Stacker-reclaimer control method and system, electronic equipment and storage medium

Abstract

The invention discloses a stacker-reclaimer control method and system, electronic equipment and a storage medium. The method comprises the following steps: acquiring material pile information of each material pile in an operation area where the stacker-reclaimer is located and current production plan information; generating work plan information for the stacker-reclaimer according to the material pile information of each material pile and the current production plan information; and controlling the stacker-reclaimer to carry out stacking and reclaiming work according to the work plan information. According to the technical scheme, the automatic control operation process of the stacker-reclaimer is achieved, and the automatic operation efficiency of the stacker-reclaimer is improved.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a stacker-reclaimer control method, system, electronic equipment and storage medium. Background Art

[0002] Stackers and reclaimers are important tools and equipment for transporting coal and ore in ports, mines, power plants and other enterprises. With the accelerated industrial development in recent years, the increase in labor costs, the transformation of enterprise informatization and material yard management informatization, and the continuous increase in the demand for stacking in large material yards, the unmanned, automated and intelligent development of bucket wheel cranes has become the latest development trend.

[0003] However, the existing stacker-reclaimers still rely on manual monitoring during operation and cannot be truly unmanned, resulting in a low degree of automation and low operating efficiency of the stacker-reclaimers. Summary of the invention

[0004] The present invention provides a stacker-reclaimer control method, system, electronic equipment and storage medium to realize the automatic control operation process of the stacker-reclaimer and improve the automatic operation efficiency of the stacker-reclaimer.

[0005] According to one aspect of the present invention, a stacker-reclaimer control method is provided, the method comprising:

[0006] Obtain the material pile information and current production plan information of each material pile in the operation area where the stacker and reclaimer is located;

[0007] generating work plan information for the stacker-reclaimer according to the material pile information of each material pile and the current production plan information;

[0008] The stacker-reclaimer is controlled to operate according to the work plan information.

[0009] According to another aspect of the present invention, a stacker-reclaimer control system is provided, the system comprising:

[0010] A material pile monitoring unit, used to monitor each material pile in the operation area in real time, collect real-time point cloud data of each material pile, and upload the real-time point cloud data to a host computer;

[0011] A host computer, used to execute the stacker-reclaimer control method described in any embodiment of the present invention;

[0012] At least one stacker-reclaimer for performing work according to the work plan information.

[0013] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0014] at least one processor; and

[0015] a memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the stacker-reclaimer control method described in any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the stacker-reclaimer control method described in any embodiment of the present invention when executed.

[0018] The technical solution of the embodiment of the present invention obtains the stockpile information and current production plan information of each stockpile in the working area where the stacker and reclaimer is located; generates work plan information for the stacker and reclaimer according to the stockpile information of each stockpile and the current production plan information; controls the operation of the stacker and reclaimer according to the work plan information, and adopts a technical means of accurately analyzing the stockpile information of the stockpile and generating a work plan for the stacker and reclaimer in combination with the production plan information to realize the stacker and reclaimer control. This solves the problem that the existing stacker and reclaimer still relies on manual monitoring during the working process and cannot be truly unmanned, resulting in a low degree of automation and low operating efficiency of the stacker and reclaimer, realizes the automatic control operation process of the stacker and reclaimer, and improves the automatic operation efficiency of the stacker and reclaimer.

[0019] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 A flow chart of a stacker-reclaimer control method provided in Embodiment 1 of the present invention;

[0022] Figure 2 A flow chart of a stacker-reclaimer control method provided in Embodiment 2 of the present invention;

[0023] Figure 3 A schematic structural diagram of a stacker-reclaimer control device provided in Embodiment 3 of the present invention;

[0024] Figure 4a A schematic diagram of the structure of a stacker-reclaimer control system provided in Embodiment 4 of the present invention;

[0025] Figure 4b A schematic diagram of the structure of another stacker-reclaimer control system provided in Embodiment 4 of the present invention;

[0026] Figure 5 It is a structural schematic diagram of an electronic device for implementing the stacker-reclaimer control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0028] 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.

[0029] Embodiment 1

[0030] Figure 1 This is a flowchart of a stacker-reclaimer control method provided in the first embodiment of the present invention. This embodiment is applicable to the case where a stacker-reclaimer is automatically controlled in an operating area. The method can be executed by a stacker-reclaimer control device, which can be implemented in the form of hardware and / or software. The stacker-reclaimer control device can be configured in the host computer of the stacker-reclaimer control system. Figure 1 As shown, the method includes:

[0031] S110, obtaining the material pile information and current production plan information of each material pile in the operation area where the stacker-reclaimer is located.

[0032] The stockpile information of each stockpile may include the stackable volume or retrievable volume, which may be calculated by the host computer based on the point cloud data of the stockpile, and the point cloud data of the stockpile may be collected by the stockpile monitoring unit (e.g., laser scanning equipment or other equipment) of the stacker-reclaimer control system, and uploaded to the host computer by the stockpile monitoring unit. The current production plan information may refer to the production information for each stockpile currently planned, and the production plan information may be realized, for example, by communication or by user input into the host computer.

[0033] In an optional embodiment, obtaining the material pile information of each material pile in the working area where the stacker and reclaimer is located may include: obtaining the overall point cloud data in the working area, and filtering out the valid point cloud data corresponding to each material pile from the overall point cloud data; constructing the valid point cloud data into an XY plane divided into multiple rectangular grids, and performing spatial interpolation processing on the valid point cloud data of each material pile through the multiple rectangular grids to obtain the characteristic elevation arrays of the multiple rectangular grids; obtaining the voxel blocks in the current rectangular grid based on the characteristic elevation array of the current rectangular grid; adding the voxel blocks within the range of the current material pile to obtain the stackable / reclaimable volume of the current material pile.

[0034] In this embodiment, the overall point cloud data acquired in the working area may contain various noise point cloud data, so it is necessary to screen the overall point cloud data to obtain valid point cloud data of each material pile.

[0035] Specifically, filtering out valid point cloud data corresponding to each material pile from the overall point cloud data may include: dividing a rectangular frame area of ​​each material pile according to the overall point cloud data; deleting the overall point cloud data outside the rectangular frame area of ​​each material pile, and using the retained overall point cloud data as the first point cloud data; respectively calculating the minimum distance between each point in the first point cloud data and other adjacent points, and using the first point cloud data whose minimum distance does not exceed a predetermined average distance as the second point cloud data; and determining the second point cloud data as the valid point cloud data corresponding to each material pile.

[0036] In this embodiment, the first point cloud data is obtained by performing a first screening on the overall point cloud data, and the noise point cloud data in the overall point cloud data that is obviously outside the stockpile area can be deleted, and then the first point cloud data is screened for a second time to obtain the second point cloud data (i.e., the valid point cloud data of each stockpile), and the abnormal outlier point cloud data of each stockpile in the first point cloud data (for example, a few point cloud data in a pile of point cloud data whose elevation is obviously higher than other point cloud data) can be deleted. In this embodiment, for the first point cloud data screened for the first time, it can be obtained by performing a preliminary stockpile rectangular frame area division on the overall point cloud data and then deleting the point cloud data outside the rectangular frame area; for the second point cloud data obtained by the second screening, it can be understood as judging the obviously discrete abnormal data in the point cloud data of each stockpile obtained after the first screening (i.e., judging whether the minimum distance between each point and other adjacent points exceeds the predetermined average distance), deleting it, and the remaining is used as the second point cloud data (valid point cloud data).

[0037] Optionally, in this embodiment, the size of the rectangular grid can be kept consistent, and the spatial interpolation process can be specifically to traverse each grid of the rectangular grid, replace the plane coordinates of the point cloud data in the current grid with the center coordinates of the current grid, and keep the elevation value unchanged. After processing all the rectangular grids, the characteristic elevation arrays of multiple rectangular grids can be obtained.

[0038] Optionally, the specific process of obtaining the voxel block in the current rectangular grid based on the feature elevation array of the current rectangular grid can be to construct a target tensor through the feature elevation array, project the target tensor into the current rectangular grid to obtain the projected rectangular grid, traverse each grid in the projected rectangular grid, generate the voxel block of the current grid according to the feature elevation array of the current grid, and obtain the voxel block of the current rectangular grid after processing each grid in the projected rectangular grid. Optionally, in this embodiment, after constructing the target tensor, the target tensor can be pre-trained to crop the ground point data in the target tensor and repair the defective point data.

[0039] The above-mentioned implementation mode can select effective point cloud data, delete interfering or useless point cloud data, and thereby obtain the stackable volume or reclaimable volume, thereby providing a basis for generating work plan information for the stacker-reclaimer.

[0040] S120: Generate work plan information for the stacker-reclaimer according to the material pile information of each material pile and the current production plan information.

[0041] In this embodiment, there may be at least one material pile in the operating area, that is, the material pile type of each material pile in the operating area may be at least one. Taking the coal yard as an example, the material pile type of each material pile may be, for example, 2000 joules, 3000 joules, 4000 joules, 5000 joules, etc. In this embodiment, the current production plan information may include the required pile / reclaiming volume and the required material pile type. The material pile information of each material pile may also include the material pile type and the material pile location. The work plan information may refer to the stacking / reclaiming plan of the stacker / reclaimer for the coal yard, for example, the stacking position, stacking volume and stacking travel path of the stacking operation scene, the reclaiming position, reclaiming volume and reclaiming travel path of the reclaiming operation scene, etc.

[0042] In this embodiment, the production plan information may be compared with the material pile information of each material pile, and then combined with the position, load, etc. of the stacker-reclaimer, work plan information may be generated for the stacker-reclaimer.

[0043] In an optional embodiment, generating work plan information for a stacker-reclaimer based on the stockpile information of each stockpile and the current production plan information may include: comparing the required stockpile / reclaim volume with the stackable / reclaimable volume of each stockpile, and matching a stockpile of the same type as the required stockpile from each stockpile as a target stockpile; if the target stockpile exists directly, generating work plan information for at least one stacker-reclaimer based on the position information of the target stockpile and the position information of the stacker-reclaimer, the work plan information including the stockpile / reclaim position, the stockpile / reclaim volume, and the stockpile / reclaim travel path, on the premise that the time spent on stockpile / reclaim is minimized; if the target stockpile does not exist directly during the reclaiming operation, comparing the required stockpile type with the stockpile type of each stockpile, and comparing the required reclaiming volume with the reclaimable stockpile volume of each stockpile to determine a blending scheme; generating work plan information for at least two stackers-reclaimers based on the blending scheme and the position information of the stacker-reclaimer, the work plan information including the reclaiming position, the reclaiming volume, the reclaiming travel path, and the reclaiming flow rate.

[0044] Specifically, the required stockpiling / reclaiming volume can be compared with the available stockpiling / reclaiming volume of each stockpile, and on the basis that the stockpile volume meets the requirements, a stockpile whose type meets the requirements is matched from each stockpile as the target stockpile.

[0045] If the target stockpile exists directly, that is, there are stockpiles in each stockpile that directly meet both the stockpile / reclaim volume requirement and the type requirement, the number of such stockpiles can be at least one, so that the stockpile / reclaim location, stockpile / reclaim volume and stockpile / reclaim travel path can be determined for at least one stockpile / reclaimer based on the position, load and other information of the stockpile / reclaimer in the operation area, while ensuring the shortest stockpile / reclaim time. For example, the stockpile / reclaim volume required in the production plan information is 20m 3 , the required stockpile type is 3000 joules, and the stockpile 1 is directly matched from each stockpile (the available stockpile / removable stockpile volume is 30m3 , the stockpile type 3000 joules) meets the needs of the production plan, and further considers the location and load of the stacker and reclaimer, etc., and the current work plan information can be generated for the stacker and reclaimer 2. For example, the required stacking / reclaiming volume in the production plan information is 50m 3 , the required stockpile type is 3000 joules, and the stockpile 1 is directly matched from each stockpile (the available stockpile / removal volume is 30m 3 , stockpile type 3000 joules) and stockpile 3 (stockpile / reclaim volume 40m 3 , the stockpile type is 3000 joules) to meet the production plan requirements, and further consider the position and load information of the stacker-reclaimer, the current work plan information can be generated for stacker-reclaimer 2 and stacker-reclaimer 4 (stacker-reclaimer 2 stacks / reclaims 10m from stockpile 1 3 , stacker-reclaimer 4 stacks / reclaims 40m from pile 3 3 ).

[0046] If the target stockpile does not exist directly during the material reclaiming operation, that is, the stockpile types of each stockpile are inconsistent with the required stockpile types, a blending scheme that matches the required material reclaiming volume and required stockpile type in the production plan information can be determined based on the stockpile types and stockpile volumes of each stockpile, thereby determining the reclaiming position, reclaiming volume, reclaiming driving path and reclaiming flow rate for at least two stackers and reclaimers based on the blending scheme, the position and load of the stacker and reclaimer, and other information. For example, taking the coal pile in the coal yard as an example, the required reclaiming volume in the production plan information is 50m 3 The required stockpile type is 4000 joules, and the stockpile 2 (retrievable material volume 25m 3 , stockpile type 3000 joules) and stockpile 4 (accessible volume 25m 3 , the type of stockpile is 5000 joules) can determine the blending plan for the production plan information, and further combined with the position and load information of the stacker-reclaimer, the current work plan information can be generated for stacker-reclaimer 2 and stacker-reclaimer 3 (stacker-reclaimer 2 takes 25m from stockpile 2 3 , stacker-reclaimer 3 takes material from pile 4 for 25m 3 , the two coal flows are directly blended on the coal conveyor belt with equal material flow rate to obtain a coal flow of 4000 joules).

[0047] It should be noted that, according to the location of each stacker-reclaimer, it can be preferentially assigned to the stacking operation or retrieving operation closest to it. Furthermore, the load, position and stockpile position of each stacker-reclaimer can be comprehensively considered to rationally plan the work plan of each stacker-reclaimer to ensure that the time spent in the stacking or retrieving process of the stacker-reclaimer is the minimum as the first priority work requirement.

[0048] S130, controlling the stacker-reclaimer to operate according to the work plan information.

[0049] In this embodiment, the stacker / reclaimer can be controlled according to the work plan information to stack / reclaim materials at the material pile position according to the stacking / reclaiming travel path in the corresponding work plan information.

[0050] The technical solution of the embodiment of the present invention obtains the stockpile information and the current production plan information of each stockpile in the working area where the stacker and reclaimer is located; generates work plan information for the stacker and reclaimer according to the stockpile information of each stockpile and the current production plan information; controls the operation of the stacker and reclaimer according to the work plan information, and adopts a technical means of accurately analyzing the stockpile information of the stockpile and generating a work plan for the stacker and reclaimer in combination with the production plan information to realize the stacker and reclaimer control. This solves the problem that the existing stacker and reclaimer still relies on manual monitoring during the working process and cannot be truly unmanned, resulting in a low degree of automation and low operating efficiency of the stacker and reclaimer, realizes the automatic control operation process of the stacker and reclaimer, and improves the automatic operation efficiency of the stacker and reclaimer.

[0051] Embodiment 2

[0052] Figure 2 This is a flow chart of a stacker-reclaimer control method provided in the second embodiment of the present invention. This embodiment further adds operations based on the above embodiment. Figure 2 As shown, the method includes:

[0053] S210, obtaining the material pile information and current production plan information of each material pile in the operation area where the stacker-reclaimer is located.

[0054] S220: Generate work plan information for the stacker-reclaimer according to the material pile information of each material pile and the current production plan information.

[0055] S230, controlling the stacker-reclaimer to operate according to the work plan information.

[0056] S240, obtaining the surrounding environment information of the stacker / reclaimer during its driving process according to the work plan information, and identifying the target obstacle in the surrounding environment information, where the target obstacle is an obstacle located on the stacking / reclaiming driving path of the stacker / reclaimer.

[0057] S250: Match the target obstacle with a preset obstacle library, where the preset obstacle library is pre-built based on all obstacles in the operating area and the characteristic features of each obstacle.

[0058] S260: If the matching result is that the target obstacle exists in the preset obstacle library, determine the real-time distance between the stacker / reclaimer and the target obstacle on the stacker / reclaimer driving path according to the position information of the target obstacle pre-stored in the preset obstacle library.

[0059] S270: If the matching result is that the target obstacle does not exist in the preset obstacle library, determine the real-time distance through a distance measurement algorithm with the target obstacle.

[0060] S280: Optimize and control the stacking / reclaiming travel path of the stacker / reclaimer in real time according to the real-time distance.

[0061] In this embodiment, at least one video acquisition device can be set on the stacker / reclaimer, and the surrounding environment information, driving process, and stacking / reclaiming process of the stacker / reclaimer can be monitored by the video acquisition device to ensure real-time monitoring of the automatic operation process of the stacker / reclaimer. Specifically, the video acquisition device on the stacker / reclaimer can collect the surrounding environment information in real time during its driving process to monitor the stacking / reclaiming driving path in real time. After the video acquisition device uploads the surrounding environment information to the host computer, the host computer identifies the obstacle (i.e., the target obstacle) located in front of the stacking / reclaiming driving path and determines whether the obstacle is a preset fixed obstacle (i.e., an obstacle in the preset obstacle library, such as a fixed wall, a partition wall, a railing, a fixed sign, etc.) or a temporary obstacle (such as a pedestrian, a temporarily placed obstacle, etc.). If the target obstacle is one of the obstacles in the preset obstacle library, the real-time distance between the target obstacle and the stacker / reclaimer can be calculated based on the position information of the target obstacle pre-recorded in the preset obstacle library; if the target obstacle is not one of the obstacles in the preset obstacle library, the real-time distance between the target obstacle and the stacker / reclaimer can be calculated using a distance measurement algorithm (such as a laser radar distance measurement method). Thus, the stacker / reclaimer driving path can be optimized and controlled in real time based on the real-time distance, which can further ensure the driving safety of the stacker / reclaimer and change the stacker / reclaimer driving path in time.

[0062] Optionally, the stacker-reclaimer control method of the present embodiment may further include: obtaining real-time information (real-time point cloud data and real-time video information) of the stacked / reclaimed pile during the stacking / reclaiming process of the stacker-reclaimer according to the work plan information; determining the actual stacking / reclaiming flow rate of the stacker-reclaimer based on the real-time point cloud data and the real-time video information; comparing the actual stacking / reclaiming flow rate with the preset stacking / reclaiming flow rate, and generating adjustment instructions for the stacker-reclaimer based on the comparison result, the adjustment instructions including at least one of a bucket wheel speed adjustment instruction, a boom speed adjustment instruction, and a boom pitch adjustment instruction.

[0063] Specifically, when the stacker / reclaimer performs the stacking / reclaiming operation, the material pile monitoring unit uploads the processed point cloud data and the video acquisition device to the host computer, and the host computer determines the actual stacking / reclaiming flow rate of the stacker / reclaimer according to the volume change of the material pile and the real-time video of the stacked / reclaimed material pile in the stacking / reclaiming video; when the actual stacking / reclaiming flow rate is less than the preset stacking / reclaiming flow rate, at least one of the instructions of increasing the bucket wheel speed, increasing the boom speed, and increasing the boom pitch angle can be generated; when the actual stacking / reclaiming flow rate is greater than the preset stacking / reclaiming flow rate, at least one of the instructions of reducing the bucket wheel speed, reducing the boom speed, and reducing the boom pitch angle can be generated. This setting can monitor and analyze the stacking / reclaiming flow rate in the stacking / reclaiming process in real time, and feed back the results to the host computer to realize constant flow stacking / reclaiming operation, improve the stacking / reclaiming stability of the stacker / reclaimer by adjusting the stacking / reclaiming flow rate in real time, and optimize the working efficiency and reliability of the stacker / reclaimer.

[0064] Optionally, after the stacker / reclaimer completes stacking / reclaiming according to the work plan information, the real-time collected point cloud data of the stacked / reclaimed material pile can be uploaded to the host computer to update the volume of the stacked / reclaimed material pile in real time. The advantage of this setting is that by updating the volume of the material pile in real time, the material pile information in the working area is accurately grasped, and the work plan of the stacker / reclaimer is ensured to be carried out correctly.

[0065] Optionally, the stacker-reclaimer control method of the present embodiment may further include: real-time judgment of the stacking / reclaiming driving risk of the stacker-reclaimer, and generating an alarm signal if the driving risk is greater than a preset driving risk threshold, wherein the driving risks include the risk of exceeding the travel limit, the risk of exceeding the rotation angle limit, the risk of exceeding the pitch angle limit, the risk of collision and the risk of equipment failure; real-time judgment of the operating risk of the pile of materials being stacked / reclaimed, and generating an alarm signal if the operating risk exceeds the preset operating risk threshold; operating risks include the risk of pile collapse, the risk of bucket wheel idling and the risk of the stacking / reclaiming volume exceeding the stackable / reclaiming volume threshold of the pile.

[0066] In this embodiment, the risk of over-travel, over-rotation angle, over-pitch angle, collision and equipment failure during the travel of the stacker and reclaimer can be evaluated, and if it is greater than the risk threshold, an alarm signal is issued. Taking the risk of collision between the stockpile and the stacker and reclaimer as an example, the point cloud data of the stockpile is obtained, and the point cloud data of the stockpile that may collide with the stacker and reclaimer is selected. At all rotation angles of the stacker and reclaimer, the vertical distance between the selected point cloud data and the stacker and reclaimer boom is calculated to determine the maximum rotation angle at a non-collision safety distance, and then the stacker and reclaimer is controlled to perform stacking and reclaiming operations within the range where the actual rotation angle is less than the maximum rotation angle. The risk of equipment failure can be determined, for example, by monitoring the motor current, voltage, oil pressure, etc. of the equipment.

[0067] The advantage of the above alarm setting is that various risks in the stacker-reclaimer operation process are provided in real time through equipment alarm and operation alarm, thereby ensuring the safety and reliability of the stacker-reclaimer operation, equipment and personnel.

[0068] The technical solution of the embodiment of the present invention adopts accurate analysis of the information of each material pile, and generates a work plan for the stacker and reclaimer in combination with the production plan information to realize the control of the stacker and reclaimer. By determining the real-time distance between the obstacles and the stacker and reclaimer on the stacker / reclaimer driving path, and timely optimizing the stacker / reclaimer driving path, the technical solution solves the problem that the existing stacker and reclaimer still relies on manual monitoring during the working process and cannot be truly unmanned, resulting in low automation level, low operating efficiency and low driving safety of the stacker and reclaimer. The automatic control operation process of the stacker and reclaimer is realized, the automatic operation efficiency of the stacker and reclaimer is improved, and the stacker / reclaimer driving path is timely optimized to ensure the driving safety of the stacker and reclaimer.

[0069] Embodiment 3

[0070] Figure 3 This is a schematic diagram of the structure of a stacker-reclaimer control device provided in the third embodiment of the present invention. Figure 3 As shown, the device includes: an information acquisition module 310, a work plan information generation module 320 and a stacker-reclaimer control module 330. Among them:

[0071] The information acquisition module 310 is used to obtain the material pile information and current production plan information of each material pile in the operation area where the stacker and reclaimer is located;

[0072] A work plan information generating module 320, configured to generate work plan information for the stacker-reclaimer according to the material pile information of each material pile and the current production plan information;

[0073] The stacker-reclaimer control module 330 is used to control the operation of the stacker-reclaimer according to the operation plan information.

[0074] The technical solution of the embodiment of the present invention obtains the stockpile information and current production plan information of each stockpile in the working area where the stacker and reclaimer is located; generates work plan information for the stacker and reclaimer according to the stockpile information of each stockpile and the current production plan information; controls the operation of the stacker and reclaimer according to the work plan information, and adopts a technical means of accurately analyzing the stockpile information of the stockpile and generating a work plan for the stacker and reclaimer in combination with the production plan information to realize the stacker and reclaimer control. This solves the problem that the existing stacker and reclaimer still relies on manual monitoring during the working process and cannot be truly unmanned, resulting in a low degree of automation and low operating efficiency of the stacker and reclaimer, realizes the automatic control operation process of the stacker and reclaimer, and improves the automatic operation efficiency of the stacker and reclaimer.

[0075] Optionally, the material pile information includes the volume of materials that can be piled / taken;

[0076] The information acquisition module 310 may specifically include:

[0077] An effective point cloud data screening unit is used to obtain the overall point cloud data in the operation area, and screen out the effective point cloud data corresponding to each material pile from the overall point cloud data;

[0078] A characteristic elevation array acquisition unit is used to construct the effective point cloud data into an XY plane divided into a plurality of rectangular grids, and perform spatial interpolation processing on the effective point cloud data of each stockpile through the plurality of rectangular grids to obtain a characteristic elevation array of the plurality of rectangular grids;

[0079] A voxel block acquisition unit, used for acquiring a voxel block in the current rectangular grid based on a characteristic elevation array of the current rectangular grid;

[0080] The material pile volume acquisition unit is used to add up the voxel blocks within the range of the current material pile to obtain the stackable / removable material volume of the current material pile.

[0081] Optional, valid point cloud data screening unit, which can be used for:

[0082] Divide the rectangular frame area of ​​each stockpile according to the overall point cloud data;

[0083] Deleting the overall point cloud data outside the rectangular frame area of ​​each stockpile, and using the retained overall point cloud data as the first point cloud data;

[0084] Calculate the minimum distance between each point in the first point cloud data and other adjacent points respectively, and use the first point cloud data whose minimum distance does not exceed the predetermined average distance as the second point cloud data;

[0085] The second point cloud data is determined as the valid point cloud data corresponding to each of the material piles.

[0086] Optionally, the current production plan information includes the required stockpile / material taking volume and the required stockpile type, and the stockpile information also includes the stockpile type and stockpile location;

[0087] Accordingly, the work plan information generating module 320 can be specifically used for:

[0088] Compare the required stockpiling / removing volume with the available stockpiling / removing volume of each stockpile, and match a stockpile of the same type as the required stockpile from each stockpile as a target stockpile;

[0089] If the target material pile exists directly, under the premise of minimizing the time spent on stacking / retrieving, generating the work plan information for at least one stacker / reclaimer according to the location information of the target material pile and the location information of the stacker / reclaimer, wherein the work plan information includes the stacking / reclaiming location, the stacking / reclaiming volume and the stacking / reclaiming travel path;

[0090] If the target stockpile does not exist directly during the material taking operation, the required stockpile type is compared with the stockpile types of the various stockpiles, and the required material taking volume is compared with the retrievable material volume of the various stockpiles to determine a blending scheme; and the work plan information is generated for at least two stackers and reclaimers according to the blending scheme and the position information of the stacker and reclaimer, and the work plan information includes the material taking position, material taking volume, material taking travel path and material taking flow rate.

[0091] Optionally, the stacker-reclaimer control device further includes a path optimization module, which is used to:

[0092] Acquiring surrounding environment information of the stacker / reclaimer during its travel according to the work plan information, and identifying target obstacles in the surrounding environment information, wherein the target obstacles are obstacles located on the stacking / reclaiming travel path of the stacker / reclaimer;

[0093] Matching the target obstacle with a preset obstacle library, where the preset obstacle library is pre-built based on all obstacles in the operating area and the characteristic features of each obstacle;

[0094] If the matching result is that the target obstacle exists in the preset obstacle library, determining the real-time distance between the stacker / reclaimer and the target obstacle on the stacker / reclaimer driving path according to the position information of the target obstacle pre-stored in the preset obstacle library;

[0095] If the matching result is that the target obstacle does not exist in the preset obstacle library, determining the real-time distance by using a distance measurement algorithm with the target obstacle;

[0096] The stacking / reclaiming travel path of the stacker / reclaimer is optimized and controlled in real time according to the real-time distance.

[0097] Optionally, the stacker-reclaimer control module further includes an adjustment instruction generating module, which is used to:

[0098] Acquire real-time information of the stacked / reclaimed material pile during the stacking / reclaiming process of the stacker / reclaimer according to the work plan information, wherein the real-time information includes real-time point cloud data and real-time video information;

[0099] Determine the actual stacking / reclaiming flow rate of the stacker / reclaimer according to the real-time point cloud data and the real-time video information;

[0100] The actual stacking / reclaiming flow rate is compared with the preset stacking / reclaiming flow rate, and an adjustment instruction for the stacker / reclaimer is generated according to the comparison result, wherein the adjustment instruction includes at least one of a bucket wheel speed adjustment instruction, a boom speed adjustment instruction, and a boom pitch adjustment instruction.

[0101] Optionally, the stacker-reclaimer control module further includes an alarm signal generating module, which is used to:

[0102] Determine the driving risk of the stacker-reclaimer in real time, and generate an alarm signal if the driving risk is greater than a preset driving risk threshold, wherein the driving risk includes the risk of exceeding the travel limit, the risk of exceeding the rotation angle limit, the risk of exceeding the pitch angle limit, the risk of collision, and the risk of equipment failure;

[0103] The operational risk of the pile of materials being stacked and taken is determined in real time. If the operational risk exceeds the preset operational risk threshold, an alarm signal is generated; the operational risk includes the risk of pile collapse, the risk of bucket wheel idling, and the risk that the stacking / taking volume exceeds the stackable / taking volume threshold of the pile.

[0104] The stacker-reclaimer control device provided in the embodiment of the present invention can execute the stacker-reclaimer control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0105] Embodiment 4

[0106] Figure 4a This is a schematic diagram of the structure of a stacker-reclaimer control system provided in Embodiment 4 of the present invention. Figure 4a As shown, the system includes: a pile monitoring unit 410, a host computer 420 and at least one stacker-reclaimer 430. Among them:

[0107] The material pile monitoring unit 410 is used to monitor each material pile in the operation area in real time, collect real-time point cloud data of each material pile, and upload the real-time point cloud data to the host computer;

[0108] The host computer 420 is used to execute the stacker-reclaimer control method of any embodiment of the present invention;

[0109] At least one stacker-reclaimer 430 is used to perform work according to the work plan information.

[0110] The host computer can be connected to the pile monitoring unit and at least one stacker / reclaimer in communication. The communication connection method can be wireless communication, wifi or 5G for data communication.

[0111] Optional, reference Figure 4b The host computer 420 is used to install the stacker-reclaimer control system execution program, and the host computer may include a monitoring module, a control module and an alarm module.

[0112] At least one stacker-reclaimer 430 may include not only the original equipment, but also a PLC (Programmable Logic Controller) controller, a video acquisition device, and various sensor units installed on the original equipment such as travel detection, rotation detection, pitch detection, collision detection, and video detection. The PLC controller may be used to receive work plan information, bucket wheel speed adjustment instructions, boom speed adjustment instructions, and boom pitch adjustment instructions from the host computer of the stacker-reclaimer control system, and may be used to control the automatic operation of each stacker-reclaimer, and may also return the status parameters of the stacker-reclaimer to the host computer.

[0113] Embodiment 5

[0114] Figure 5 A schematic diagram of an electronic device 500 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers or various forms of mobile devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0115] like Figure 5 As shown, the electronic device 500 includes at least one processor 501, and a memory connected to the at least one processor 501 in communication, such as a read-only memory (ROM) 502, a random access memory (RAM) 503, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 501 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 502 or the computer program loaded from the storage unit 508 to the random access memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the electronic device 500 can also be stored. The processor 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0116] Multiple components in the electronic device 500 are connected to the I / O interface 505, including: an input unit 506, such as a keyboard, a mouse, etc.; an output unit 507, such as various types of displays, speakers, etc.; a storage unit 508, such as a disk, an optical disk, etc.; and a communication unit 509, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 509 allows the electronic device 500 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0117] The processor 501 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 501 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The processor 501 executes the various methods and processes described above, such as a stacker-reclaimer control method.

[0118] In some embodiments, the stacker-reclaimer control method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 508. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 500 via the ROM 502 and / or the communication unit 509. When the computer program is loaded into the RAM 503 and executed by the processor 501, one or more steps of the stacker-reclaimer control method described above may be performed. Alternatively, in other embodiments, the processor 501 may be configured to execute the stacker-reclaimer control method in any other appropriate manner (e.g., by means of firmware).

[0119] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0120] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0121] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0122] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0123] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0124] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0125] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0126] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A stacker-reclaimer control method, characterized in that: include: Obtain the material pile information and current production plan information of each material pile in the operation area where the stacker and reclaimer is located; generating work plan information for the stacker-reclaimer according to the material pile information of each material pile and the current production plan information; The stacker-reclaimer is controlled to operate according to the work plan information.

2. The method according to claim 1, characterized in that The material pile information includes the volume of materials that can be piled / taken; Obtain the stockpile information of each stockpile in the working area of ​​the stacker / reclaimer, including: Acquire overall point cloud data in the operation area, and filter out valid point cloud data corresponding to each material pile from the overall point cloud data; The effective point cloud data is constructed into an XY plane divided into a plurality of rectangular grids, and the effective point cloud data of each stockpile is spatially interpolated through the plurality of rectangular grids to obtain a characteristic elevation array of the plurality of rectangular grids; Acquire a voxel block within the current rectangular grid based on a feature elevation array of the current rectangular grid; The voxel blocks within the range where the current material pile is located are added together to obtain the stackable / removable material volume of the current material pile.

3. The method according to claim 2, characterized in that Filter out valid point cloud data corresponding to each stockpile from the overall point cloud data, including: Divide the rectangular frame area of ​​each stockpile according to the overall point cloud data; Deleting the overall point cloud data outside the rectangular frame area of ​​each stockpile, and using the retained overall point cloud data as the first point cloud data; Calculate the minimum distance between each point in the first point cloud data and other adjacent points respectively, and use the first point cloud data whose minimum distance does not exceed the predetermined average distance as the second point cloud data; The second point cloud data is determined as the valid point cloud data corresponding to each of the material piles.

4. The method according to claim 2, characterized in that: The current production plan information includes the required stockpile / material taking volume and the required stockpile type, and the stockpile information also includes the stockpile type and stockpile location; Generating work plan information for the stacker-reclaimer according to the material pile information of each material pile and the current production plan information, including: Compare the required stockpiling / removing volume with the available stockpiling / removing volume of each stockpile, and match a stockpile of the same type as the required stockpile from each stockpile as a target stockpile; If the target material pile exists directly, under the premise of minimizing the time spent on stacking / retrieving, generating the work plan information for at least one stacker / reclaimer according to the location information of the target material pile and the location information of the stacker / reclaimer, wherein the work plan information includes the stacking / reclaiming location, the stacking / reclaiming volume and the stacking / reclaiming travel path; If the target stockpile does not exist directly during the material taking operation, the required stockpile type is compared with the stockpile types of the various stockpiles, and the required material taking volume is compared with the retrievable material volume of the various stockpiles to determine a blending scheme; and the work plan information is generated for at least two stackers and reclaimers according to the blending scheme and the position information of the stacker and reclaimer, and the work plan information includes the material taking position, material taking volume, material taking travel path and material taking flow rate.

5. The method according to claim 1, characterized in that Also includes: Acquiring surrounding environment information of the stacker / reclaimer during its travel according to the work plan information, and identifying target obstacles in the surrounding environment information, wherein the target obstacles are obstacles located on the stacking / reclaiming travel path of the stacker / reclaimer; Matching the target obstacle with a preset obstacle library, where the preset obstacle library is pre-built based on all obstacles in the operating area and the characteristic features of each obstacle; If the matching result is that the target obstacle exists in the preset obstacle library, determining the real-time distance between the stacker / reclaimer and the target obstacle on the stacker / reclaimer driving path according to the position information of the target obstacle pre-stored in the preset obstacle library; If the matching result is that the target obstacle does not exist in the preset obstacle library, determining the real-time distance by using a distance measurement algorithm with the target obstacle; The stacking / reclaiming travel path of the stacker / reclaimer is optimized and controlled in real time according to the real-time distance.

6. The method according to claim 1, characterized in that Also includes: Acquire real-time information of the stacked / reclaimed material pile during the stacking / reclaiming process of the stacker / reclaimer according to the work plan information, wherein the real-time information includes real-time point cloud data and real-time video information; Determine the actual stacking / reclaiming flow rate of the stacker / reclaimer according to the real-time point cloud data and the real-time video information; The actual stacking / reclaiming flow rate is compared with the preset stacking / reclaiming flow rate, and an adjustment instruction for the stacker / reclaimer is generated according to the comparison result, wherein the adjustment instruction includes at least one of a bucket wheel speed adjustment instruction, a boom speed adjustment instruction, and a boom pitch adjustment instruction.

7. The method according to claim 1, characterized in that Also includes: Determine the driving risk of the stacker-reclaimer in real time, and generate an alarm signal if the driving risk is greater than a preset driving risk threshold, wherein the driving risk includes the risk of exceeding the travel limit, the risk of exceeding the rotation angle limit, the risk of exceeding the pitch angle limit, the risk of collision, and the risk of equipment failure; The operational risk of the piled / reclaimed material is determined in real time. If the operational risk exceeds the preset operational risk threshold, an alarm signal is generated; the operational risks include the risk of pile collapse, the risk of bucket wheel idling, and the risk of the piled / reclaimed material volume exceeding the piled / reclaimed material volume threshold.

8. A stacker-reclaimer control system, characterized in that: include: A material pile monitoring unit, used to monitor each material pile in the operation area in real time, collect real-time point cloud data of each material pile, and upload the real-time point cloud data to a host computer; A host computer, used to execute the stacker-reclaimer control method according to any one of claims 1 to 7; At least one stacker-reclaimer for performing work according to the work plan information.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the stacker-reclaimer control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the stacker-reclaimer control method according to any one of claims 1 to 7 when executed.

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