Material taking method and equipment of material taking machine, storage medium and computer program

Abstract

The invention relates to a material taking method and device of a material taking machine, a storage medium and a computer program.The material taking method of the material taking machine comprises the steps that material storage yard coordinate points of a surrounding route where a loading machine walks around a stack in a material storage yard and material storage yard coordinate points of a stack bottom curve are obtained; according to the material storage yard coordinate points of the surrounding route and the material storage yard coordinate points of the stack bottom curve, constructing a digital twinborn model of the stack and the surrounding route; according to the digital twinborn model, the rotation speed of the arm frame of the material taking machine and the walking vehicle entering amount of the material taking machine on a walking track are determined; and according to the rotation speed and the walking vehicle entering amount, a material taking machine is controlled to carry out stack bottom material taking on the stack. The accident that the material taking machine collides with stacks and the ground can be avoided, so that the safety of equipment and personnel on a material taking site is ensured, and meanwhile, the production efficiency is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of material reclaiming control, and in particular to a material reclaiming method, device, storage medium and computer program of a material reclaimer. Background Art

[0002] During the bottom-level reclaiming process of the reclaimer, the bucket wheel of the reclaimer needs to maintain a certain safe distance from the ground and cannot completely reclaim the coal pile. After the bottom-level reclaiming is completed, a layer of flat pile bottom will be left. The loader then gathers the flat pile bottom into a slender or round pile bottom. Since the reclaimer cannot detect the shape and position of the slender or round pile bottom, the operator is required to operate the reclaimer on-site to perform positioning and reclaiming operations. Uneven skill levels and unclear vision at night result in low production efficiency. Even improper human operation may cause the reclaimer to collide with the coal pile or the ground, which will have a safety risk and have a serious impact on production. Summary of the invention

[0003] The present invention discloses a material retrieving method, equipment, storage medium and computer program of a reclaimer to solve the problems in the prior art of low production efficiency caused by uneven manual material retrieving skill levels and unclear nighttime vision, as well as safety accidents caused by the reclaimer colliding with a stack or the ground due to improper operation.

[0004] In a first aspect, the present disclosure provides a material reclaiming method of a reclaimer, comprising:

[0005] Obtain the material yard coordinate points of the circumferential route of the loader walking around the stack in the material yard, and the material yard coordinate points of the bottom curve of the stack;

[0006] Constructing a digital twin model of the stacking and the surrounding route according to the material yard coordinate points of the surrounding route and the material yard coordinate points of the bottom curve of the stacking;

[0007] According to the digital twin model, the rotation speed of the reclaimer boom and the travel distance of the reclaimer on the walking track are determined;

[0008] According to the rotation speed and the travel amount, the material reclaimer is controlled to reclaim materials from the bottom of the stack.

[0009] In some embodiments, the step of obtaining the material yard coordinate points of the circumferential route of the loader circling the stack in the material yard and the material yard coordinate points of the bottom curve of the stack includes:

[0010] Receive the geographical coordinate points of the circling route and the geographical coordinate points of the bottom curve of the stack sent by the loader; the geographical coordinate points are obtained in real time after the loader walks around the stack once after stacking;

[0011] Converting the geographical coordinate points of the circumferential route into the material yard coordinate system to generate the material yard coordinate points of the circumferential route;

[0012] The geographical coordinate points of the stack bottom curve are converted into a material yard coordinate system to generate the material yard coordinate points of the stack bottom curve.

[0013] In some embodiments, determining the rotation speed of the reclaimer boom and the amount of travel of the reclaimer on the walking track according to the digital twin model includes:

[0014] According to the material yard coordinate points of the surrounding route in the digital twin model and the body width of the loader, the bottom curve of the stack is corrected to obtain a stack bottom correction curve;

[0015] Performing coordinate conversion processing on the coordinate points of the stack bottom correction curve to obtain the walking path of the reclaimer on the walking track, the rotation angle and the pitch angle of the reclaimer boom;

[0016] According to the walking path, the rotation angle and the pitch angle, the stacking position, the end position, the innermost rotation position and the outermost rotation position of the reclaimer arm are determined when the reclaimer is reclaiming materials;

[0017] After the reclaimer completes the stacking according to the stacking position control, the rotation speed of the reclaimer boom and the travel distance of the reclaimer on the walking track are determined according to the actual pressure value of the bucket wheel of the reclaimer and the preset pressure value of the bucket wheel.

[0018] In some embodiments, the bottom curve of the stack is corrected according to the material yard coordinate points of the surrounding route in the digital twin model and the body width of the loader to obtain the stack bottom correction curve, including:

[0019] According to the width of the loader, the material yard coordinate points of the circumferential route are shrunk by a target distance in the stacking direction to obtain a stacking bottom correction curve;

[0020] The target distance is determined according to the body width of the loader.

[0021] In some embodiments, the coordinate transformation processing is performed on the coordinate points of the stack bottom correction curve to obtain the walking path of the reclaimer on the walking track, the rotation angle of the reclaimer boom and the pitch angle of the reclaimer boom, including:

[0022] Get the boom length of the reclaimer;

[0023] Determine the travel path of the reclaimer on the travel track according to the horizontal coordinate value of each point on the correction curve at the bottom of the stack in the material yard coordinate system;

[0024] Determine the rotation angle of the reclaimer boom according to the ordinate value of each point on the correction curve of the bottom of the stack in the material yard coordinate system and the boom length of the reclaimer;

[0025] The pitch angle of the reclaimer boom is determined according to the Z-axis coordinate value on the correction curve of the bottom of the stack in the material yard coordinate system and the boom length of the reclaimer.

[0026] In some embodiments, the determining of the stacking position, the end position, the innermost rotation position of the reclaimer arm and the outermost rotation position of the reclaimer arm when reclaiming materials according to the walking path, the rotation angle and the pitch angle includes:

[0027] The starting point of the walking path is used as the stacking position when the reclaimer reclaims materials;

[0028] The end point of the walking path is used as the end position of the reclaimer when reclaiming materials;

[0029] The maximum value of the rotation angle is used as the outermost rotation position of the reclaimer when reclaiming materials;

[0030] The minimum value of the rotation angle is used as the innermost rotation position of the reclaimer when reclaiming materials.

[0031] In some embodiments, the determining of the rotation speed of the boom of the reclaimer and the travel distance of the reclaimer on the walking track according to the actual pressure value of the bucket wheel of the reclaimer and the preset pressure value of the bucket wheel includes:

[0032] Step A: Determine whether the actual pressure value of the bucket wheel of the reclaimer exceeds the first target ratio of the preset pressure value of the bucket wheel. If so, determine whether the actual pressure value of the bucket wheel of the reclaimer exceeds the second target ratio of the preset pressure value of the bucket wheel. Otherwise, increase the rotation speed of the reclaimer by the third target ratio, and determine whether the rotation speed of the bucket wheel of the reclaimer reaches the maximum gear.

[0033] Step B: If the rotation speed of the bucket wheel of the reclaimer has reached the maximum gear, determine whether the travel amount of the reclaimer has reached the maximum allowable amount, otherwise, return to step A;

[0034] Step C: if the amount of vehicle entering and exiting the reclaimer has reached the maximum allowable amount, then return to step A; otherwise, after the amount of vehicle entering and exiting the reclaimer is increased by the fourth target ratio, then return to step A;

[0035] Step D: If the actual pressure value of the bucket wheel of the material reclaimer exceeds the second target ratio of the preset pressure value of the bucket wheel, the rotation speed of the material reclaimer is lowered by the fourth target ratio, and it is continuously determined whether the actual pressure value of the bucket wheel of the material reclaimer exceeds the second target ratio of the preset pressure value of the bucket wheel, until the actual pressure value of the bucket wheel of the material reclaimer does not exceed the second target ratio of the preset pressure value of the bucket wheel, and the rotation speed of the boom of the material reclaimer at that time and the travel distance of the material reclaimer on the walking track are determined.

[0036] In a second aspect, the present disclosure provides a computer device, comprising 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 first aspect.

[0037] 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 first aspect when executed by a processor.

[0038] In a fourth aspect, the present disclosure provides a computer program product, comprising a computer program, which implements the steps of the method described in the first aspect when executed by a processor.

[0039] The present disclosure provides a material reclaiming method, device, storage medium and computer program for a reclaimer, which obtains the material yard coordinate points of the circumferential route of the loader walking around the stack in the material yard, and the material yard coordinate points of the bottom curve of the stack; according to the material yard coordinate points of the circumferential route and the material yard coordinate points of the bottom curve of the stack, a digital twin model of the stack and the circumferential route is constructed; according to the digital twin model, the rotation speed of the reclaimer boom and the amount of vehicle travel of the reclaimer on the walking track are determined; according to the rotation speed and the amount of vehicle travel, the reclaimer is controlled to reclaim materials from the bottom of the stack. Accidents of the reclaimer colliding with the stack or the ground can be avoided, thereby ensuring the safety of equipment and personnel at the reclaiming site, while improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The present disclosure will be described in more detail below based on embodiments and with reference to the accompanying drawings:

[0041] Figure 1 A schematic flow chart of a material reclaiming method of a reclaimer provided in an embodiment of the present disclosure;

[0042] Figure 2 A schematic diagram of a reclaimer provided in an embodiment of the present disclosure performing a reclaiming operation on a stack;

[0043] Figure 3 A schematic diagram of a loader provided in an embodiment of the present disclosure performing operations around a stack;

[0044] Figure 4 A schematic diagram of the structure of a reclaimer provided in an embodiment of the present disclosure;

[0045] Figure 5 A schematic cross-sectional view of a modeling digital twin model of a stacked volume provided by an embodiment of the present disclosure;

[0046] Figure 6 A schematic diagram of various positions determined when the reclaimer provided by the embodiment of the present disclosure rotates to reclaim materials;

[0047] Figure 7 A schematic diagram of a reclaimer provided in an embodiment of the present disclosure correcting the bottom of a stack;

[0048] Figure 8 A schematic diagram of the process of stacking a material reclaimer provided in an embodiment of the present disclosure;

[0049] Fig. 9 A schematic diagram of a process for determining the rotation speed of a reclaimer boom and the amount of travel of the reclaimer on a travel track provided in an embodiment of the present disclosure;

[0050] Fig.10 A schematic diagram of a bilateral detection and reversing process for a reclaimer provided in an embodiment of the present disclosure;

[0051] Fig.11 A schematic diagram of a reclaimer bucket wheel jam detection and emergency handling process provided by an embodiment of the present disclosure;

[0052] Fig.12 A schematic diagram of determining whether a reclaimer has completed a reclaiming process provided by an embodiment of the present disclosure;

[0053] Fig.13 Another schematic diagram of a process flow of a material reclaiming method of a reclaimer provided in an embodiment of the present disclosure;

[0054] Fig.14 A schematic diagram of a module of a material reclaiming device of a reclaimer provided in an embodiment of the present disclosure.

[0055] In the drawings, the same reference numerals are used for the same components, and the drawings are not drawn to scale. DETAILED DESCRIPTION

[0056] 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.

[0057] 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.

[0058] 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.

[0059] Embodiment 1

[0060] Figure 1 The following is a schematic diagram of a process flow of a material reclaiming method of a reclaimer provided in an embodiment of the present disclosure. Figure 1 As shown, a material reclaiming method of a reclaimer comprises:

[0061] Step 101, obtaining the material yard coordinate points of the circumferential route of the loader walking around the stack in the material yard, and the material yard coordinate points of the bottom curve of the stack;

[0062] Step 102, constructing a digital twin model of the stacking and the surrounding route according to the material yard coordinate points of the surrounding route and the material yard coordinate points of the stacking bottom curve;

[0063] Step 103, determining the rotation speed of the reclaimer boom and the travel distance of the reclaimer on the walking track according to the digital twin model;

[0064] Step 104, controlling the reclaimer to reclaim materials from the bottom of the stack according to the rotation speed and the travel distance.

[0065] Figure 2 A schematic diagram of a reclaimer according to an embodiment of the present disclosure performing a reclaiming operation on a stack. Figure 3 A schematic diagram of a loader provided in an embodiment of the present disclosure performing operations around a stack, Figure 4 A schematic diagram of the structure of the material reclaimer provided in the embodiment of the present disclosure, as shown in FIG. Figure 2 , Figure 3 and Figure 4 As shown in the figure, during the bottom operation of the reclaimer, the bucket wheel of the reclaimer needs to maintain a certain safety distance from the ground, which makes it impossible to completely remove all the materials in the stack. After the reclaimer completes the bottom layer of the material, a flat layer of the stack will be left, and then the loader will pile up the flat layer of the stack into a pile as shown in the figure. Figure 2 The elongated or round stack bottom shown in .

[0066] like Figure 3 As shown, the loader is controlled to walk around the edge of the stack. While walking, the loader's built-in positioning device is used to obtain the loader's orbital route coordinate data and the boundary coordinate data of the bottom of the stack, and the orbital route coordinate data and the boundary coordinate data of the bottom of the stack are transmitted to the reclaimer control system. By analyzing the orbital route coordinate data and the boundary coordinate data of the bottom of the stack, a digital twin model of the stack is automatically constructed. According to the arm length, bucket wheel body diameter and other data of different reclaimers on the same track, different stacking positions and the inner and outer rotation angles of the reclaimer arm under different walking coordinates are generated. The stack position to edge detection and reversing functions are realized in conjunction with the bucket wheel pressure detection switch, thereby optimizing the bucket wheel jam detection and control, realizing automatic modeling of the reclaimer stack bottom, stacking and reclaiming, avoiding low production efficiency due to uneven skill levels of operators, and avoiding collision of the reclaimer with the stack or on-site staff due to unclear vision at night, thereby improving the reclaiming efficiency of the reclaimer on the basis of ensuring equipment and personal safety.

[0067] It should be noted that the loader can rotate clockwise or counterclockwise when circling the stack, and each rotation can be in the same direction.

[0068] like Figure 4 As shown, the reclaimer includes: a bucket wheel body 1; a material field ground 2; materials 3; a reclaimer arm 4; and a travel track 5.

[0069] In this embodiment, by obtaining the material yard coordinate points of the circumferential route of the loader walking around the stack in the material yard, and the material yard coordinate points of the bottom curve of the stack, a digital twin model of the stack and the circumferential route is constructed according to the material yard coordinate points of the circumferential route and the material yard coordinate points of the bottom curve of the stack. According to the digital twin model, the rotation speed of the boom of the reclaimer and the amount of vehicle travel of the reclaimer on the walking track are determined, and according to the rotation speed and the amount of vehicle travel, the reclaimer is controlled to reclaim materials from the bottom of the stack. Accidents of the reclaimer colliding with the stack or the ground can be avoided, thereby ensuring the safety of equipment and personnel at the reclaiming site and improving production efficiency.

[0070] Embodiment 2

[0071] Figure 5 A schematic cross-sectional view of a digital twin model of the volume of a stack provided in an embodiment of the present disclosure, as shown in FIG. Figure 5 As shown, based on the above embodiment, in step 102, the process of constructing the digital twin model may include:

[0072] Step 1021, obtaining the bottom width K of the stack;

[0073] Step 1022, constructing a digital twin model of the volume of the stack according to the preset material repose angle α of the stack, the preset height H of the stack, and the bottom width K;

[0074] Step 1023: construct a digital twin model of the surrounding route based on the material yard coordinate points of the surrounding route.

[0075] Among them, the preset material repose angle α can be set to 35°; the preset height of the stack, that is, the height of the stack after the loader stacks the materials can be set to between 40% and 60% of the diameter of the bucket wheel of the reclaimer. Setting the preset height of the stack can maximize the operating efficiency of the reclaimer.

[0076] In this embodiment, by constructing a digital twin model and updating the modeling in real time, real-time monitoring of the stacking and loader's circulation route at the work site can be achieved. The staff can understand the real-time working conditions at the work site without going to the work site, and determine the rotation speed of the reclaimer arm required for the reclaimer to reclaim materials from the stack and the amount of travel of the reclaimer on the walking track.

[0077] Embodiment 3

[0078] Based on the above embodiment, step 101 may include:

[0079] Step 1011, receiving the geographical coordinate points of the circling route and the geographical coordinate points of the bottom curve of the stack sent by the loader; the geographical coordinate points are obtained in real time after the loader walks around the stack once after stacking;

[0080] Step 1012, converting the geographical coordinate points of the circumferential route into the material yard coordinate system to generate the material yard coordinate points of the circumferential route;

[0081] Step 1013: convert the geographical coordinate points of the stack bottom curve into the material yard coordinate system to generate the material yard coordinate points of the stack bottom curve.

[0082] It should be noted that the global navigation satellite system (GNSS) receivers, such as high-precision GPS, Beidou and other equipment, can be used to measure geographic coordinates with high precision to obtain more accurate longitude and latitude coordinates. These devices can receive signals from multiple satellites and can improve positioning accuracy through differential positioning and other technologies.

[0083] Since the measurement process may be affected by factors such as signal interference and multipath effects, the measurement results obtained from a single measurement of a geographic coordinate point may have errors. Therefore, multiple measurements can be performed on the same geographic coordinate point and the average value of the measurement results can be determined. This can reduce random errors and thus improve the data accuracy of the geographic coordinate point.

[0084] Specifically, step 101 may include:

[0085] The receiving loader obtains and sends the geographical coordinate points (θ, λ) of the circumferential route in the spherical coordinate system at every preset time period, and the height H corresponding to the geographical coordinate points (θ, λ); wherein θ is the longitude of the circumferential route in the spherical coordinate system, λ is the latitude of the circumferential route in the spherical coordinate system, and H is the height of the circumferential route in the spherical coordinate system.

[0086] Taking the radius R of the earth as the reference, convert the longitude θ of the circumnavigation route in the spherical coordinate system into the horizontal coordinate point X of the ground rectangular coordinate system:

[0087] X=R×cos(θ)×cos(λ )

[0088] Among them, X is the horizontal coordinate point in the ground rectangular coordinate system, θ is the longitude of the circling route in the spherical coordinate system, λ is the latitude of the circling route in the spherical coordinate system, and R is the radius of the earth. The average value of multiple measurement results can be taken as approximately 6371 kilometers.

[0089] Convert the latitude λ of the circumnavigation route in the spherical coordinate system to the ordinate point Y of the ground rectangular coordinate system:

[0090] Y=R×cos(θ)×sin(λ )

[0091] Among them, Y is the ordinate point in the ground rectangular coordinate system, θ is the longitude of the circling route in the spherical coordinate system, λ is the latitude of the circling route in the spherical coordinate system, and R is the radius of the earth. The average value of multiple measurement results can be taken as approximately 6371 kilometers.

[0092] Convert the height H of the circumnavigation route in the spherical coordinate system to the vertical coordinate point Z of the ground rectangular coordinate system:

[0093] Z=R×sin ( θ)

[0094] Among them, Z is the Z-axis coordinate point in the ground rectangular coordinate system, θ is the longitude of the circular route in the spherical coordinate system, and R is the radius of the earth. The average value of multiple measurement results can be taken as approximately 6371 kilometers.

[0095] By measuring with distance meter, theodolite and other measuring tools, it is found that the longitude θ of the circling route in the spherical coordinate system is located at the coordinate point (X1, Y1, Z1) in the ground rectangular coordinate system, and the latitude λ of the circling route in the spherical coordinate system is located at the coordinate point (X2, Y2, Z2) in the ground rectangular coordinate system; wherein, the X-axis of the ground rectangular coordinate system is parallel to the walking track of the reclaimer, the Y-axis of the ground rectangular coordinate system is perpendicular to the walking track of the reclaimer, and the Z-axis of the ground rectangular coordinate system is perpendicular to the ground.

[0096] The coordinate points in the ground rectangular coordinate system are mapped to the material yard coordinate system, and the mapping relationship between the ground rectangular coordinate system and the material yard coordinate system is determined.

[0097] Any coordinate point on the circumferential route in the material yard is converted into a coordinate point of the circumferential route in the material yard coordinate system according to the mapping relationship after the longitude, latitude and altitude are measured by the vehicle-mounted positioning device of the loader.

[0098] In this embodiment, the loader walks around the stack to obtain the geographic coordinate points of the stack and the surrounding route, and converts the geographic coordinate points into the material yard coordinate system to generate the material yard coordinate points corresponding to the geographic coordinate points. In this way, the coordinate point data collected on the spot by the loader provides basic parameters for the modeling of the digital twin model, which is not only simple to calculate, but also more accurate.

[0099] Embodiment 4

[0100] Figure 6A schematic diagram of various positions determined when the reclaimer provided in the embodiment of the present disclosure rotates to reclaim materials, such as Figure 6 As shown, based on the above embodiment, step 103 may include:

[0101] Step 1031, according to the material yard coordinate points of the surrounding route in the digital twin model and the body width of the loader, the bottom curve of the stack is corrected to obtain a stack bottom correction curve;

[0102] Step 1032, coordinate conversion processing is performed on the coordinate points of the stack bottom correction curve to obtain the walking path of the reclaimer on the walking track, the rotation angle and the pitch angle of the reclaimer boom;

[0103] Step 1033, determining the stacking position, the end position, the innermost rotation position and the outermost rotation position of the reclaimer arm when reclaiming materials according to the walking path, the rotation angle and the pitch angle;

[0104] Step 1034, after the reclaimer is controlled to complete the stacking according to the stacking position, the rotation speed of the reclaimer boom and the travel distance of the reclaimer on the walking track are determined according to the actual pressure value of the bucket wheel of the reclaimer and the preset pressure value of the bucket wheel.

[0105] It should be noted that if Figure 6 As shown, the arc formed by the rotation of the reclaimer arm is tangent to the stack in the vertical projection direction, and the tangent point is the stack position when the reclaimer is reclaiming materials.

[0106] In this embodiment, by determining the appropriate boom rotation speed of the reclaimer and the vehicle feed volume, the reclaimer can complete more reclaiming tasks per unit time, reduce the operation time, achieve efficient material handling, and improve production efficiency; the power output of the motor can be reduced, which not only reduces energy consumption, but also reduces operating costs, reduces equipment wear and heat, and extends the service life of the equipment; the stability of the reclaimer during operation can be ensured, and the movement of the reclaimer can be accurately controlled within a limited space to reduce the risk of collision, thereby ensuring the equipment safety of the reclaimer and the personal safety of the staff; the reclaimer can grab materials more evenly during the reclaiming process, reduce the breakage and scattering of materials, ensure that the grabbed materials meet the process requirements, and improve the quality and stability of the materials.

[0107] Embodiment 5

[0108] Figure 7 A schematic diagram of a reclaimer providing an embodiment of the present disclosure correcting the bottom of a stack, as shown in FIG. Figure 7 As shown, based on the above embodiment, step 1031 may include:

[0109] Step 10311, shrinking the material yard coordinate points of the circumferential route toward the stacking direction by a target distance according to the body width of the loader, to obtain a stacking bottom correction curve;

[0110] Step 10312, the target distance is determined based on the body width of the loader.

[0111] Specifically, according to the body width B of the loader, the material yard coordinate points of the surrounding route in the digital twin model are simultaneously shrunk by a distance of B / 2 in the stacking direction to obtain a correction curve for the bottom of the stack;

[0112] In this embodiment, by correcting the bottom of the stack, errors caused by various factors can be avoided. The data can be adjusted and optimized through correction to make the data closer to the true value, thereby improving the accuracy of the data and further improving the accuracy of the digital twin model. The more accurate the digital twin model is, the more accurate the decision on judging the operating parameters of the reclaimer will be, and the operating decision can be optimized.

[0113] Embodiment 6

[0114] Based on the above embodiment, step 1032 may include:

[0115] Step 10321, obtaining the boom length of the reclaimer;

[0116] Step 10322, determining the walking path of the reclaimer on the walking track according to the horizontal coordinate value of each point on the stack bottom correction curve in the material yard coordinate system;

[0117] Step 10323, determining the rotation angle of the boom of the reclaimer according to the ordinate value of each point on the correction curve of the bottom of the stack in the material yard coordinate system and the boom length of the reclaimer;

[0118] Step 10324, determining the pitch angle of the reclaimer boom according to the Z-axis coordinate value on the stack bottom correction curve in the material yard coordinate system and the boom length of the reclaimer.

[0119] Specifically, the arm length L of the reclaimer is obtained;

[0120] According to the horizontal coordinate value on the correction curve at the bottom of the stack in the material yard coordinate system, the calculation formula for determining the walking path of the reclaimer on the walking track is as follows:

[0121] S=X+A

[0122] Among them, S is the walking path of the reclaimer, X is the horizontal coordinate value on the correction curve of the bottom of the stack in the material yard coordinate system, and A is a constant, which is used as the compensation value;

[0123] Y=L×sinα+B

[0124]

[0125] Among them, α is the rotation angle of the reclaimer boom, Y is the ordinate on the correction curve of the bottom of the pile in the material yard coordinate system, B is a constant as a compensation value, and L is the length of the reclaimer boom;

[0126] Z=L×sinβ+C

[0127]

[0128] Among them, β is the pitch angle of the reclaimer boom, Z is the Z-axis coordinate on the correction curve of the bottom of the stack in the material yard coordinate system, C is a constant as a compensation value, and L is the length of the reclaimer boom.

[0129] In this embodiment, by determining the walking path of the reclaimer on the walking track, the rotation angle of the reclaimer arm and the pitch angle of the reclaimer arm, it is possible to ensure that the reclaimer can perform accurate and efficient material reclaiming operations on the stack on the walking track, which can not only improve the efficiency of the material reclaiming operation, but also ensure the safety of equipment and personnel.

[0130] Embodiment 7

[0131] Based on the above embodiment, step 1033 may include:

[0132] Step 10331, taking the starting point of the walking path as the stacking position when the reclaimer reclaims materials;

[0133] Step 10332, taking the end point of the walking path as the end position of the reclaimer when reclaiming materials;

[0134] Step 10333, taking the maximum value of the rotation angle as the outermost rotation position of the reclaimer when reclaiming materials;

[0135] Step 10334, taking the minimum value of the rotation angle as the innermost rotation position of the reclaimer when reclaiming materials.

[0136] Specifically, on the bottom curve of the stack, the starting point of the reclaimer's walking path is the stacking position when the reclaimer is reclaiming materials, and the end point of the reclaimer's walking path is the end position when the reclaimer is reclaiming materials. When the position of the reclaimer on the walking track is determined, the maximum value of the reclaimer arm's rotation angle is the outermost rotation position when the reclaimer is reclaiming materials, and the minimum value of the reclaimer arm's rotation angle is the innermost rotation position when the reclaimer is reclaiming materials.

[0137] Among them, the outermost rotation position is the outermost rotation position of the stack, and the innermost rotation position is the innermost rotation position of the stack. When the rotation position of the grabber arm exceeds the outermost rotation position or the innermost rotation position, it will exceed the position of the stack and cannot pick up materials, causing the bucket wheel of the grabber to idle. By determining the innermost rotation position and the outermost rotation position, the grabber can be accurately aligned to avoid idling of the equipment, thereby saving energy, improving operating efficiency, and extending the service life of the grabber.

[0138] In this embodiment, by determining the stacking position, end position, outermost rotation position and innermost rotation position of the reclaimer when reclaiming materials, the reclaimer can achieve precise positioning of the materials and avoid idling of the equipment, thereby saving energy, improving operating efficiency and extending the service life of the reclaimer.

[0139] Embodiment 8

[0140] Figure 8 A schematic diagram of the process of stacking a material reclaimer provided in an embodiment of the present disclosure, such as Figure 8 As shown, based on the above embodiment, after step 10331, it also includes: a process of stacking by a material taking machine;

[0141] Step 801, taking the stacking position as the target position, and controlling the reclaimer to stack;

[0142] Step 802, determine whether the material reclaimer reaches the stacking position, if so, the stacking is completed, and the material reclaimer can be controlled to perform material reclaiming operation on the stack, otherwise return to step 801.

[0143] In this embodiment, accurate material removal from the stack can be achieved by determining the stacking position, thereby avoiding idling of equipment, improving production efficiency, and saving energy.

[0144] Embodiment 9

[0145] Fig. 9 A schematic diagram of a process for determining the rotation speed of the boom of a reclaimer and the amount of travel of the reclaimer on the walking track provided in an embodiment of the present disclosure, such as Fig. 9 As shown, based on the above embodiment, step 1034 may include:

[0146] Step A: Determine whether the actual pressure value of the bucket wheel of the reclaimer exceeds the first target ratio of the preset pressure value of the bucket wheel. If so, determine whether the actual pressure value of the bucket wheel of the reclaimer exceeds the second target ratio of the preset pressure value of the bucket wheel. Otherwise, increase the rotation speed of the reclaimer by the third target ratio, and determine whether the rotation speed of the bucket wheel of the reclaimer reaches the maximum gear.

[0147] Step B: If the rotation speed of the bucket wheel of the reclaimer has reached the maximum gear, determine whether the travel amount of the reclaimer has reached the maximum allowable amount, otherwise, return to step A;

[0148] Step C: if the amount of vehicle entering and exiting the reclaimer has reached the maximum allowable amount, then return to step A; otherwise, after the amount of vehicle entering and exiting the reclaimer is increased by the fourth target ratio, then return to step A;

[0149] Step D: If the actual pressure value of the bucket wheel of the reclaimer exceeds the second target ratio of the preset pressure value of the bucket wheel, the rotation speed of the reclaimer is adjusted down by the fourth target ratio, and the actual pressure value of the bucket wheel of the reclaimer is continuously judged whether it exceeds the second target ratio of the preset pressure value of the bucket wheel, until the actual pressure value of the bucket wheel of the reclaimer does not exceed the second target ratio of the preset pressure value of the bucket wheel, the rotation speed of the reclaimer boom at that time, and the amount of vehicle travel of the reclaimer on the walking track are determined, and according to the rotation speed of the reclaimer boom at that time, and the amount of vehicle travel of the reclaimer on the walking track, the reclaimer is controlled to perform the next round of reclaiming operation, and the bilateral detection and reversing of the reclaimer, as well as the bucket wheel jam detection and emergency handling process are performed during the next round of reclaiming.

[0150] It should be noted that the first target ratio may be 95%, the second target ratio may be 105%, the third target ratio may be 10%, and the fourth target ratio may be 15%.

[0151] It is worth noting that the preset pressure value of the bucket wheel is determined based on the planned instantaneous flow rate of the reclaimer. The actual pressure value of the bucket wheel is linearly related to the instantaneous flow rate, that is, the greater the actual pressure value of the bucket wheel, the greater the instantaneous flow rate of the reclaimer. After the last reclaiming operation of the reclaimer, the linear relationship between the bucket wheel pressure and the instantaneous flow rate of the reclaimer during this reclaiming operation can be automatically adjusted based on the reclaimer belt scale and the bucket wheel pressure value, and the preset pressure value of the bucket wheel can be calculated through the planned instantaneous flow rate.

[0152] In this embodiment, by controlling the actual pressure value of the bucket wheel of the material reclaimer within the target pressure range, excessive wear of the bucket wheel can be prevented and the service life of the bucket wheel can be extended. If the bucket wheel pressure value is too low, the material may not be effectively grabbed. If the bucket wheel pressure value is too high, the material may be broken or splashed, affecting the material reclaiming effect. By determining the appropriate bucket wheel pressure value, the bucket wheel can better grab the material, achieve efficient and stable material reclaiming, improve work efficiency, and ensure work safety.

[0153] Embodiment 10

[0154] Fig.10 A schematic diagram of a bilateral detection and reversing process for a reclaimer provided in an embodiment of the present disclosure, such as Fig.10As shown, based on the above embodiment, the specific process of the reclaimer performing bilateral detection and reversing may include:

[0155] Control the reclaimer to rotate in one direction to reclaim materials, and determine whether the actual pressure value of the bucket wheel decreases to the no-load pressure value in a slope. If so, it is determined that the reclaimer has reached the edge and the reclaimer is controlled to change direction. Otherwise, the reclaimer is controlled to continue rotating in one direction to reclaim materials.

[0156] Determine whether the rotation angle of the reclaimer arm reaches the maximum inner rotation angle and the maximum outer rotation angle. If so, determine that the reclaimer has reached the edge and control the reclaimer to change direction. Otherwise, control the reclaimer to continue rotating in one direction to reclaim materials.

[0157] In this embodiment, during the rotation process, the arm of the reclaimer detects whether the actual pressure value of the bucket wheel drops to the no-load pressure value in a slope. If so, it is determined that the reclaimer has reached the edge and needs to change direction, otherwise the reclaimer is controlled to continue rotating to retrieve materials. Through the digital twin model of the reclaimer's walking path and stacking, the maximum inner rotation angle and the maximum outer rotation angle of the reclaimer can be determined to determine whether the reclaimer's rotation angle reaches the maximum inner rotation angle and the maximum outer rotation angle. If so, it is determined that the reclaimer has reached the edge and needs to change direction, otherwise the reclaimer is controlled to continue rotating to retrieve materials. In this way, the reclaimer can be detected to the edge. When it is detected that the reclaimer has reached the edge, the reclaimer is promptly controlled to change direction to avoid idling of the equipment, thereby saving energy, improving production efficiency, and extending the service life of the reclaimer.

[0158] Embodiment 11

[0159] Fig.11 A schematic diagram of a reclaimer bucket wheel jam detection and emergency handling process provided by an embodiment of the present disclosure, such as Fig.11 As shown, based on the above embodiment, the specific process of detecting and handling bucket wheel jam of the reclaimer may include:

[0160] Control the reclaimer to rotate and reclaim materials, and determine whether the bucket wheel speed is lower than the reference speed. If so, control the reclaimer to stop rotating and record the rotation speed V1 at that time. Otherwise, control the reclaimer to continue rotating and reclaim materials.

[0161] Determine whether the oil inlet pressure value of the bucket wheel motor of the reclaimer is lower than the cut-off pressure value. If so, control the reclaimer to stop rotating and record the rotating speed V1 at that time. Otherwise, control the reclaimer to continue rotating to reclaim materials.

[0162] After controlling the reclaimer to stop rotating and recording the rotation speed V1 at that time, determine whether the bucket wheel speed is equal to the speed reference value. If so, control the reclaimer to stop rotating and record the rotation speed V1 at that time. Otherwise, control the reclaimer to adjust the rotation speed to the fifth target ratio of the rotation speed V1 when the reclaimer stopped last time. The fifth target ratio can be 90%.

[0163] In this embodiment, a double stall detection is performed by the bucket wheel speed of the material reclaimer and the oil inlet pressure value of the bucket wheel motor. The bucket wheel speed detection device of the material reclaimer determines whether the current speed is lower than the reference speed. If so, the material reclaimer is controlled to stop rotating and the rotation speed V1 at that time is recorded. After the bucket wheel speed is equal to the speed reference value, the material reclaimer is controlled to start rotating again, and the rotation speed is adjusted to 90% of the rotation speed V1 at the last stop. Otherwise, it indicates that the material reclaimer is not stalled. By detecting whether the current oil inlet pressure value of the bucket wheel motor is lower than the cutoff pressure value, if so, the rotation is stopped and the rotation speed V1 at that time is recorded. After the bucket wheel speed is equal to the speed reference value, the material reclaimer is controlled to start rotating again, and the rotation speed is adjusted to 90% of the rotation speed V1 at the last stop. It indicates that the material reclaimer is not stalled. In this way, the stall detection of the material reclaimer can be realized, and the stall of the material reclaimer can be avoided, thereby protecting the equipment safety of the material reclaimer and the personal safety of the staff, improving production efficiency, optimizing equipment operation, and realizing intelligent management of equipment.

[0164] Embodiment 12

[0165] Fig.12 A schematic diagram of determining whether a reclaimer has completed a reclaiming process is provided in an embodiment of the present disclosure, such as Fig.12 As shown, based on the above embodiment, the process of judging whether the reclaimer has completed the reclaiming process may include:

[0166] Step 1201, determine whether the material reclaimer has reached the end position, if so, control the material reclaimer to end reclaiming, otherwise, determine whether the cumulative amount of the material reclaiming operation of the material reclaimer has reached the planned task amount, if so, control the material reclaimer to end reclaiming, and record the stacking position during this material reclaiming as the stacking position for the next material reclaiming by the material reclaimer, otherwise, control the material reclaimer to continue reclaiming until the cumulative amount of the material reclaiming operation of the material reclaimer has reached the planned task amount, and control the material reclaimer to end reclaiming.

[0167] It should be noted that after the reclaimer completes the material reclaiming task, it records the walking path of the reclaimer on the walking track, the rotation angle and the pitch angle of the reclaimer arm as the target position for the next stacking, and converts it to the ground rectangular coordinate system. There can be at least two reclaimers on the same track. When the reclaimer needs to perform stacking, it needs to perform coordinate conversion based on its own process data, convert the coordinate point position data in the ground rectangular coordinate system to the walking path of the reclaimer on the walking track, the rotation angle and the pitch angle of the reclaimer arm, and then perform the next reclaiming operation.

[0168] It is worth noting that when the reclaimer starts to reclaim materials according to the planned instantaneous flow rate, it starts the cantilever belt conveyor, rotates the bucket wheel, walks into the car for an appropriate distance, and reclaims materials by rotating the boom. The distance between the walk and the car should not be too large, and an appropriate safety distance should be ensured between the boom head roller and the stack.

[0169] In this embodiment, by judging whether the accumulated amount of the reclaiming operation of the reclaimer reaches the planned task amount, it can be ensured that the reclaimer actually completes the operation plan.

[0170] Embodiment 13

[0171] Fig.13 Another schematic diagram of a process flow of a material reclaiming method of a reclaimer provided in an embodiment of the present disclosure, such as Fig.13 As shown, based on the above embodiments, this embodiment provides an application example.

[0172] The specific implementation process of the reclaiming method of the reclaimer may include:

[0173] When the reclaimer completes the last reclaiming task, a layer of flat pile bottom will be left, and the loader will be controlled to stack the flat pile bottom;

[0174] After the loader completes the stacking task, it circles the stack to obtain the geographical coordinates of the bottom of the stack and the loader's circling route in real time;

[0175] According to the geographic coordinate point, it is determined whether the loader has returned to the starting point. If so, the physical coordinate point is converted into the material yard coordinate system to generate the material yard coordinate point. Otherwise, the loader is controlled to continue to circle and obtain the geographic coordinate points at the bottom of the stack and the circle road where the loader is walking in real time;

[0176] The physical coordinate points are converted into the material yard coordinate system. After the material yard coordinate points are generated, a digital twin model including the loader's surrounding route and stacking is constructed based on the material yard coordinate points.

[0177] According to the coordinate points of the surrounding route in the digital twin model and the width of the vehicle body installed on the machine, the bottom curve of the pile is corrected to obtain the bottom correction curve of the pile;

[0178] The coordinate position of the bottom correction curve of the stack is subjected to coordinate conversion processing to obtain the walking path of the reclaimer on the walking track, the rotation angle and the pitch angle of the reclaimer arm;

[0179] According to the travel distance, the rotation angle and the pitch angle, determine the stacking position, the end position, the innermost rotation position and the outermost rotation position of the arm of the reclaimer when the reclaimer is reclaiming materials;

[0180] After the reclaimer completes the stacking according to the stacking position control, the rotation speed and travel distance of the reclaimer bucket wheel are determined according to the actual pressure value of the reclaimer bucket wheel and the preset pressure value of the bucket wheel;

[0181] According to the rotation speed and the amount of vehicle travel, the reclaimer is controlled to reclaim materials from the stack.

[0182] In this embodiment, the material reclaiming method of the reclaimer can avoid accidents such as the reclaimer colliding with the stack or the ground, thereby ensuring the safety of equipment and personnel at the material reclaiming site and improving production efficiency.

[0183] Embodiment 14

[0184] On the basis of the above embodiments, the scheme disclosed in the present invention includes two parts: mechanical mechanism design and control scheme design, wherein the mechanical mechanism includes: a stack bottom automatic modeling device, a wheel bucket angle precise positioning device and a bucket wheel pressure detection device.

[0185] The bucket wheel pressure detection device is installed at the oil inlet of the bucket wheel motor of the reclaimer to detect the oil inlet pressure of the bucket wheel hydraulic system motor and grasp the load changes in real time.

[0186] The automatic modeling device for the bottom of the stack includes: a loader, a positioning module and an antenna.

[0187] The positioning module can be placed inside the driver's cab of the loader, and the antenna can be placed just above the middle of the driver's cab.

[0188] When the loader has completed stacking and is close to the material pile, it informs the reclaimer that the stacking is complete and starts modeling the bottom of the pile. The loader begins to circle around the long or circular bottom of the pile and returns to the origin to inform the reclaimer that the modeling of the bottom of the pile is complete. With the help of the automatic modeling device for the bottom of the pile, the width deviation of the loader body is eliminated to complete the plane modeling of the bottom of the pile. Combined with the material repose angle α, the height of the bottom of the pile can be given a default value H, the default height of the bottom of the pile H, and the width of the bottom of the pile K, thereby completing the volume modeling of the bottom of the pile. The default height of the bottom of the pile H and the width of the bottom of the pile K are generally between 40% and 60% of the diameter of the bucket wheel body. In this height range, the reclaimer has a higher operating efficiency, and the loader stacking height is generally required to comply with the above standards.

[0189] The present invention ingeniously uses the loader's built-in positioning system and the circling method to complete the automatic modeling and analysis of the pile bottom through coordinate conversion, and calculates the maximum and minimum rotation angles of the reclaimer for the pile position, the end position of reclaiming, and different walking positions, thereby solving the problem that the reclaimer cannot detect the shape and position of the pile bottom and needs to be operated on the machine, thereby ensuring the safety of personnel and reducing labor intensity.

[0190] A solution for double detection from the stack position to the edge was proposed, which dynamically adjusted the linear relationship of automatic material reclaiming, optimized bucket wheel jam detection and control, improved the production efficiency of automatic material reclaiming at the bottom of the stack, and eliminated the safety risks caused by bucket wheel jamming and colliding with the ground.

[0191] The mechanical and electrical components involved in the embodiments of the present disclosure are relatively simple, easy to maintain, convenient to use, easy to get started, and have extremely high promotion value.

[0192] Embodiment 15

[0193] Fig.14 is a schematic diagram of a module of a reclaimer device provided by the present disclosure, such as Fig.14 As shown, a reclaiming device 140 of a reclaimer includes:

[0194] An acquisition module 141 is used to acquire the material yard coordinate points of the circumferential route of the loader walking around the stack in the material yard, and the material yard coordinate points of the curve at the bottom of the stack;

[0195] A construction module 142, for constructing a digital twin model of the stack and the surrounding route according to the material yard coordinate points of the surrounding route and the material yard coordinate points of the stack bottom curve;

[0196] A determination module 143 is used to determine the rotation speed of the boom of the reclaimer and the amount of travel of the reclaimer on the walking track according to the digital twin model;

[0197] The control module, 144, is used to control the material reclaimer to reclaim materials from the bottom of the stack according to the rotation speed and the amount of vehicle travel.

[0198] In some embodiments, the acquisition module 141 may be used to:

[0199] Receive the geographical coordinate points of the circling route and the geographical coordinate points of the bottom curve of the stack sent by the loader; the geographical coordinate points are obtained in real time after the loader walks around the stack once after stacking;

[0200] Converting the geographical coordinate points of the circumferential route into the material yard coordinate system to generate the material yard coordinate points of the circumferential route;

[0201] The geographical coordinate points of the stack bottom curve are converted into a material yard coordinate system to generate the material yard coordinate points of the stack bottom curve.

[0202] In some embodiments, the determination module 142 may be used to:

[0203] According to the material yard coordinate points of the surrounding route in the digital twin model and the body width of the loader, the bottom curve of the stack is corrected to obtain a stack bottom correction curve;

[0204] Performing coordinate conversion processing on the coordinate points of the stack bottom correction curve to obtain the walking path of the reclaimer on the walking track, the rotation angle and the pitch angle of the reclaimer boom;

[0205] According to the walking path, the rotation angle and the pitch angle, the stacking position, the end position, the innermost rotation position and the outermost rotation position of the reclaimer arm are determined when the reclaimer is reclaiming materials;

[0206] After the reclaimer completes the stacking according to the stacking position control, the rotation speed of the reclaimer boom and the travel distance of the reclaimer on the walking track are determined according to the actual pressure value of the bucket wheel of the reclaimer and the preset pressure value of the bucket wheel.

[0207] In some embodiments, the determination module 143 may also be used to:

[0208] According to the width of the loader, the material yard coordinate points of the circumferential route are shrunk by a target distance in the stacking direction to obtain a stacking bottom correction curve;

[0209] The target distance is determined according to the body width of the loader.

[0210] In some embodiments, the determination module 143 may also be used to:

[0211] Get the boom length of the reclaimer;

[0212] Determine the travel path of the reclaimer on the travel track according to the horizontal coordinate value of each point on the correction curve at the bottom of the stack in the material yard coordinate system;

[0213] Determine the rotation angle of the reclaimer boom according to the ordinate value of each point on the correction curve of the bottom of the stack in the material yard coordinate system and the boom length of the reclaimer;

[0214] The pitch angle of the reclaimer boom is determined according to the Z-axis coordinate value on the correction curve of the bottom of the stack in the material yard coordinate system and the boom length of the reclaimer.

[0215] In some embodiments, the determination module 143 may also be used to:

[0216] The starting point of the walking path is used as the stacking position when the reclaimer reclaims materials;

[0217] The end point of the walking path is used as the end position of the reclaimer when reclaiming materials;

[0218] The maximum value of the rotation angle is used as the outermost rotation position of the reclaimer when reclaiming materials;

[0219] The minimum value of the rotation angle is used as the innermost rotation position of the reclaimer when reclaiming materials.

[0220] In some embodiments, the determination module 143 may also be used to:

[0221] Step A: Determine whether the actual pressure value of the bucket wheel of the reclaimer exceeds the first target ratio of the preset pressure value of the bucket wheel. If so, determine whether the actual pressure value of the bucket wheel of the reclaimer exceeds the second target ratio of the preset pressure value of the bucket wheel. Otherwise, increase the rotation speed of the reclaimer by the third target ratio, and determine whether the rotation speed of the bucket wheel of the reclaimer reaches the maximum gear.

[0222] Step B: If the rotation speed of the bucket wheel of the reclaimer has reached the maximum gear, determine whether the travel amount of the reclaimer has reached the maximum allowable amount, otherwise, return to step A;

[0223] Step C: if the amount of vehicle entering and exiting the reclaimer has reached the maximum allowable amount, then return to step A; otherwise, after the amount of vehicle entering and exiting the reclaimer is increased by the fourth target ratio, then return to step A;

[0224] Step D: If the actual pressure value of the bucket wheel of the material reclaimer exceeds the second target ratio of the preset pressure value of the bucket wheel, the rotation speed of the material reclaimer is lowered by the fourth target ratio, and it is continuously determined whether the actual pressure value of the bucket wheel of the material reclaimer exceeds the second target ratio of the preset pressure value of the bucket wheel, until the actual pressure value of the bucket wheel of the material reclaimer does not exceed the second target ratio of the preset pressure value of the bucket wheel, and the rotation speed of the boom of the material reclaimer at that time and the travel distance of the material reclaimer on the walking track are determined.

[0225] In this embodiment, the reclaiming device of the reclaimer can avoid accidents in which the reclaimer collides with a stack or the ground, thereby ensuring the safety of equipment and personnel at the reclaiming site and improving production efficiency.

[0226] Embodiment 16

[0227] 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.

[0228] 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.

[0229] 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.

[0230] 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.

[0231] 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.).

[0232] 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.

[0233] 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.

[0234] The processor may communicate with external devices via an I / O bus via a wired or wireless network.

[0235] 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.

[0236] 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.

[0237] 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.

[0238] 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 material reclaiming method of a reclaimer, characterized in that: include: Obtain the material yard coordinate points of the circumferential route of the loader walking around the stack in the material yard, and the material yard coordinate points of the bottom curve of the stack; Constructing a digital twin model of the stacking and the surrounding route according to the material yard coordinate points of the surrounding route and the material yard coordinate points of the bottom curve of the stacking; According to the digital twin model, the rotation speed of the reclaimer boom and the travel distance of the reclaimer on the walking track are determined; According to the rotation speed and the travel amount, the material reclaimer is controlled to reclaim materials from the bottom of the stack.

2. The material reclaiming method of the reclaimer according to claim 1, characterized in that: The method of obtaining the material yard coordinate points of the circumferential route of the loader circling the stack in the material yard and the material yard coordinate points of the bottom curve of the stack includes: Receive the geographical coordinate points of the circling route and the geographical coordinate points of the bottom curve of the stack sent by the loader; the geographical coordinate points are obtained in real time after the loader walks around the stack once after stacking; Converting the geographical coordinate points of the circumferential route into the material yard coordinate system to generate the material yard coordinate points of the circumferential route; The geographical coordinate points of the stack bottom curve are converted into a material yard coordinate system to generate the material yard coordinate points of the stack bottom curve.

3. The material reclaiming method of the reclaimer according to claim 1, characterized in that: Determining the rotation speed of the boom of the reclaimer and the amount of travel of the reclaimer on the walking track according to the digital twin model includes: According to the material yard coordinate points of the surrounding route in the digital twin model and the body width of the loader, the bottom curve of the stack is corrected to obtain a stack bottom correction curve; Performing coordinate conversion processing on the coordinate points of the stack bottom correction curve to obtain the walking path of the reclaimer on the walking track, the rotation angle and the pitch angle of the reclaimer boom; According to the walking path, the rotation angle and the pitch angle, the stacking position, the end position, the innermost rotation position and the outermost rotation position of the reclaimer arm are determined when the reclaimer is reclaiming materials; After the reclaimer completes the stacking according to the stacking position control, the rotation speed of the reclaimer boom and the travel distance of the reclaimer on the walking track are determined according to the actual pressure value of the bucket wheel of the reclaimer and the preset pressure value of the bucket wheel.

4. The material reclaiming method of the reclaimer according to claim 3, characterized in that: The method of correcting the bottom curve of the stack according to the material yard coordinate points of the surrounding route in the digital twin model and the body width of the loader to obtain the stack bottom correction curve includes: According to the width of the loader, the material yard coordinate points of the circumferential route are shrunk by a target distance in the stacking direction to obtain a stacking bottom correction curve; The target distance is determined according to the body width of the loader.

5. The material reclaiming method of the reclaimer according to claim 3, characterized in that: The coordinate transformation process is performed on the coordinate points of the stack bottom correction curve to obtain the walking path of the reclaimer on the walking track, the rotation angle of the reclaimer boom and the pitch angle of the reclaimer boom, including: Get the boom length of the reclaimer; Determine the travel path of the reclaimer on the travel track according to the horizontal coordinate value of each point on the correction curve at the bottom of the stack in the material yard coordinate system; Determine the rotation angle of the reclaimer boom according to the ordinate value of each point on the correction curve of the bottom of the stack in the material yard coordinate system and the boom length of the reclaimer; The pitch angle of the reclaimer boom is determined according to the Z-axis coordinate value on the correction curve of the bottom of the stack in the material yard coordinate system and the boom length of the reclaimer.

6. The material reclaiming method of the reclaimer according to claim 3, characterized in that: The method of determining the stacking position, the end position, the innermost rotation position of the arm of the reclaimer and the outermost rotation position of the arm of the reclaimer when reclaiming materials according to the walking path, the rotation angle and the pitch angle includes: The starting point of the walking path is used as the stacking position when the reclaimer reclaims materials; The end point of the walking path is used as the end position of the reclaimer when reclaiming materials; The maximum value of the rotation angle is used as the outermost rotation position of the reclaimer when reclaiming materials; The minimum value of the rotation angle is used as the innermost rotation position of the reclaimer when reclaiming materials.

7. The material reclaiming method of the reclaimer according to claim 3, characterized in that: Determining the rotation speed of the boom of the reclaimer and the travel amount of the reclaimer on the walking track according to the actual pressure value of the bucket wheel of the reclaimer and the preset pressure value of the bucket wheel includes: Step A: Determine whether the actual pressure value of the bucket wheel of the reclaimer exceeds the first target ratio of the preset pressure value of the bucket wheel. If so, determine whether the actual pressure value of the bucket wheel of the reclaimer exceeds the second target ratio of the preset pressure value of the bucket wheel. Otherwise, increase the rotation speed of the reclaimer by the third target ratio, and determine whether the rotation speed of the bucket wheel of the reclaimer reaches the maximum gear. Step B: If the rotation speed of the bucket wheel of the reclaimer has reached the maximum gear, determine whether the travel amount of the reclaimer has reached the maximum allowable amount, otherwise, return to step A; Step C: if the amount of vehicle entering and exiting the reclaimer has reached the maximum allowable amount, then return to step A; otherwise, after the amount of vehicle entering and exiting the reclaimer is increased by the fourth target ratio, then return to step A; Step D: If the actual pressure value of the bucket wheel of the material reclaimer exceeds the second target ratio of the preset pressure value of the bucket wheel, the rotation speed of the material reclaimer is lowered by the fourth target ratio, and it is continuously determined whether the actual pressure value of the bucket wheel of the material reclaimer exceeds the second target ratio of the preset pressure value of the bucket wheel, until the actual pressure value of the bucket wheel of the material reclaimer does not exceed the second target ratio of the preset pressure value of the bucket wheel, and the rotation speed of the boom of the material reclaimer at that time and the travel distance of the material reclaimer on the walking track are determined.

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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