel body is greater than the preset maximum fluctuation value of the bucket wheel body corresponding to the target working capacity interval, taking the vertical fluctuation value of the bucket wheel body as the maximum fluctuation value of the bucket wheel body of the reclaimer within the target working capacity interval; otherwise, taking the preset maximum fluctuation value of the bucket wheel body as the maximum fluctuation value of the bucket wheel body of the reclaimer within the target working capacity interval.

[0088] It should be noted that the working capacity intervals may be preset, and can be determined according to the reclamation amount per unit time of the reclaimer. If the reclamation amount per unit time of the reclaimer is Q, the working capacity intervals may be set as follows: a first working capacity interval: <Q / 3, a second working capacity interval: Q / 3 to 2Q / 3, and a third working capacity interval: >2Q / 3;

[0089] Specifically, as Figure 3 shown, the process for determining the maximum fluctuation value of the bucket wheel body of the reclaimer within the target working capacity interval may comprise:

[0090] determining whether an instantaneous reclamation flow q1 is within the first working capacity interval <Q / 3; if yes, determining whether a vertical fluctuation value H1 of the bucket wheel body is greater than a preset maximum bucket wheel body fluctuation H1max corresponding to the first working capacity interval <Q / 3; if not, determining whether the instantaneous reclamation flow q1 is within the first working capacity interval Q / 3 to 2Q / 3;

[0091] if the vertical fluctuation value H1 of the bucket wheel body is greater than the preset maximum bucket wheel body fluctuation H1max corresponding to the first working capacity interval <Q / 3, taking the vertical fluctuation value H1 of the bucket wheel body as the maximum fluctuation value of the bucket wheel body of the reclaimer within the first working capacity interval; otherwise, taking the preset maximum bucket wheel body fluctuation H1max as the maximum fluctuation value H1max1 of the bucket wheel body of the reclaimer within the first working capacity interval;

[0092] if the instantaneous reclamation flow q1 is within the first working capacity interval Q / 3 to 2Q / 3, determining whether the vertical fluctuation value H1 of the bucket wheel body is greater than a preset maximum bucket wheel body fluctuation H2max corresponding to the second working capacity interval Q / 3 to 2Q / 3; if not, determining whether the instantaneous reclamation flow q1 is within the third working capacity interval >2Q / 3;

[0093] If the vertical fluctuation value H1 of the bucket wheel body is greater than the preset maximum fluctuation value H2max of the bucket wheel body corresponding to the second working capacity range Q / 3 to 2Q / 3, then it is determined whether the vertical fluctuation value H1 of the bucket wheel body is greater than the preset maximum fluctuation value H2max of the bucket wheel body corresponding to the second working capacity range Q / 3 to 2Q / 3. If so, the vertical fluctuation value H1 of the bucket wheel body is greater than the preset maximum fluctuation value H2max1 of the bucket wheel body corresponding to the second working capacity range Q / 3 to 2Q / 3. Otherwise, the preset maximum fluctuation value H2max of the bucket wheel body is taken as the maximum fluctuation value H2max1 of the bucket wheel body of the reclaimer in the second working capacity range.

[0094] If the instantaneous material handling flow rate q1 is within the third operating capacity range > 2Q / 3, then it is determined whether the vertical 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 range > 2Q / 3. If so, the vertical fluctuation value H1 of the bucket wheel body is taken as the maximum fluctuation amount H3max1 of the bucket wheel body of the material handling machine in the third operating capacity range. Otherwise, the preset maximum fluctuation amount H3max of the bucket wheel body is taken as the maximum fluctuation amount H3max1 of the bucket wheel body of the material handling machine in the third operating capacity range.

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

[0096] Example 5

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

[0098] Step 1031: Determine the planned material handling flow rate of the bottom layer operation of the material handling machine according to the preset operation plan;

[0099] Step 1032: Determine whether the planned material handling flow rate is within the target operating capacity range. If so, determine the pitch reference stopping position of the material handling machine based on the maximum fluctuation of the bucket wheel body corresponding to the target operating capacity range, the bottom stack buffer distance of the previous material handling machine, and the preset safety distance value. Otherwise, determine whether the planned material handling flow rate is within the next operating capacity range, until all operating capacity ranges have been traversed.

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

[0101] Determine if the planned material requisition flow rate q2 is within the first operating range.

[0102] Furthermore, the pitch reference stopping position H8 of the reclaimer = the maximum fluctuation of the bucket wheel body of the reclaimer within the first working capacity range H1max1 + the previous stacking buffer distance of the reclaimer H6 + the preset safety distance value H7.

[0103] If the planned material handling flow rate q2 is within the second operating capacity range of Q / 3 to 2Q / 3, then the pitch reference stopping position H8 of the material handling machine is determined based on the maximum fluctuation of the bucket wheel body H2max1 of the material handling machine within the second operating capacity range, the previous stacking buffer distance H6 of the material handling machine, and the preset safety distance value H7. Otherwise, it is determined whether the planned material handling flow rate q2 is within the third operating capacity range > 2Q / 3.

[0104] Furthermore, the pitch reference stopping position H8 of the reclaimer = the maximum fluctuation of the bucket wheel body of the reclaimer within the second working capacity range H2max1 + the previous stacking buffer distance of the reclaimer H6 + the preset safety distance value H7;

[0105] If the planned material handling flow rate q2 is within the third operating capacity range > 2Q / 3, then the pitch reference stopping position H8 of the material handling machine is determined based on the maximum fluctuation of the bucket wheel body H3max1 of the material handling machine in the third operating capacity range, the previous stacking buffer distance H6 of the material handling machine, and the preset safety distance value H7.

[0106] Furthermore, the pitch reference stopping position H8 of the reclaimer is equal to the maximum fluctuation of the bucket wheel body of the reclaimer within the third operating capacity range H3max1 + the previous stacking buffer distance of the reclaimer H6 + the preset safety distance value H7.

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

[0108] Example 6

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

[0110] Step A: Send a descent command to the reclaimer to lower its boom, and obtain the boom pitch speed and the height of the boom radar above the ground.​

[0111] Step B: Determine whether the boom pitch speed of the reclaimer has reached the reference pitch speed. If so, determine whether the height of the reclaimer boom radar above the ground is greater than the pitch reference stopping position of the reclaimer. Otherwise, return to step A.

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

[0113] Specifically, such as Figure 5 As shown, the process after determining the pitch reference stopping position and before determining the stacking buffer distance may include:

[0114] Send a descent command to the material reclaimer to lower its boom, and obtain the boom pitch speed and the height of the boom radar above the ground.

[0115] Determine whether the pitch speed of the reclaimer has reached the reference pitch speed. If so, determine whether the height of the reclaimer boom radar above the ground is greater than the reference pitch stop position of the reclaimer. Otherwise, send a descent command to the reclaimer to lower the boom. Obtain the boom pitch speed and the height of the reclaimer boom radar above the ground, and determine whether the pitch speed of the reclaimer has reached the reference pitch speed, until the pitch speed of the reclaimer reaches the reference pitch speed.

[0116] If the height of the reclaimer's boom radar above the ground is greater than the reclaimer's pitch reference stop position, a descent command is sent to the reclaimer to lower its boom. The boom pitch speed and the height of the reclaimer's boom radar above the ground are then acquired. It is determined whether the reclaimer's pitch speed has reached the reference pitch speed. If the reclaimer's pitch speed reaches the reference pitch speed, it is determined that the height of the reclaimer's boom radar above the ground is greater than the reclaimer's pitch reference stop position. This process continues until the height of the reclaimer's boom radar above the ground is less than or equal to the reclaimer's pitch reference stop position. At this point, a stop command is sent to the reclaimer to stop its boom movement.

[0117] In this embodiment, by determining 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 above the ground and the reference stopping position, the stacking buffer distance can be further determined, thus ensuring the accuracy of the stacking buffer distance determination.

[0118] Example 7

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

[0120] Step 1041: Obtain the height value of the reclaimer boom radar above the ground before stopping when the reclaimer boom receives a stop command during the lowering of the reclaimer boom in this bottom stacking process, and the height value of the reclaimer boom radar above the ground after stopping the reclaimer boom after stopping the action in this bottom stacking process.

[0121] Step 1042: Determine the bottom stacking buffer distance of the material reclaimer based on the pre-stop height value and the post-stop height value.

[0122] It should be noted that the height before stopping and the height after stopping are the actual distances from the lowest edge of the bucket wheel of the reclaimer to the ground.

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

[0124] The system obtains the height value of the reclaimer's boom radar above the ground before the stop command is received during the boom descent of the reclaimer during the bottom stacking process, and the height value of the reclaimer's boom radar above the ground after the boom stops moving during the bottom stacking process.

[0125] The bottom stacking buffer distance of the material 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 acquiring the distance between the reclaimer boom radar and the ground when the reclaimer boom descends during the bottom stacking process and receives a stop command, and the actual distance between the reclaimer boom radar and the ground after the boom stops moving. This enables precise alignment during stacking, thereby achieving precise control of the stacking thickness.

[0127] Example 8

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

[0129] Step 105: Obtain the boom pitch angle change value of the reclaimer and the bucket wheel body vertical fluctuation value of the reclaimer.

[0130] Step 106: When the vertical fluctuation value of the bucket wheel of the reclaimer is greater than the preset planned material handling flow of the bottom operation of the reclaimer, control the tilt boom of the reclaimer to raise the target height value.

[0131] Specifically, after step 104, the process may further include the implementation of the material reclaiming operation by the reclaiming machine, such as... Figure 6As shown, it can specifically include:

[0132] Obtain the vertical fluctuation H11 of the bucket wheel body of the material reclaimer during this material reclaiming process;

[0133] Determine whether the vertical fluctuation H11 of the bucket wheel body is greater than the preset maximum fluctuation Hmax of the bucket wheel body. If so, send an upward command to the reclaimer to raise the boom of the reclaimer to the target height H12 and continue the bottom material reclaiming operation. Then determine whether the actual material reclaiming flow rate of the reclaimer in this reclaiming operation is equal to the planned material reclaiming flow rate. If so, end the bottom material reclaiming operation. Otherwise, continue the bottom material reclaiming operation until the actual material reclaiming flow rate of the reclaimer in this reclaiming operation is equal to the planned material reclaiming flow rate, and end the bottom material reclaiming operation.

[0134] In this embodiment, by using the planned fluctuation amount of the bucket wheel of the reclaimer as a reference, the relationship between the vertical fluctuation amount of the bucket wheel and the planned fluctuation amount is determined, thereby controlling the pitch height of the reclaimer's boom, avoiding the bucket wheel from colliding with the ground, and completing the material reclaiming task quickly and effectively while ensuring the safety of the reclaimer equipment.

[0135] Example 9

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

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

[0138] like Figure 2 As shown, Step 1: Begin;

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

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

[0141] Step 4: Based on the boom pitch angle α1 after stacking and the boom pitch angle α2 during stacking, determine the change value Δα of the boom pitch angle of the reclaimer in the previous cycle, Δα=α1-α2;

[0142] Step 5: Based on the boom pitch angle Δα and boom length L2 of the reclaimer, determine the vertical fluctuation value H1 of the bucket wheel body of the reclaimer in the previous operation, H1 = L2 × Δα;

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

[0144] It should be noted that, due to the hysteresis of the reclaiming flow of the bucket wheel body of the reclaimer, it is necessary to obtain the instantaneous flow q1 of the belt weigher before a preset time length T, and the length of the preset time length T is directly related to the bucket wheel diameter D of the reclaimer, the bucket wheel rotation speed V1, the length L3 of the discharge plate, the belt speed V2 of the belt weigher, and the distance L4 from the discharge plate to the belt weigher;

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

[0146] wherein, T1 is the stagnation time of materials in the bucket wheel body of the reclaimer,

[0147] T2 is the stagnation time of materials on the discharge plate of the reclaimer,

[0148] T3 is the time taken for materials to travel from leaving the discharge plate to the belt weigher in the reclaimer,

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

[0150] It should be noted that, according to the reclaiming amount per unit time Q of the reclaimer and the batching condition, the preset maximum fluctuation amount H1max of the bucket wheel body of the reclaimer corresponding to the first working capacity interval <Q / 3, the preset maximum fluctuation amount H2max of the bucket wheel body of the reclaimer 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 reclaimer 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, and the specific number of working capacity intervals can be set according to the actual requirements of the operation site;

[0152] Further, as Figure 3 shown:

[0153] Step 71: Determine whether the instantaneous reclaiming flow q1 is within the first working capacity interval <Q / 3;

[0154] Step 72: If yes, determine whether the vertical 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 working capacity interval <Q / 3;

[0155] Step 73: If not, determine whether the instantaneous reclaiming flow q1 is within the second working capacity interval Q / 3~2Q / 3;

[0156] Step 74: If the vertical fluctuation value H1 of the bucket wheel body is greater than the first working capacity range

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

[0158] Step 76: If the instantaneous material handling flow rate q1 is within the second operating capacity range Q / 3 to 2Q / 3, then determine whether the vertical 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 operating capacity range Q / 3 to 2Q / 3.

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

[0160] Step 78: If the vertical fluctuation value H1 of the bucket wheel body is greater than the preset maximum fluctuation value H2max of the bucket wheel body corresponding to the second working capacity range Q / 3 to 2Q / 3, then the vertical fluctuation value H1 of the bucket wheel body is taken as the maximum fluctuation value H2max1 of the bucket wheel body of the reclaimer in the second working capacity range.

[0161] Step 79: Otherwise, the preset maximum fluctuation of the bucket wheel body H2max is taken as the maximum fluctuation of the bucket wheel body H2max1 of the reclaimer in the second working capacity range;

[0162] Step 80: If the instantaneous material handling flow rate q1 is within the third operating capacity range > 2Q / 3, then determine whether the vertical 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 range;

[0163] Step 81: If so, the vertical fluctuation value H1 of the bucket wheel body is taken as the maximum fluctuation amount H3max1 of the bucket wheel body of the reclaimer in the third working capacity range;

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

[0165] like Figure 2 As shown, step 8: obtain the pre-stop height value H4 of the reclaimer boom radar from the ground when the reclaimer boom descends during the last time it was stacked at the bottom layer and a stop command was received;

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

[0167] Step 10: Based on the height value H4 before stopping and the height value H5 after stopping, determine the stacking buffer distance H6 of the previous stacking of the reclaimer, where H6 = H4 - H5;

[0168] Step 11: Obtain the planned material handling flow rate q2 for the underlying operation of the material handling machine;

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

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

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

[0172] Step 122: If so, then based on the maximum fluctuation of the bucket wheel body H1max1 of the reclaimer in the first working capacity range, the previous stacking buffer distance H6 of the reclaimer, and the preset safety distance value H7, determine the pitch reference stopping position H8 of the reclaimer, H8 = H1max1 + H6 + H7.

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

[0174] Step 124: If the planned material handling flow rate q2 is within the second operating capacity range Q / 3 to 2Q / 3, then based on the maximum fluctuation of the bucket wheel body H2max1 of the material handling machine within the second operating capacity range, the previous stacking buffer distance H6 of the material handling machine, and the preset safety distance value H7, determine the pitch reference stopping position H8 of the material handling machine, H8 = H2max1 + H6 + H7;

[0175] Step 125: Otherwise, based on the maximum fluctuation of the bucket wheel body H3max1 of the reclaimer in the third working capacity range, the previous stacking buffer distance H6 of the reclaimer, and the preset safety distance value H7, determine the pitch reference stopping position H8 of the reclaimer, H8 = H3max1 + H6 + H7.

[0176] like Figure 5 As shown, step A: send a descent command to the reclaimer to lower the boom of the reclaimer, and obtain the boom pitch speed and the height of the reclaimer boom radar above the ground.

[0177] Step B: Determine whether the pitch speed of the reclaimer has reached the reference pitch speed;

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

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

[0180] like Figure 2 As shown, step 13: Determine the stacking buffer distance of the bottom layer of the reclaimer based on the pitch reference stopping position H9;

[0181] Furthermore, step 13 includes:

[0182] Step 131: Obtain the height value of the reclaimer boom radar above the ground before stopping when the reclaimer boom receives a stop command during the descent of the reclaimer boom during this bottom stacking process, and the height value of the reclaimer boom radar above the ground after stopping the reclaimer boom during this bottom stacking process.

[0183] Step 132: Subtract the height after stopping from the height before stopping to obtain the bottom stacking buffer distance of the material reclaimer;

[0184] like Figure 6 As shown, step 14: Obtain the vertical fluctuation H11 of the bucket wheel of the material reclaimer during this material reclaiming process;

[0185] Step 15: Determine whether the vertical fluctuation of the bucket wheel body H11 is greater than the preset maximum fluctuation of the bucket wheel body Hmax;

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

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

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

[0189] Step 19: If yes, end the bottom layer material handling operation; otherwise, return to step 17 and continue the bottom layer material handling operation until the actual material handling flow rate of the material handling machine in this material handling operation equals the planned material handling flow rate, and end the bottom layer material handling operation.

[0190] In this embodiment, by acquiring the instantaneous material handling flow rate of the reclaimer's belt scale before a preset time period, and based on the relationship between the instantaneous material handling flow rate and the material handling flow rates within multiple preset operating capacity intervals, the maximum fluctuation of the bucket wheel body when the reclaimer is handling material at the bottom layer is determined. Based on the maximum fluctuation of the bucket wheel body, the pitch reference stopping position of the reclaimer is determined, and based on the pitch reference stopping position, the bottom layer stacking buffer distance of the reclaimer is determined. This saves time and effort in adjusting the boom pitch angle of the reclaimer, and also ensures safety during the adjustment process.

[0191] It is worth noting that, based on the characteristic that the vertical fluctuation value of the bucket wheel body is basically consistent under the same material and flow rate in a short period of time, this disclosure takes the vertical fluctuation value of the bucket wheel body under different flow rates when the top and middle layers of the reclaimer are operating as the vertical fluctuation value of the bucket wheel body when reclaiming material at the bottom layer of the same stack, thereby realizing the advance perception of the vertical fluctuation of the bucket wheel body in the bottom layer operation, and providing a prerequisite for controlling the thickness of the stack bottom.

[0192] Based on the fixed process parameters such as the vertical distance from the bottom edge of the bucket wheel to the boom, a detection device is added to the boom head to indirectly detect the actual distance from the bottom edge of the bucket wheel to the ground, thereby achieving accurate measurement of the stack bottom thickness.

[0193] Based on the fact that the environment and characteristics of the material reclaimer are basically the same in a short period of time, and the boom stopping buffer distance when reaching the reference pitch speed is basically the same, the buffer distance when the material reclaimer was last aligned with the bottom stack is used as the stopping buffer distance for this time, so as to achieve precise alignment of the material reclaimer's pitch mechanism and precise control of the thickness of the bottom stack.

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

[0195] Example 10

[0196] Based on the above embodiments, such as Figure 7 As shown, a boom ranging device 1 and a pitch angle detection device 2 are installed on the boom of the material reclaimer.

[0197] Specifically, such as Figure 7 and Figure 8As shown, the boom ranging device 1 can be installed at the leading edge of the reclaimer boom to detect the actual distance from the lowest point of the bucket wheel to the ground 3 of the material yard. The boom ranging device 1 is connected to the boom 4 of the reclaimer via a connecting rod 7. By adjusting the ranging device bracket 8, the status of the horizontal monitoring point 9 above the side-loading device can be observed to ensure that the ranging switch 10 remains horizontal to the ground 3 of the material yard. The pitch angle detection device 2 utilizes the equipment's existing pitch encoder to collect the boom pitch angle α and the change value Δα of the boom pitch angle.

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

[0199] Example 11

[0200] This disclosure also provides an apparatus 900 for determining the stack buffer distance, such as... Figure 9 As shown, it includes:

[0201] Module 901 acquires the instantaneous material handling flow rate of the conveyor belt scale before a preset time period.

[0202] The first determining module 902 determines the maximum fluctuation of the bucket wheel body when the material reclaimer is reclaiming material at the bottom layer based on the relationship between the instantaneous material reclaiming flow rate and the material reclaiming flow rate within a preset plurality of operating capacity intervals. The plurality of operating capacity intervals are determined based on the material reclaimer's material reclaiming capacity per unit time.

[0203] The second determining module 903 determines the pitch reference stopping position of the reclaimer based on the maximum fluctuation of the bucket wheel body;

[0204] The third determining module 904 determines the bottom stacking buffer distance of the material reclaimer based on the pitch reference stopping position.

[0205] In some embodiments, the acquisition module 901 can also be used for:

[0206] Get the boom pitch angle of the reclaimer after stacking on the top or middle layer, and the boom pitch angle of the reclaimer during stacking operation on the top or middle layer.

[0207] The change value of the boom pitch angle of the previous stacking machine is determined based on the boom pitch angle after stacking and the boom pitch angle during stacking.

[0208] Based on the change in boom pitch angle and the boom length of the reclaimer, the previous vertical fluctuation value of the bucket wheel of the reclaimer is determined.

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

[0210] Determine whether the instantaneous material intake flow rate is within the target operating capacity range. If so, determine whether the vertical 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 range. Otherwise, determine whether the instantaneous material intake flow rate is within the next operating capacity range, until all operating capacity ranges have been traversed.

[0211] If the vertical fluctuation value of the bucket wheel is greater than the preset maximum fluctuation value of the bucket wheel corresponding to the target operating capacity range, then the vertical fluctuation value of the bucket wheel is taken as the maximum fluctuation value of the bucket wheel of the reclaimer within the target operating capacity range; otherwise, the preset maximum fluctuation value of the bucket wheel is taken as the maximum fluctuation value of the bucket wheel of the reclaimer within the target operating capacity range.

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

[0213] According to the preset work plan, the planned material handling flow rate of the bottom layer operation of the material handling machine is determined;

[0214] If the planned material handling flow rate is within the target operating capacity range, then the pitch reference stopping position of the material handling machine is determined based on the maximum fluctuation of the bucket wheel body corresponding to the target operating capacity range, the bottom stack buffer distance of the previous material handling machine, and the preset safety distance value. Otherwise, the plan material handling flow rate is determined to be within the next operating capacity range, until all operating capacity ranges have been traversed.

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

[0216] Step A: Send a descent command to the reclaimer to lower its boom, and obtain the boom pitch speed and the height of the boom radar above the ground.

[0217] Step B: Determine whether the boom pitch speed of the reclaimer has reached the reference pitch speed. If so, determine whether the height of the reclaimer boom radar above the ground is greater than the pitch reference stopping position of the reclaimer. Otherwise, return to step A.

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

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

[0220] The system obtains the height value of the reclaimer's boom radar above the ground before the stop command is received during the boom descent of the reclaimer during the bottom stacking process, and the height value of the reclaimer's boom radar above the ground after the boom stops moving during the bottom stacking process.

[0221] The bottom stacking buffer distance of the material reclaimer is determined based on the height value before stopping and the height value after stopping.

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

[0223] Obtain the boom pitch angle change value of the reclaimer and the bucket wheel body vertical fluctuation value of the reclaimer.

[0224] When the vertical fluctuation of the bucket wheel of the reclaimer is greater than the preset planned material handling flow of the bottom operation of the reclaimer, the tilt boom of the reclaimer is controlled to raise the target height.

[0225] In this embodiment, the instantaneous material handling flow rate of the reclaimer's belt scale is obtained before a preset time. Based on the relationship between the instantaneous material handling flow rate and the material handling flow rate within multiple preset operating capacity intervals, the maximum fluctuation of the bucket wheel body when the reclaimer is handling material at the bottom is determined. The multiple operating capacity intervals are determined based on the material handling capacity of the reclaimer per unit time. Based on the maximum fluctuation of the bucket wheel body, the pitch reference stopping position of the reclaimer is determined. Based on the pitch reference stopping position, the bottom stack buffer distance of the reclaimer is determined. This saves time and effort in adjusting the boom pitch angle of the reclaimer and also ensures safety during the adjustment process.

[0226] It should be noted that the device for determining the stacking buffer distance is the same as the method for determining the stacking buffer distance described above. All implementation methods in the embodiments of the method for determining the stacking buffer distance described above are applicable to the embodiments of the device for determining the stacking buffer distance, and can achieve the same technical effect.

[0227] Example 12

[0228] Based on 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 embodiments of this example, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the steps of the method described in the above embodiments.

[0230] In some embodiments of this example, a computer program product is provided, including a computer program / instructions, which, when executed by a processor, implements the steps of the method described in the above embodiments.

[0231] The processor may include, but is not limited to, one or more processors or microprocessors. Each processor may be implemented as an Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), controller, microcontroller, microprocessor, or other electronic component, for executing the methods described in the above embodiments.

[0232] Computer-readable storage media can be implemented by any type of volatile or non-volatile storage device or a combination thereof. Computer-readable storage media may include, but are not limited to, random access memory (RAM), read-only memory (ROM), flash memory, EPROM memory, EEPROM memory, registers, and computer storage media (e.g., hard disks, floppy disks, solid-state drives, removable disks, CD-ROMs, DVD-ROMs, Blu-ray discs, etc.).

[0233] Computer-readable storage media may also store at least one computer-executable program / instruction, such as computer-readable instructions. Computer-readable storage media include, but are not limited to, volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory. Computer-readable storage media may include, for example, read-only memory (ROM), hard disk, 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 executes the computer-readable instructions stored on the computer-readable storage medium, the various methods described above can be performed.

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

[0235] The processor can communicate with external devices via the I / O bus through wired or wireless networks.

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

[0237] In the embodiments provided in this disclosure, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0238] It should be noted that, in this disclosure, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element limited by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0239] While the embodiments disclosed herein are as described above, the foregoing content is merely for the purpose of facilitating understanding of this disclosure and is not intended to limit this disclosure. Any person skilled in the art to which this disclosure pertains may make any modifications and changes in form and detail of the implementation without departing from the spirit and scope of this disclosure; however, the scope of patent protection of this disclosure shall still be determined by the scope defined in the appended claims.

Claims

1. A method for determining the buffer distance of a stack, characterized in that, include: Obtain the instantaneous material handling flow rate of the conveyor belt scale before the preset time period; Based on the relationship between the instantaneous material handling flow rate and the material handling flow rate within multiple preset operating capacity intervals, the maximum fluctuation of the bucket wheel body of the material handling machine when handling material at the bottom is determined, and the multiple operating capacity intervals are determined based on the material handling capacity of the material handling machine per unit time. The pitch reference stopping position of the reclaimer is determined based on the maximum fluctuation of the bucket wheel body. Based on the pitch reference stopping position, determine the bottom stacking buffer distance of the reclaimer; The step of determining the maximum fluctuation of the bucket wheel body of the reclaimer when reclaiming material at the bottom layer, based on the relationship between the instantaneous material reclaiming flow rate and the material reclaiming flow rate within multiple preset operating capacity ranges, includes: Determine whether the instantaneous material intake flow rate is within the target operating capacity range. If so, determine whether the vertical 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 range. Otherwise, determine whether the instantaneous material intake flow rate is within the next operating capacity range, until all operating capacity ranges have been traversed. If the vertical fluctuation value of the bucket wheel is greater than the preset maximum fluctuation value of the bucket wheel corresponding to the target operating capacity range, then the vertical fluctuation value of the bucket wheel is taken as the maximum fluctuation value of the bucket wheel of the reclaimer within the target operating capacity range; otherwise, the preset maximum fluctuation value of the bucket wheel is taken as the maximum fluctuation value of the bucket wheel of the reclaimer within the target operating capacity range.

2. The method for determining the stacking buffer distance according to claim 1, characterized in that, Before obtaining the instantaneous material handling flow rate of the conveyor belt scale before the preset time period, the following is also included: Get the boom pitch angle of the reclaimer after stacking on the top or middle layer, and the boom pitch angle of the reclaimer during stacking operation on the top or middle layer. The change value of the boom pitch angle of the previous stacking machine is determined based on the boom pitch angle after stacking and the boom pitch angle during stacking. Based on the change in boom pitch angle and the boom length of the reclaimer, the previous vertical fluctuation value of the bucket wheel of the reclaimer is determined.

3. The method for determining the stacking buffer distance according to claim 1, characterized in that, The pitch reference stopping position of the reclaimer is determined based on the maximum fluctuation of the bucket wheel body, including: According to the preset work plan, the planned material handling flow rate of the bottom layer operation of the material handling machine is determined; If the planned material handling flow rate is within the target operating capacity range, then the pitch reference stopping position of the material handling machine is determined based on the maximum fluctuation of the bucket wheel body corresponding to the target operating capacity range, the bottom stack buffer distance of the previous material handling machine, and the preset safety distance value. Otherwise, the plan material handling flow rate is determined to be within the next operating capacity range, until all operating capacity ranges have been traversed.

4. The method for determining the stacking buffer distance according to claim 1, characterized in that, After determining the pitch reference stopping position of the reclaimer based on the maximum fluctuation of the bucket wheel body, the method further includes: Step A: Send a descent command to the reclaimer to lower its boom, and obtain the boom pitch speed and the height of the boom radar above the ground. Step B: Determine whether the boom pitch speed of the reclaimer has reached the reference pitch speed. If so, determine whether the height of the reclaimer boom radar above the ground is greater than the pitch reference stopping position of the reclaimer. Otherwise, return to step A. Step C: If the height of the boom radar of the reclaimer above the ground is greater than the pitch reference stopping position of the reclaimer, then return to step A; otherwise, send a stop command to the reclaimer to stop the boom of the reclaimer.

5. The method for determining the stacking buffer distance according to claim 4, characterized in that, Based on the aforementioned pitch reference stopping position, determine the bottom stacking buffer distance of the reclaimer, including: The system obtains the height value of the reclaimer's boom radar above the ground before the stop command is received during the boom descent of the reclaimer during the bottom stacking process, and the height value of the reclaimer's boom radar above the ground after the boom stops moving during the bottom stacking process. The bottom stacking buffer distance of the material reclaimer is determined based on the height value before stopping and the height value after stopping.

6. The method for determining the stacking buffer distance according to claim 4, characterized in that, After determining the bottom stack buffer distance of the reclaimer based on the pitch reference stopping position, the process also includes: Obtain the boom pitch angle change value of the reclaimer and the bucket wheel body vertical fluctuation value of the reclaimer. When the vertical fluctuation of the bucket wheel of the reclaimer is greater than the maximum fluctuation of the bucket wheel corresponding to the preset planned material handling flow rate of the bottom operation of the reclaimer, the tilt boom of the reclaimer is controlled to raise the target height value.

7. 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 6.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the method according to any one of claims 1 to 6.

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