State monitoring method and device of stacker-reclaimer, electronic equipment and storage medium

Abstract

The invention provides a state monitoring method and device of a stacker-reclaimer, electronic equipment and a storage medium, and the state monitoring method of the stacker-reclaimer comprises the following steps: constructing a digital twin model of the stacker-reclaimer, the digital twin model comprises a bucket-wheel mechanism model, a cantilever sealing-tape machine model, a pitching mechanism model, a slewing mechanism model and a material pile model; acquiring operation state parameters of the stacker-reclaimer, wherein the operation state parameters comprise the actual reclaiming flow of the stacker-reclaimer; obtaining a material taking amount error according to the target material taking flow and the actual material taking flow; and setting operation state parameters of the stacker-reclaimer according to the reclaiming amount error. According to the state monitoring method and device of the stacker-reclaimer, the electronic equipment and the storage medium, the monitoring precision of the stacker-reclaimer can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of industrial equipment monitoring, and in particular to a method, device, electronic equipment and storage medium for monitoring the status of a stacker-reclaimer. Background Art

[0002] Stacker-reclaimer is a heavy equipment widely used in mines, ports and other scenes to load, unload and stack bulk materials. Due to the complexity of the working environment and the complexity of the equipment itself, stacker-reclaimer is prone to operating errors during operation, which seriously affects the normal operation and production efficiency of the equipment.

[0003] To solve these problems, traditional stacker-reclaimer monitoring methods are mainly based on data collected by sensors and manual inspections, which have problems such as low monitoring accuracy, poor real-time performance, and high maintenance costs. Digital twin technology digitizes the operating status of the actual equipment by establishing a digital twin model of the equipment, and realizes real-time monitoring and prediction of the equipment operating status. It overcomes the defects of traditional monitoring methods such as limited field of view and being greatly affected by weather conditions. It is increasingly being applied to the field of industrial equipment fault diagnosis to improve equipment reliability and operating efficiency. Summary of the invention

[0004] In view of the above-mentioned shortcomings of the prior art, the purpose of the present application is to provide a method, device, electronic equipment and storage medium for monitoring the state of a stacker and reclaimer, so as to solve the problem of low monitoring accuracy of the stacker and reclaimer in the prior art.

[0005] In a first aspect, the present application provides a method for monitoring the state of a stacker and reclaimer, the method comprising:

[0006] Constructing a digital twin model of the stacker-reclaimer, wherein the digital twin model includes a bucket wheel mechanism model, a cantilever belt conveyor model, a pitch mechanism model, a slewing mechanism model, and a stockpile model;

[0007] Acquiring operating state parameters of the stacker-reclaimer, wherein the operating state parameters include an actual material reclaiming flow rate of the stacker-reclaimer;

[0008] Obtaining a material taking amount error according to the target material taking flow rate and the actual material taking flow rate;

[0009] The operating state parameters of the stacker-reclaimer are set according to the material taking amount error.

[0010] In an implementation of the first aspect, the actual material taking flow rate is calculated by a belt scale installed on the cantilever belt conveyor.

[0011] In an implementation of the first aspect, setting the operating state parameter of the stacker-reclaimer according to the material taking amount error specifically includes:

[0012] The target material flow rate is taken as the target value, the actual material flow rate is taken as the actual value, and the control quantity is calculated according to the PID algorithm. The control quantity includes the rotation speed of the bucket wheel mechanism, the pitch angle of the pitch mechanism and the rotation speed of the slewing mechanism.

[0013] In an implementation of the first aspect, the operating state parameters further include a pitch angle of the cantilever belt conveyor and a slewing angle of a slewing mechanism; and setting the operating state parameters of the stacker-reclaimer according to the material taking amount error specifically includes:

[0014] updating the stockpile model according to the pitch angle and the rotation angle;

[0015] Displaying the digital twin model and the material taking amount error in real time in the cockpit;

[0016] The operating status parameters are manually set according to the digital twin model and the material taking amount error.

[0017] In an implementation of the first aspect, updating the stockpile model according to the pitch angle and the rotation angle specifically includes:

[0018] Obtaining a motion path of the bucket wheel mechanism according to the pitch angle and the rotation angle;

[0019] Acquire a scan model of the bucket wheel mechanism model along the motion path;

[0020] The scanned model is cut out from the current stockpile model to obtain a new stockpile model.

[0021] In an implementation of the first aspect, the operating status parameters also include motor current and motor temperature, and the digital twin model also includes a fault warning module, which issues a fault warning based on the motor current and motor temperature.

[0022] In an implementation of the first aspect, the fault warning module issues a fault warning according to the motor current and the motor temperature, specifically including:

[0023] When the motor current is greater than a preset current, an overload warning is issued;

[0024] When the rate of change of the motor temperature is greater than a preset temperature rise rate, a rapid temperature rise warning is issued.

[0025] In a second aspect, the present application provides a state monitoring device for a stacker and reclaimer, the state monitoring device for the stacker and reclaimer comprising:

[0026] A model generation module, used to construct a digital twin model of the stacker-reclaimer, wherein the digital twin model includes a bucket wheel mechanism model, a cantilever belt conveyor model, a pitch mechanism model, a slewing mechanism model, and a stockpile model;

[0027] A parameter acquisition module, used for acquiring the operating state parameters of the stacker-reclaimer, wherein the operating state parameters include the actual material reclaiming flow rate of the stacker-reclaimer;

[0028] An error judgment module is used to obtain a material taking amount error according to a target material taking flow rate and the actual material taking flow rate;

[0029] A parameter setting module, used to set the operating state parameters of the stacker-reclaimer according to the material taking amount error

[0030] In a third aspect, the present application provides an electronic device, comprising a memory and a processor, wherein the processor is configured to execute a computer program stored in the memory so that the electronic device executes the method for monitoring the state of a stacker and reclaimer.

[0031] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which implements the stacker-reclaimer state monitoring method when executed by a processor.

[0032] As described above, the stacker-reclaimer state monitoring method, device, electronic device, and storage medium described in the present application can improve the monitoring accuracy of the stacker-reclaimer. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 Shown is an application scenario diagram of the stacker-reclaimer state monitoring method described in one embodiment of the present application.

[0034] Figure 2 Shown is a flow chart of a method for monitoring the status of a stacker and reclaimer described in an embodiment of the present application.

[0035] Figure 3 Display as Figure 2 Specific flow chart of step S400 in FIG.

[0036] Figure 4 Display as Figure 3 Specific flow chart of step S410 in FIG.

[0037] Figure 5 Shown is a structural block diagram of a state monitoring device for a stacker-reclaimer described in an embodiment of the present application.

[0038] Figure 6 Shown is a structural block diagram of an electronic device described in an embodiment of the present application.

[0039] Component number description

[0040] 1. Stacker-reclaimer; 11. Bucket wheel; 12. Cantilever belt conveyor; 13. Pitch mechanism; 14. Rotating mechanism; 15. Traveling mechanism; 16. Tail car mechanism; 2. Material pile. DETAILED DESCRIPTION

[0041] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0042] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application, and thus the drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0043] Figure 1 The schematic diagram of the application scenario of the state monitoring method for the stacker-reclaimer of the present embodiment is shown, which is used to monitor the material reclaiming operation of the stacker-reclaimer on the material pile 2. The stacker-reclaimer 1 includes a bucket wheel 11, a cantilever belt conveyor 12, a pitch mechanism 13, a slewing mechanism 14, a walking mechanism 15 and a tail car mechanism 16. The bucket wheel 11 cuts the material pile 2 according to a predetermined trajectory, and the cut material is transferred to the tail car mechanism 16 for unloading through the cantilever belt conveyor 12. The bucket wheel 11 is controlled to take materials in layers by the pitch mechanism 13, and the bucket wheel 11 is controlled to move according to a predetermined trajectory at each layer by the slewing mechanism 14. The monitoring accuracy of the material reclaiming amount in the prior art is insufficient, and it is easy for the actual material throughput to be inconsistent with the planned throughput, which is not conducive to the actual implementation of the production scheduling plan.

[0044] like Figure 2 As shown, this embodiment provides a state monitoring method for a stacker and reclaimer, and the state monitoring method for a stacker and reclaimer includes the following steps:

[0045] Step S100, constructing a digital twin model of the stacker-reclaimer, the digital twin model including a bucket wheel mechanism model, a cantilever belt conveyor model, a pitch mechanism model, a slewing mechanism model, and a stockpile model;

[0046] Step S200, obtaining the operating state parameters of the stacker-reclaimer, the operating state parameters including the actual material reclaiming flow rate of the stacker-reclaimer;

[0047] Step S300, obtaining a material taking amount error according to a target material taking flow rate and an actual material taking flow rate;

[0048] Step S400, setting the operating state parameters of the stacker-reclaimer according to the material taking amount error.

[0049] Among them, the digital twin model is modeled using Unity3D. This embodiment provides a visual monitoring system based on the digital twin model for on-site drivers or engineering managers to monitor the progress of operations in real time and conduct risk management. The monitoring system includes a sensor module, a digital twin model, a system basic function module, an online monitoring module, a query analysis module, a diagnosis and warning module, and a system setting module. The sensor module includes a temperature and vibration integrated sensor, a current sensor, an insulation sensor, etc., which are used to obtain the temperature, vibration, pressure, flow, speed of the bucket wheel mechanism, the pitch angle of the pitch mechanism, and the speed and angle of the slewing mechanism of the stacker and reclaimer. The system basic function module realizes basic information loading, online monitoring data caching and refreshing, unified authentication, system log, personnel management, navigation and other functions. The online monitoring module realizes cockpit monitoring, equipment monitoring, page configuration monitoring, measurement point monitoring, digital twin model control and other functions. The query analysis module realizes historical data query, data visualization analysis and other functions. The diagnosis and warning module realizes the judgment of equipment alarms, the management of alarm rules, the push of alarms, the setting of push logic, the processing of alarms, and the maintenance of historical cases and other functions. The system setting module manages and sets the sampling parameters of the acquisition equipment, the alarm parameters of the measuring points, and the structure of the equipment tree and the measuring point tree. After setting, the cache update is triggered and takes effect in real time.

[0050] The target material flow is the material flow formulated according to the production plan. Due to the random changes in material parameters such as particle size and moisture content, as well as leakage during material transmission, there may be a deviation between the actual material flow and the target material flow. If the actual material flow cannot be corrected in time, it may affect the operation progress and even cause equipment failure, which is not conducive to ensuring the production efficiency of the stacker-reclaimer.

[0051] By establishing a visual digital twin model, the present invention enables engineering personnel to promptly discover deviations between work progress and expected values ​​and take timely remedial measures, thereby reducing overload and equipment failure problems caused by concentrating on accelerating progress.

[0052] Specifically, in this embodiment, the actual material flow rate is calculated by a belt scale installed on the cantilever belt conveyor. The belt scale includes a weighing sensor installed under the cantilever conveyor belt and a speed sensor for detecting the conveyor belt speed, and the product of the two is used as the actual material flow rate.

[0053] Specifically, in this embodiment, the state monitoring system of the stacker-reclaimer provides an automatic mode and a manual mode for selection by engineering personnel to adjust the actual reclaiming flow rate.

[0054] In automatic mode, the target material flow rate is taken as the target value, and the actual material flow rate is taken as the actual value. The control amount is calculated according to the PID algorithm. The control amount includes the rotation speed of the bucket wheel mechanism, the pitch angle of the pitch mechanism, and the rotation speed of the rotary mechanism. For example, when the actual material flow rate exceeds the target material flow rate, the actual material flow rate is reduced by reducing the rotation speed of the bucket wheel mechanism and the rotation speed of the rotary mechanism. When the actual material flow rate is less than the target material flow rate, the actual material flow rate is increased by increasing the rotation speed of the bucket wheel mechanism and the rotation speed of the rotary mechanism, and finally the actual material flow rate is close to the target material flow rate.

[0055] Furthermore, the actual material taking flow rate is integrated through the query analysis module to obtain the actual total material taking amount. The target total material taking amount is taken as the target value, and the actual total material taking amount is taken as the actual value, and the control amount is calculated according to the PID algorithm.

[0056] like Figure 3 As shown, in the manual mode, step S400 includes:

[0057] Step S410, updating the stockpile model according to the pitch angle and the rotation angle;

[0058] Step S420, displaying the digital twin model and the material taking amount error in real time in the cockpit;

[0059] Step S430: manually set the operating status parameters according to the digital twin model and the material taking amount error.

[0060] Specifically, Figure 4 As shown, step S410 includes:

[0061] Step S411, obtaining the motion path of the bucket wheel mechanism according to the pitch angle and the rotation angle;

[0062] Step S412, obtaining a scanning model of the bucket wheel mechanism model along the motion path;

[0063] Step S413, cutting out the scanned model from the current stockpile model to obtain a new stockpile model.

[0064] In order to reduce the risk of failure caused by manual mode when the actual material flow rate is less than the target material flow rate, in this embodiment, the operating status parameters also include motor current and motor temperature, and the digital twin model also includes a fault warning module, which issues a fault warning based on the motor current and motor temperature.

[0065] Specifically, when the motor current is greater than the preset current, an overload warning is issued; when the rate of change of the motor temperature is greater than the preset heating rate, a rapid temperature rise warning is issued. The motor current is the current of the bucket wheel motor. When an overload warning occurs, the feed amount of the bucket wheel mechanism should be reduced. The motor temperature is the temperature of the hydraulic motor of the slewing mechanism. When a rapid temperature rise warning occurs, the speed of the slewing mechanism should be reduced.

[0066] In this embodiment, the early warning module includes threshold alarm, trend alarm, model alarm and intelligent diagnosis. When the early warning module determines that the device alarms, the system will record the alarm and update the sensor status in the database and cache. At the same time, the alarm is pushed through the alarm push module. Business personnel can process the alarm through the alarm processing module. If the alarm is true and valid, it can be saved as a historical case to optimize the intelligent diagnosis algorithm and form a feedback closed loop.

[0067] The state monitoring method of the stacker-reclaimer of the present invention has the following technical effects:

[0068] 1. The present invention monitors the working status of the stacker-reclaimer in real time through the digital twin model, which facilitates and timely obtains the error information of the material reclaiming amount and reduces the risk of failure.

[0069] 2. Real-time monitoring of equipment status: The present invention adopts digital twin technology, which can match the digital twin model of the equipment with the actual equipment, monitor the status of the equipment in real time, and promptly grasp the operation status of the equipment.

[0070] 3. Predict equipment failure: The system of the present invention can predict equipment based on the digital twin model, predict possible equipment failures, and improve the reliability and operating efficiency of the equipment.

[0071] 4. Diagnosis and preventive maintenance: The present invention can provide suggestions for equipment fault diagnosis and preventive maintenance based on the prediction results of the digital twin model, providing an important reference for equipment maintenance.

[0072] 5. Reduce equipment maintenance costs: By real-time monitoring of equipment status, timely detection and resolution of problems, equipment downtime due to failures can be avoided and equipment maintenance costs can be reduced.

[0073] 6. Improve equipment reliability and operating efficiency: The present invention can improve the accuracy and precision of equipment operating status monitoring, reduce equipment operating costs and maintenance costs, and improve equipment reliability and operating efficiency. It can extremely restore the behavior, performance and reaction of the physical entity of the stacker or the stacker process. This makes the use of this technology for prediction, evaluation, simulation and other work more accurate and reliable, greatly improving the reliability and efficiency of decision-making.

[0074] 7. Wide applicability: The present invention has universality and extensibility, is suitable for monitoring and maintenance of industrial equipment of different models and in different fields, and has broad application prospects.

[0075] The protection scope of the stacker-reclaimer condition monitoring method of the embodiment of the present application is not limited to the execution order of the steps listed in the present embodiment. All solutions implemented by adding, reducing or replacing steps in the prior art based on the principles of the present application are included in the protection scope of the present application.

[0076] like Figure 5 As shown, this embodiment provides a state monitoring device for a stacker and reclaimer, and the state monitoring device for the stacker and reclaimer includes:

[0077] The model generation module is used to build a digital twin model of the stacker-reclaimer. The digital twin model includes a bucket wheel mechanism model, a cantilever belt conveyor model, a pitch mechanism model, a slewing mechanism model, and a stockpile model.

[0078] A parameter acquisition module is used to obtain the operating status parameters of the stacker-reclaimer, and the operating status parameters include the actual material flow rate of the stacker-reclaimer;

[0079] An error judgment module is used to obtain a material taking amount error according to a target material taking flow rate and an actual material taking flow rate;

[0080] The parameter setting module is used to set the operating state parameters of the stacker-reclaimer according to the material taking amount error.

[0081] In the several embodiments provided in the present application, it should be understood that the disclosed system, device or method can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules / units is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or units can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules or units, which can be electrical, mechanical or other forms.

[0082] The modules / units described as separate components may or may not be physically separated, and the components displayed as modules / units may or may not be physical modules, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules / units may be selected according to actual needs to achieve the purpose of the embodiments of the present application. For example, the functional modules / units in the various embodiments of the present application may be integrated into one processing module, or each module / unit may exist physically separately, or two or more modules / units may be integrated into one module / unit.

[0083] Those of ordinary skill in the art should further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0084] like Figure 6 As shown, this embodiment also provides an electronic device, which is a mobile device of a user such as a mobile phone, a PAD, a wearable device, an intelligent AI device, etc.; the electronic device includes a memory for storing a computer program; and a processor for running the computer program to implement the state monitoring method of the stacker-reclaimer in the above embodiment.

[0085] It should be noted that the system bus mentioned above can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The system bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus. The communication interface is used to realize the communication between the database access device and other devices (such as clients, read-write libraries and read-only libraries).

[0086] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0087] In addition, this embodiment further provides a storage medium storing program instructions, and when the program instructions are executed by a processor, the state monitoring method of the stacker-reclaimer in the above embodiment is implemented.

[0088] A person of ordinary skill in the art can understand that all or part of the steps in the method for implementing the above-mentioned embodiment can be completed by instructing a processor through a program, and the program can be stored in a computer-readable storage medium, and the storage medium is a non-transitory medium, such as a random access memory, a read-only memory, a flash memory, a hard disk, a solid-state hard disk, a magnetic tape, a floppy disk, an optical disc, and any combination thereof. The above-mentioned storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that includes one or more available media. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a tape), an optical medium (for example, a digital video disc (DVD)), or a semiconductor medium (for example, a solid-state disk (SSD)), etc.

[0089] The descriptions of the processes or structures corresponding to the above-mentioned figures have different emphases. For parts that are not described in detail in a certain process or structure, please refer to the relevant descriptions of other processes or structures.

[0090] The above embodiments are merely illustrative of the principles and effects of the present application and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. A method for monitoring the state of a stacker and reclaimer, characterized in that: The state monitoring method of the stacker-reclaimer comprises the following steps: Constructing a digital twin model of the stacker-reclaimer, wherein the digital twin model includes a bucket wheel mechanism model, a cantilever belt conveyor model, a pitch mechanism model, a slewing mechanism model, and a stockpile model; Acquiring operating state parameters of the stacker-reclaimer, wherein the operating state parameters include an actual material reclaiming flow rate of the stacker-reclaimer; Obtaining a material taking amount error according to the target material taking flow rate and the actual material taking flow rate; The operating state parameters of the stacker-reclaimer are set according to the material taking amount error.

2. The method for monitoring the state of a stacker and reclaimer according to claim 1, characterized in that: The actual material taking flow rate is calculated by a belt scale installed on the cantilever belt conveyor.

3. The method for monitoring the state of a stacker and reclaimer according to claim 1, characterized in that: The step of setting the operating state parameters of the stacker-reclaimer according to the material taking amount error specifically includes: The target material flow rate is taken as the target value, the actual material flow rate is taken as the actual value, and the control quantity is calculated according to the PID algorithm. The control quantity includes the rotation speed of the bucket wheel mechanism, the pitch angle of the pitch mechanism and the rotation speed of the slewing mechanism.

4. The method for monitoring the state of a stacker and reclaimer according to claim 1, characterized in that: The operating state parameters also include the pitch angle of the cantilever belt conveyor and the slewing angle of the slewing mechanism; the operating state parameters of the stacker-reclaimer are set according to the material taking amount error, specifically including: updating the stockpile model according to the pitch angle and the rotation angle; Displaying the digital twin model and the material taking amount error in real time in the cockpit; The operating status parameters are manually set according to the digital twin model and the material taking amount error.

5. The method for monitoring the state of a stacker and reclaimer according to claim 4, characterized in that: The updating of the stockpile model according to the pitch angle and the rotation angle specifically includes: Obtaining a motion path of the bucket wheel mechanism according to the pitch angle and the rotation angle; Acquire a scan model of the bucket wheel mechanism model along the motion path; The scanned model is cut out from the current stockpile model to obtain a new stockpile model.

6. The method for monitoring the state of a stacker and reclaimer according to claim 1, characterized in that: The operating status parameters also include motor current and motor temperature. The digital twin model also includes a fault warning module, which issues a fault warning based on the motor current and motor temperature.

7. The method for monitoring the state of a stacker and reclaimer according to claim 6, characterized in that: The fault warning module issues a fault warning according to the motor current and the motor temperature, specifically comprising: When the motor current is greater than a preset current, an overload warning is issued; When the rate of change of the motor temperature is greater than a preset temperature rise rate, a rapid temperature rise warning is issued.

8. A state monitoring device for a stacker-reclaimer, characterized in that: The state monitoring device of the stacker-reclaimer comprises: A model generation module, used to construct a digital twin model of the stacker-reclaimer, wherein the digital twin model includes a bucket wheel mechanism model, a cantilever belt conveyor model, a pitch mechanism model, a slewing mechanism model, and a stockpile model; A parameter acquisition module, used for acquiring the operating state parameters of the stacker-reclaimer, wherein the operating state parameters include the actual material reclaiming flow rate of the stacker-reclaimer; An error judgment module is used to obtain a material taking amount error according to a target material taking flow rate and the actual material taking flow rate; A parameter setting module is used to set the operating state parameters of the stacker-reclaimer according to the material taking amount error.

9. An electronic device, comprising a memory and a processor, characterized in that: The processor is used to execute the computer program stored in the memory, so that the electronic device executes the state monitoring method for a stacker-reclaimer according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for monitoring the state of the stacker-reclaimer according to any one of claims 1 to 7 is implemented.

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