Material taking machine rotation control method, device, equipment, medium and product

Abstract

The invention relates to the technical field of reclaimers, in particular to a reclaimer rotation control method and device, equipment, a medium and a product.The method comprises the steps that the length of an arm support of a reclaimer, the distance from the head of the arm support of the reclaimer to a track and the distance from a safety boundary to the track are obtained; the safe rotation distance of the material taking machine is obtained in combination with a safe rotation distance expression; whether the horizontal distance between the operation stack position and the adjacent stack position at the height position of a bucket wheel of the material taking machine is larger than the safe rotation distance or not is judged; when the horizontal distance between the operation stack position and the adjacent stack position at the height position of the bucket wheel of the material taking machine is larger than the safe rotation distance, the material taking machine is operated to rotate; and it is ensured that the material taking machine conducts rotation operation under the safe condition, the collision risk possibly caused by blind rotation is avoided, and the automation degree and the operation efficiency of equipment are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of reclaimers, and in particular to a reclaimer rotation control method, device, equipment, medium and product. Background Art

[0002] During the reclaiming operation in the bulk cargo yard, due to the influence of adjacent and common rail equipment, the reclaimer usually reclaims in the reverse direction. After the reclaimer completes the reverse reclaiming operation, the current control mode is that the arm-type reclaimer rotates to an angle close to 180° to zero, and the operator is currently required to manually return to zero. There is a technical problem in the art that the reclaimer is difficult to rotate safely and automatically after the reverse reclaiming operation is completed. Summary of the invention

[0003] The present invention provides a reclaimer rotation control method, device, equipment, medium and product, which solve the technical problem that the reclaimer is difficult to rotate safely and automatically after the reverse reclaiming operation is completed.

[0004] In a first aspect, the present invention provides a method for controlling the rotation of a reclaimer, the method comprising: obtaining the boom length of the reclaimer, the distance from the boom head of the reclaimer to a track, and the distance from the safety boundary to the track, and obtaining the safe rotation distance of the reclaimer in combination with an expression for the safe rotation distance; judging whether the horizontal distance between a working stack position and an adjacent stack position at the height position of a bucket wheel of the reclaimer is greater than the safe rotation distance; when the horizontal distance between the working stack position and the adjacent stack position at the height position of the bucket wheel of the reclaimer is greater than the safe rotation distance, operating the reclaimer to rotate.

[0005] In some embodiments, the safe turning distance of the reclaimer is obtained in combination with the safe turning distance expression, including: taking the square root of the difference between the square of the boom length of the reclaimer and the square of the distance from the boom head of the reclaimer to the track to obtain a first intermediate result; subtracting the ratio of the distance from the safety boundary to the track to the distance from the boom head of the reclaimer to the track from 1 to obtain a second intermediate result; and obtaining the safe turning distance of the reclaimer based on the product of the first intermediate result and the second intermediate result.

[0006] In some embodiments, in the step of determining whether the horizontal distance between the working stack position and the adjacent stack position at the height position of the bucket wheel of the reclaimer is greater than the safe turning distance, the boundary of the working stack position at the height position of the bucket wheel of the reclaimer is used as the boundary of the working stack position; the ground boundary of the adjacent stack position is used as the boundary of the adjacent stack position at all heights; and the distance from the safe boundary to the track is determined based on the height of the bucket wheel of the reclaimer and the repose angle of the working stack position.

[0007] In some embodiments, the step of operating the reclaimer to rotate includes: when the head of the boom is within the safety boundary, controlling the reclaimer to move, eliminating the component of the bucket wheel in the walking direction during the rotating action, so that the head of the boom is always within the boundary of the working stack position and the boundary of the adjacent stack position.

[0008] In some embodiments, when the head of the boom is outside the safety boundary and the rotation angle is less than or equal to a preset angle, the walking action is terminated.

[0009] In some embodiments, the method also includes: when the horizontal distance between the working stack position and the adjacent stack position at the height position of the bucket wheel of the reclaimer is less than or equal to the safe turning distance, raising the height of the bucket wheel of the reclaimer until the horizontal distance between the working stack position and the adjacent stack position at the height position of the bucket wheel of the reclaimer is greater than the safe turning distance.

[0010] In a second aspect, the present invention provides a reclaimer rotation control device, the device comprising: a distance calculation module, used to obtain the boom length of the reclaimer, the distance from the boom head of the reclaimer to the track, and the distance from the safety boundary to the track, and obtain the safe rotation distance of the reclaimer in combination with the safe rotation distance expression; a distance judgment module, used to judge whether the horizontal distance between the working stack position and the adjacent stack position at the height position of the bucket wheel of the reclaimer is greater than the safe rotation distance; a rotation control module, used to operate the reclaimer to rotate when the horizontal distance between the working stack position and the adjacent stack position at the height position of the bucket wheel of the reclaimer is greater than the safe rotation distance.

[0011] In a third aspect, the present invention 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 any of the above-mentioned methods for controlling the rotation of a reclaimer.

[0012] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the above-mentioned methods for controlling the rotation of a reclaimer.

[0013] In a fifth aspect, the present invention provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of any of the above-mentioned methods for controlling the rotation of a reclaimer.

[0014] The present invention provides a method, device, equipment, medium and product for controlling the rotation of a reclaimer, wherein the method comprises: obtaining the arm length of the reclaimer, the distance from the arm head of the reclaimer to the track, and the distance from the safety boundary to the track, and obtaining the safe rotation distance of the reclaimer in combination with the safe rotation distance expression; judging whether the horizontal distance between the working stack position and the adjacent stack position at the height position of the bucket wheel of the reclaimer is greater than the safe rotation distance; when the horizontal distance between the working stack position and the adjacent stack position at the height position of the bucket wheel of the reclaimer is greater than the safe rotation distance, operating the reclaimer to rotate; ensuring that the reclaimer performs the rotation operation in a safe manner, avoiding the risk of collision caused by blind rotation, and improving the degree of automation and operating efficiency of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention will be described in more detail below based on embodiments and with reference to the accompanying drawings:

[0016] Figure 1 It is a flow chart of a reclaimer rotation control method provided in an embodiment of the present application;

[0017] Figure 2 It is a structural schematic diagram of a reclaimer rotation control device provided in an embodiment of the present application;

[0018] Figure 3 is a schematic diagram of a safe sports area provided in an embodiment of the present application;

[0019] Figure 4 This is a schematic diagram of the distance between two adjacent complete coal piles provided in an embodiment of the present application;

[0020] Figure 5 This is a schematic diagram of the distance between two adjacent coal piles provided in an embodiment of the present application;

[0021] Figure 6 It is a boundary schematic diagram of the distance between two adjacent coal piles provided in an embodiment of the present application;

[0022] Figure 7 It is a top view of the distance between two adjacent coal piles provided in an embodiment of the present application;

[0023] Figure 8 It is a flow chart of a reclaimer rotation control method provided in an embodiment of the present application.

[0024] In the drawings, the same reference numerals are used for the same components, and the drawings are not drawn to scale. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the scheme of the present invention, and to fully understand and implement how the present invention applies technical means to solve technical problems and achieve the corresponding technical effects, the technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only an embodiment of a part of the present invention, not all of the embodiments. The embodiments of the present invention and the various features in the embodiments can be combined with each other without conflict, and the technical schemes formed are all within the scope of protection of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention 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 interchanged where appropriate, so that the embodiments of the present invention 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.

[0027] 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.

[0028] During the reclaiming operation in the bulk cargo yard, due to the influence of adjacent and common rail equipment, the reclaimer usually reclaims in the reverse direction. After the reclaimer completes the reverse reclaiming operation, the current control mode is that the arm-type reclaimer rotates to an angle close to 180° to zero, and the operator is currently required to manually return to zero. There is a technical problem in the art that the reclaimer is difficult to rotate safely and automatically after the reverse reclaiming operation is completed.

[0029] Hereinafter, the technical solution of the present application will be described in conjunction with specific embodiments.

[0030] Embodiment 1

[0031] Figure 1 is a flow chart of a method for controlling the rotation of a reclaimer provided in an embodiment of the present application, such as Figure 1As shown, in the technical solution of this embodiment, a method for controlling the rotation of a reclaimer is provided, the method comprising: obtaining the boom length of the reclaimer, the distance from the boom head of the reclaimer to the track, and the distance from the safety boundary to the track, and obtaining the safe rotation distance of the reclaimer in combination with the safe rotation distance expression; judging whether the horizontal distance between the working stack position and the adjacent stack position at the height position of the bucket wheel of the reclaimer is greater than the safe rotation distance; when the horizontal distance between the working stack position and the adjacent stack position at the height position of the bucket wheel of the reclaimer is greater than the safe rotation distance, operating the reclaimer to rotate.

[0032] The technical problem to be solved by this embodiment is that the reclaimer is difficult to rotate automatically and safely after the reverse reclaiming operation is completed, specifically, how to determine whether the reclaimer can rotate safely under the current operation situation.

[0033] The technical solution of this embodiment is to obtain the boom length of the reclaimer, the distance from the boom head of the reclaimer to the track, and the distance from the safety boundary to the track, and combine them with the safe turning distance expression to obtain the safe turning distance of the reclaimer, and then determine whether the horizontal distance between the working stack position and the adjacent stack position at the height position of the bucket wheel of the reclaimer is greater than the safe turning distance. If greater, the reclaimer is operated to turn.

[0034] Through precise calculation and judgment, the reclaimer can rotate safely and avoid the risk of collision caused by blind rotation. The reclaimer can more accurately judge the safety of rotation, which improves the automation and operation efficiency of the equipment. In the automatic reclaiming process, the need for manual intervention is reduced, the workload of operators is reduced, and the accuracy and stability of the operation are improved. In addition, since the calculation and judgment are based on the original equipment, there is no need for large-scale hardware modification, which is low-cost, easy to implement and easy to promote.

[0035] Embodiment 2

[0036] On the basis of the above embodiment, the safe turning distance of the material grabber is obtained in combination with the safe turning distance expression, including: taking the square root of the difference between the square of the boom length of the material grabber and the square of the distance from the boom head of the material grabber to the track to obtain a first intermediate result; subtracting the ratio of the distance from the safety boundary to the track to the distance from the boom head of the material grabber to the track from 1 to obtain a second intermediate result; and obtaining the safe turning distance of the material grabber based on the product of the first intermediate result and the second intermediate result.

[0037] The technical problem to be solved in this embodiment is also the problem that the reclaimer is difficult to rotate automatically and safely after the reverse reclaiming operation is completed. The key point is how to accurately obtain the safe rotation distance of the reclaimer.

[0038] The technical solution of this embodiment is to obtain a first intermediate result by taking the square root of the difference between the square of the boom length of the reclaimer and the square of the distance from the boom head of the reclaimer to the track; to obtain a second intermediate result by subtracting the ratio of the distance from the safety boundary to the track to the distance from the boom head of the reclaimer to the track from 1; and to obtain the safe rotation distance of the reclaimer based on the product of the first intermediate result and the second intermediate result. Through this precise calculation method, the safe rotation distance of the reclaimer can be accurately determined, providing a reliable basis for subsequent rotation operations.

[0039] In practical applications, this embodiment makes the reclaimer's rotation control more accurate, avoiding the risk of collision caused by inaccurate distance judgment. At the same time, since the safe rotation distance is obtained by software calculation, no additional hardware equipment is required, the cost is low, and it is easy to promote and apply on existing reclaimer equipment. The automation degree and operating efficiency of the reclaimer are improved, providing strong support for the efficient operation of the bulk cargo yard.

[0040] Embodiment 3

[0041] On the basis of the above embodiments, in the step of judging whether the horizontal distance between the working stack position and the adjacent stack position at the height position of the bucket wheel of the reclaimer is greater than the safe turning distance, the boundary of the working stack position at the height position of the bucket wheel of the reclaimer is used as the boundary of the working stack position; the ground boundary of the adjacent stack position is used as the boundary of the adjacent stack position at all heights; based on the height of the bucket wheel of the reclaimer and the repose angle of the working stack position, the distance from the safe boundary to the track is determined.

[0042] The technical problem to be solved by this embodiment is how to accurately determine the boundary between the working stack position and the adjacent stack position when determining the safe rotation distance of the reclaimer, and how to determine the distance from the safety boundary to the track based on the repose angle of the working stack position.

[0043] The technical solution of this embodiment is to use the boundary of the working stack at the height position of the bucket wheel of the material reclaimer as the boundary of the working stack; use the ground boundary of the adjacent stack as the boundary of the adjacent stack at all heights; based on the height of the bucket wheel of the material reclaimer and the repose angle of the working stack, determine the distance from the safety boundary to the track.

[0044] In one embodiment, assume that the reclaimer is reclaiming materials from a working stack, and the repose angle of the working stack is 37°. When the reclaimer completes the reverse reclaiming operation, the safe turning distance needs to be determined. First, the boundary of the working stack is determined, and the boundary of the height position of the bucket wheel of the reclaimer is used as the boundary of the working stack. For adjacent stacks, its ground boundary is used as the boundary at all heights. Then, the distance from the safe boundary to the track is determined based on the height of the bucket wheel of the reclaimer and the repose angle of the working stack. This provides an accurate data basis for determining the safe turning distance of the reclaimer.

[0045] In practical applications, this embodiment makes the reclaimer more scientific and reasonable in determining the safe rotation distance, taking into account the actual conditions of the working stack and the adjacent stack, as well as the repose angle of the working stack, and other factors, thereby improving the safety and accuracy of the rotation operation. At the same time, it also provides a reliable basis for subsequent rotation control, allowing the reclaimer to operate more efficiently, reducing the risk of equipment damage and operation interruption caused by improper rotation operation, and improving the overall operating efficiency of the bulk cargo yard.

[0046] Embodiment 4

[0047] Based on the above embodiment, the steps of operating the reclaimer to rotate include: when the head of the boom is within the safety boundary, controlling the reclaimer to move, eliminating the component of the bucket wheel in the walking direction during the rotation action, so that the head of the boom is always within the boundary of the working stack position and the boundary of the adjacent stack position.

[0048] The technical problem to be solved by this embodiment is how to ensure that the reclaimer does not collide with the working stack position and the adjacent stack position during the rotation process when the head of the boom is within the safety boundary.

[0049] The technical solution of this embodiment is to control the reclaimer to move when the head of the boom is within the safety boundary, and eliminate the component of the bucket wheel in the moving direction during the rotation action, so that the head of the boom is always within the boundary of the working stack and the boundary of the adjacent stack. At the actual reclaimer operation site, when the reclaimer completes the reverse reclaiming operation, it is determined that the head of the boom is within the safety boundary. At this time, according to the method of the fourth embodiment, the reclaimer is controlled to move.

[0050] Through the walking action, the weight of the bucket wheel in the walking direction during the rotation action can be eliminated, ensuring that the head of the boom is always within the boundary of the working stack and the boundary of the adjacent stack. The reclaimer is controlled to walk, and the walking direction and speed are adjusted in real time according to the direction and speed of the rotation action to ensure that the head of the boom is always within a safe range. In this way, during the rotation of the reclaimer, it can effectively avoid collisions with the working stack and the adjacent stack, thereby improving the safety and stability of the operation. At the same time, by accurately controlling the walking action, the rotation efficiency of the reclaimer can be improved, the time and resources required for rotation can be reduced, and the overall operating efficiency of the bulk cargo yard can be improved. After the implementation of this embodiment, the automation level of the reclaimer is further improved, the need for manual intervention is reduced, the workload of operators is reduced, and strong support is provided for the efficient operation of the bulk cargo yard.

[0051] Embodiment 5

[0052] On the basis of the above embodiment, when the head of the boom is outside the safety boundary and the rotation angle is less than or equal to the preset angle, the walking action is terminated.

[0053] The technical problem to be solved by this embodiment is how to ensure the safe operation of the reclaimer when the head of the boom is outside the safety boundary and the rotation angle is less than or equal to the preset angle.

[0054] The technical solution of this embodiment is to end the walking action when the head of the boom is outside the safety boundary and the rotation angle is less than or equal to the preset angle. In the actual operation of the reclaimer, when the operation is completed, the reclaimer starts to rotate. During the rotation process, the position of the head of the boom and the rotation angle are monitored in real time. If it is found that the head of the boom is outside the safety boundary and the rotation angle is less than or equal to the preset angle, such as 90°. At this time, the walking action is ended according to the method of the fifth embodiment of this invention. In this way, the reclaimer avoids unnecessary actions, completes the rotation as soon as possible and saves energy.

[0055] Embodiment 6

[0056] Based on the above embodiment, the method also includes: when the horizontal distance between the working stack position and the adjacent stack position at the height position of the bucket wheel of the reclaimer is less than or equal to the safe turning distance, the height of the bucket wheel of the reclaimer is raised until the horizontal distance between the working stack position and the adjacent stack position at the height position of the bucket wheel of the reclaimer is greater than the safe turning distance.

[0057] The technical problem to be solved by this embodiment is how to ensure that the reclaimer can rotate safely when the horizontal distance between the working stack position and the adjacent stack position at the height position of the bucket wheel of the reclaimer is less than or equal to the safe rotation distance.

[0058] The technical solution of this embodiment is to raise the height of the bucket wheel of the reclaimer until the horizontal distance between the working stack position and the adjacent stack position at the height position of the bucket wheel of the reclaimer is greater than the safe turning distance when the horizontal distance between the working stack position and the adjacent stack position at the height position of the bucket wheel of the reclaimer is less than or equal to the safe turning distance.

[0059] In one embodiment, after the reverse reclaiming operation of the reclaimer is completed, it is determined that the horizontal distance between the working stack position and the adjacent stack position at the height position of the bucket wheel of the reclaimer is less than or equal to the safe rotation distance. At this time, according to the method of this embodiment 6, the height of the bucket wheel of the reclaimer is raised. As the height of the bucket wheel is raised, the horizontal distance between the working stack position and the adjacent stack position at the new bucket wheel height position is determined again. When the distance is greater than the safe rotation distance, the reclaimer can perform a safe rotation operation.

[0060] This embodiment ensures that the reclaimer can rotate safely in various complex situations, improving the adaptability and reliability of the equipment. At the same time, it also provides a strong guarantee for the efficient operation of the bulk cargo yard, reducing the problems of operation interruption and low efficiency caused by the inability to rotate safely. After the implementation of this embodiment, the automation level of the reclaimer is further improved, and the bucket wheel height can be automatically adjusted according to the actual situation to achieve safe rotation, laying the foundation for the intelligent operation of the bulk cargo yard.

[0061] Embodiment 7

[0062] Figure 2 is a schematic diagram of the structure of a reclaimer rotation control device provided in an embodiment of the present application, such as Figure 2 As shown, in the technical solution of this embodiment, a reclaimer rotation control device is provided, and the device includes: a distance calculation module, used to obtain the arm length of the reclaimer, the distance from the arm head of the reclaimer to the track, and the distance from the safety boundary to the track, and obtain the safe rotation distance of the reclaimer in combination with the safe rotation distance expression; a distance judgment module, used to judge whether the horizontal distance between the working stack position and the adjacent stack position at the height position of the bucket wheel of the reclaimer is greater than the safe rotation distance; a rotation control module, used to operate the reclaimer to rotate when the horizontal distance between the working stack position and the adjacent stack position at the height position of the bucket wheel of the reclaimer is greater than the safe rotation distance.

[0063] The technical problem to be solved by this embodiment is that the reclaimer is difficult to rotate automatically and safely after the reverse reclaiming operation is completed, specifically, how to determine whether the reclaimer can rotate safely under the current operation situation.

[0064] The technical solution of this embodiment is to obtain the boom length of the reclaimer, the distance from the boom head of the reclaimer to the track, and the distance from the safety boundary to the track, and combine them with the safe turning distance expression to obtain the safe turning distance of the reclaimer, and then determine whether the horizontal distance between the working stack position and the adjacent stack position at the height position of the bucket wheel of the reclaimer is greater than the safe turning distance. If greater, the reclaimer is operated to turn.

[0065] Through precise calculation and judgment, the reclaimer can rotate safely and avoid the risk of collision caused by blind rotation. The reclaimer can more accurately judge the safety of rotation, which improves the automation and operation efficiency of the equipment. In the automatic reclaiming process, the need for manual intervention is reduced, the workload of operators is reduced, and the accuracy and stability of the operation are improved. In addition, since the calculation and judgment are based on the original equipment, there is no need for large-scale hardware modification, which is low-cost, easy to implement and easy to promote.

[0066] Other technical features and beneficial effects of this embodiment correspond to those of the above embodiment and will not be repeated here.

[0067] Embodiment 8

[0068] In the technical solution of this embodiment, a computer device is provided, including a memory, a processor and a computer program stored in the memory, and the processor executes the computer program to implement the steps of any of the above-mentioned embodiments of the material reclaimer rotation control method.

[0069] In the technical solution 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 any of the reclaimer rotation control methods of the above embodiments are implemented.

[0070] In the technical solution of this embodiment, a computer program product is provided, including a computer program, which, when executed by a processor, implements the steps of any of the reclaimer rotation control methods of the above embodiments.

[0071] 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. In some implementations of this embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by the processor, the steps of the method described in the above embodiments are implemented. In some implementations of this embodiment, a computer program product is provided, including a computer program / instruction, and when the computer program is executed by the processor, the steps of the method described in the above embodiments are implemented. The processor may include, but is not limited to, for example, one or more processors or microprocessors, etc.

[0072] 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 implement the method in the above embodiment. 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, a random access memory (RAM), a read-only memory (ROM), a flash memory, an EPROM memory, an EEPROM memory, a register, a computer storage medium (such as a hard disk, a floppy disk, a solid-state hard disk, a removable disk, a CDROM, a DVDROM, a Blu-ray disc, etc.). The computer-readable storage medium may also store at least one computer executable program / instruction, and the computer executable program / instruction is, 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.

[0073] Volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. Computer-readable storage media may include, for example, read-only memory (ROM), hard disk, flash memory, etc. For example, a non-temporary computer-readable storage medium may be connected to a computing device such as a computer, and then, when the computing device runs computer-readable instructions stored on the computer-readable storage medium, the various methods described above may be performed. In addition, the computer device may also include (but not limited to) a data bus, an input / output (I / O) bus, a display, and an input / output device (e.g., a keyboard, a mouse, a speaker, etc.). The processor may communicate with an external device via a wired or wireless network via the I / O bus. 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 the processor to execute the various functions and / or steps of the method in the embodiments described in the present technology.

[0074] Embodiment 9

[0075] Based on the above embodiments, this embodiment provides an application example.

[0076] When retrieving materials in a bulk cargo yard, due to the influence of adjacent and common rail equipment, the reclaimer usually retrieves materials in the reverse direction. After the reclaimer completes the reverse retrieving operation, the current control mode is for the boom-type reclaimer to rotate to an angle close to 180° and return to zero, but the existing automatic control solutions require it to rotate to the 0° position. Rotating to 180° takes into account the sector surface of the operating area within the range of motion, while rotating to zero will exceed the operating sector surface, which poses a risk. At this time, the operator must manually operate to 0° in order to perform subsequent automatic operations. There is a technical problem in this field that the reclaimer is difficult to rotate automatically and safely after the reverse retrieving operation is completed.

[0077] The purpose of the present invention is to overcome the above-mentioned shortcomings, utilize PLC software programming to execute corresponding calculation logic, combine with the stockpile data, and safely and reliably rotate the reverse working reclaimer equipment to 0° automatically, taking into account safety and convenience while realizing simple control of the operating equipment.

[0078] 1. Feasibility assessment

[0079] (1) The minimum distance required for the boom head to move after the reclaimer rotates back to zero after reverse operation.

[0080] Figure 3 The yellow line area consisting of the first coal pile boundary, the second coal pile boundary and the reclaimer zero return safety boundary is the safe movement area of ​​the reclaimer boom and bucket wheel when they rotate back to zero.

[0081] Figure 3 In the figure, L is the length of the reclaimer boom, h is the distance from the boom head to the track BQ, and h0 is the distance from the zeroable safety boundary line to the track BQ.

[0082] By calculating the projection length X' of the boom in the yellow line area at the safety boundary, and then calculating the distance from the boom head to the yellow line minus X', the distance from the boom to the boundary angle is obtained. As long as this distance is always smaller than the distance between the first and second stacks, the logic of automatic zeroing of the rotation can be designed.

[0083] As can be seen from the figure above, L 2 =h 2 +X 2 With X′ / X=(h-h0) / h, we can get Here, for a fixed scenario, the length of the reclaimer boom L and the distance h0 from the zero-returnable safety boundary to the track BQ can be regarded as constants. For ease of understanding, replacing X' and h with Y and x, we can get the expression Among them, Y represents the projection distance of the boom on the safety boundary in the yellow line area, that is, the safe rotation distance of the reclaimer, L represents the boom length of the reclaimer, x represents the distance from the boom head of the reclaimer to the track, and h0 represents the distance between the safety boundary and the track. When the projection distance Y of the boom on the safety boundary in the yellow line area is the largest, the distance h-h0 from the boom to the boundary is the smallest.

[0084] When performing the rotation movement, the distance from the boom to the boundary must always be greater than 0, and the wheel bucket of the reclaimer always operates within the yellow line. In one embodiment, the boom length (L = 52 meters) data of the reclaimer is brought in, and the following is obtained by derivation: Then, when the distance x from the boom head to the track BQ is 38, the projection distance Y of the boom on the safety boundary in the yellow line area has an inflection point. At this time, the value of the projection distance Y of the boom on the safety boundary in the yellow line area is the largest, which is 18.5 meters. That is, as long as the distance between two adjacent coal piles is greater than 18.5 meters, the forward rotation zeroing logic control after reverse operation can be realized, where h0 is the vertical distance from the boundary of the top layer of the coal pile to the rotation center of the reclaimer, that is, Figure 7 The vertical distance from the middle "line 3" to the rotation center of the reclaimer is, for example, 18.9 meters. In the calculation formula 9*cot37+7, 9 is the height from the top edge to the ground (meters), 37° is the repose angle of the coal pile, and 7 is the vertical distance from the bottom edge of the coal pile to the rotation center of the reclaimer (meters).

[0085] (2) The minimum distance between two coal piles at the vertical height when the reclaimer rotates to zero.

[0086] In one embodiment, the coal pile reclaiming operation mode is divided into three layers of reclaiming, and the vertical height of the rotation return to zero is slightly higher than the vertical height of the top layer operation. Figure 4 and Figure 5 It can be seen that when two adjacent coal piles are complete stacks (no material removal operation), the distance between the two coal piles is the smallest when the two stacks are at a zero vertical height (hereinafter referred to as zero height).

[0087] Known data: the minimum distance between the bottom edges of two coal piles is 12 meters, and the standard height of the stack is 13.5 meters. When the coal pile repose angle is 37 degrees, for example, the coal pile spacing at the zero height in the above situation is calculated to be 2*cot37 degrees*13.5*2 / 3+12=36 meters, which is much larger than the minimum motion range of the zeroing boom of the reclaimer (18.5 meters). Among them, cot37 degrees=4 / 3. It can be seen that the solution of this example is feasible.

[0088] 2. Implementation

[0089] According to the feasibility analysis, the scheme meets the objective conditions on site and can be implemented. Because the feasibility analysis considers the relationship between the limit spacing and the limit position, in actual working conditions, since the top layer (the material taking operation is divided into three layers) usually has a large blank area, in the implementation plan, when the boom height is greater than the top layer operating height, the movement range that can be safely returned to zero can be expanded according to the top layer status of the operating coal pile.

[0090] (1) Exercise range optimization

[0091] Figure 6 is a schematic diagram of a boundary of the distance between two adjacent coal piles disclosed in an embodiment of the present invention, Figure 7 FIG. 1 is a top view of the distance between two adjacent coal piles disclosed in an embodiment of the present invention. Figure 6 and Figure 7 As shown in the figure, the first stack is the working coal pile, and the second stack is the adjacent coal pile. Since the second stack is unpredictable, in order to avoid uncontrollable risks, the first yellow line of the movement is set to line 0 in the figure below. For the working coal pile, the other yellow line is line 1. Considering the final stop position of the reclaimer, if it moves to the interval from line 1 to line 0 every time, there will be unnecessary waste of time. Therefore, the actual movement interval is the interval from the boom head position when the reclaimer stops (line 2) to line 0. The minimum value of the interval (line 1 to line 0) is 24 meters, which is larger than the minimum movement range of the reclaimer boom when it returns to zero (18.5 meters).

[0092] In order to avoid unnecessary risks caused by intrusion into stack 2 and to reduce unnecessary movement of the reclaimer, the movement range is optimized from line 2 to line 0.

[0093] (2) Logic control design and implementation

[0094] Figure 8 is a flow chart of a method for controlling the rotation of a reclaimer disclosed in an embodiment of the present invention, such as Figure 8 As shown, line 3 is the safety line that the reclaimer boom can directly return to zero. The final movement area of ​​the reclaimer is the combined area of ​​lines 0, 2, and 3. When the boom head is above line 3, the boom cannot touch the angle between line 0 and line 3, or line 2 and line 3; when the boom head is above line 3 or below line 3 and the rotation angle is less than 90°, the reclaimer can directly rotate to zero. The flow chart is as follows.

[0095] Process 1: The reclaimer operates in reverse, the task is completed, and it starts to return to zero.

[0096] Process 2: The boom of the reclaimer rises to the zero height, and the pitching stops after reaching the zero height, and process 3 is executed.

[0097] Process 3: The reclaimer performs a rotary zeroing action, and the target position is 0 degrees.

[0098] Process 4: When the reclaimer performs the rotation action, it also performs the walking action. The walking action eliminates the weight of the bucket wheel in the walking direction during the rotation action, ensuring that the boom head is always within the range of "Line 2" and "Line 0" in the "Implementation Plan" (the boom head does not touch the working coal pile and the adjacent coal pile), and the boom does not touch the intersection of the above two lines and "Line 3" (the collision point between the boom and the coal pile).

[0099] Process 5: Check if the rotation angle is less than or equal to the preset angle, for example, 90°, and whether the boom head exceeds "Line 3". If so, there will be no collision risk between the boom and the boom head, and execute process 6; otherwise, execute process 4.

[0100] Process 6: When the rotation angle is less than or equal to the preset angle, for example, 90°, and the boom head exceeds "line 3", the walking action ends.

[0101] Process 7: The rotation angle is less than or equal to the preset angle, for example, 90°. Whether the arm head exceeds "Line 3" or not, when the walking action ends, it rotates to the 0-degree zero position. When the position is reached, the rotation action ends.

[0102] Process 8: The zeroing task is completed.

[0103] After this method is put into use, the equipment working in reverse can safely and reliably realize the automatic zeroing operation, and can immediately start the next stage of the task after zeroing, filling the gap in the automatic material reclaiming control logic, so that the automatic material reclaiming can realize the automatic action of the whole process. The development of this control method only requires PLC programming based on the original equipment, which is low-cost, easy to implement and easy to promote. This control method has been fully applied to the second phase reclaimer and stacker reclaimer of Guoneng Huanghua Port Company. After application, manual operation is no longer required, which improves the efficiency of process operation.

[0104] In the embodiments provided by the present invention, 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 invention. 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, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that 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.

[0105] It should be noted that, in the present invention, the terms "include", "comprises" or any other variants 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 "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0106] Although the embodiments disclosed in the present invention are as above, the above contents are only embodiments adopted for facilitating the understanding of the present invention and are not intended to limit the present invention. Any technician in the technical field to which the present invention 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 invention, but the patent protection scope of the present invention shall still be subject to the scope defined in the attached claims.

Claims

1. A reclaimer rotation control method, characterized in that: The method comprises: Obtain the boom length of the reclaimer, the distance from the boom head to the track, and the distance from the safety boundary to the track, and combine them with the safe swing distance expression to obtain the safe swing distance of the reclaimer; Determine whether the horizontal distance between the operating stack position and the adjacent stack position at the height position of the bucket wheel of the reclaimer is greater than the safe rotation distance; When the horizontal distance between the operating stack position and the adjacent stack position at the height position of the bucket wheel of the reclaimer is greater than the safe rotation distance, the reclaimer is operated to rotate.

2. The reclaimer rotation control method according to claim 1, characterized in that: The safe rotation distance of the reclaimer is obtained by combining the safe rotation distance expression, including: Taking the square root of the difference between the square of the boom length of the reclaimer and the square of the distance from the boom head of the reclaimer to the track, a first intermediate result is obtained; The second intermediate result is obtained by subtracting the ratio of the distance from the safety boundary to the track to the distance from the boom head of the reclaimer to the track from 1; Based on the product of the first intermediate result and the second intermediate result, the safe rotation distance of the reclaimer is obtained.

3. The reclaimer rotation control method according to claim 1, characterized in that: In the step of determining whether the horizontal distance between the operating stack position and the adjacent stack position at the height position of the bucket wheel of the reclaimer is greater than the safe rotation distance, Taking the boundary of the working stack position at the height position of the bucket wheel of the reclaimer as the boundary of the working stack position; Taking the ground boundary of the adjacent stack positions as the boundary of the adjacent stack positions at all heights; The distance from the safety boundary to the track is determined based on the height of the bucket wheel of the reclaimer and the repose angle of the working stack position.

4. The reclaimer rotation control method according to claim 3, characterized in that: The step of operating the reclaimer to rotate comprises: When the head of the boom is within the safety boundary, the reclaimer is controlled to move, eliminating the component of the bucket wheel in the moving direction during the rotation action, so that the head of the boom is always within the boundary of the working stack position and the boundary of the adjacent stack position.

5. The reclaimer rotation control method according to claim 3 or 4, characterized in that: When the head of the boom is outside the safety boundary and the rotation angle is less than or equal to a preset angle, the walking action is ended.

6. The reclaimer rotation control method according to claim 1, characterized in that: The method further comprises: When the horizontal distance between the working stack position and the adjacent stack position at the height position of the bucket wheel of the reclaimer is less than or equal to the safe turning distance, the height of the bucket wheel of the reclaimer is raised until the horizontal distance between the working stack position and the adjacent stack position at the height position of the bucket wheel of the reclaimer is greater than the safe turning distance.

7. A reclaimer rotation control device, characterized in that: The device comprises: The distance calculation module is used to obtain the boom length of the reclaimer, the distance from the boom head of the reclaimer to the track, and the distance from the safety boundary to the track, and the safe rotation distance of the reclaimer is obtained by combining the safe rotation distance expression; A distance judgment module, used to judge whether the horizontal distance between the working stack position and the adjacent stack position at the height position of the bucket wheel of the reclaimer is greater than the safe rotation distance; The rotation control module is used to operate the reclaimer to rotate when the horizontal distance between the working stack position and the adjacent stack position at the height position of the bucket wheel of the reclaimer is greater than the safe rotation distance.

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 reclaimer rotation control method according to any one of claims 1 to 6.

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 reclaimer rotation control method described in any one of claims 1 to 6 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 reclaimer rotation control method described in any one of claims 1 to 6 are implemented.

Images