Bucket-wheel automatic material taking method and device based on laser radar

Abstract

The invention relates to the technical field of material taking of bucket-wheel material taking machines, in particular to an automatic bucket-wheel material taking method and device based on laser radars, and the method comprises the steps: obtaining point cloud data, recognized by a first laser radar, of materials in a bucket, and calculating the volume V of the materials according to the point cloud data; the mass m of the materials in the bucket is calculated in real time according to the volume V and the material density rho; and calculating the total mass M of the materials according to the mass m collected each time, and controlling the working state of the bucket wheel according to the total mass M of the materials. The first laser radar is used for visual recognition, the comprehensive server is used for calculating and controlling the material taking quality, and compared with an existing mode that a cantilever belt scale is adopted for quality calculation and control, the adopted calculation and feedback control scheme is more automatic, and control over the material taking quality is more accurate.

Description

Technical Field

[0001] The present invention relates to the technical field of bucket wheel reclaimer reclaiming, and in particular to a laser radar-based bucket wheel automatic reclaiming method and device. Background Art

[0002] At present, bucket wheel reclaimers are key equipment in bulk material handling operations, and their reclaiming efficiency and accuracy directly affect the smoothness and economic benefits of the overall production process. However, the current reclaiming method mainly relies on the real-time feedback data of the cantilever belt scale, and controls the reclaiming tonnage by monitoring and adjusting the rotation speed of the bucket wheel reclaimer. Although this method has achieved automated operation to a certain extent, it has exposed significant limitations in practical applications.

[0003] First, when the bucket wheel reclaimer rotates at a constant speed to reclaim materials, it only relies on the feedback adjustment of the cantilever belt scale. Due to changes in factors such as the density, shape and surface friction coefficient of the material pile, the actual reclaimed material volume deviates from the expected amount, affecting the processing efficiency and product quality of subsequent processes. Therefore, the existing bucket wheel reclaimer has a low level of automation in real-time calculation of the reclaimed material volume.

[0004] In view of this, overcoming the defects of the prior art is an urgent problem to be solved in the field of this technology. Summary of the invention

[0005] The technical problem to be solved by the present invention is that the existing bucket wheel reclaimer has the problem of low automation level in real-time calculation of reclaimed material quantity.

[0006] The present invention adopts the following technical solution:

[0007] In a first aspect, the present invention provides a method for automatically retrieving materials from a bucket wheel based on laser radar, comprising:

[0008] Acquire point cloud data of the material in the bucket identified by the first laser radar, and calculate the volume V of the material according to the point cloud data;

[0009] Calculate the mass m of the material in the bucket in real time based on the volume V and the material density ρ;

[0010] According to the mass m collected each time, the total mass M of the material is calculated, so as to control the working state of the bucket wheel according to the total mass M of the material.

[0011] Preferably, the step of acquiring the point cloud data of the material in the bucket identified by the first laser radar and calculating the volume V of the material according to the point cloud data specifically includes:

[0012] When the buckets of the bucket wheel reclaimer are in a stage of uneven material reclaiming, the first laser radar is controlled to continuously emit laser signals to the buckets, so as to continuously calculate the volume V of the material according to the point cloud data of the material in the buckets;

[0013] When the buckets of the bucket wheel reclaimer are in the uniform material taking stage, the volume average value calculated for the previous preset number of times is used as the volume V of the material in the bucket, and the first laser radar is controlled to continuously emit laser signals to the bucket to obtain the distance L between the edge of the material in the bucket and the edge of the bucket, and then judge whether the bucket wheel reclaimer is in the uneven material taking stage again based on the distance L.

[0014] Preferably, the method further comprises:

[0015] When the difference between the volumes V calculated continuously by the integrated server is not within the first preset range, the integrated server determines that the bucket wheels of the bucket wheel reclaimer are in an uneven reclaiming stage;

[0016] When the difference between the volumes V calculated by the integrated server for a first preset number of times in succession is within a first preset range, the integrated server determines that the bucket wheels of the bucket wheel reclaimer are in a uniform material reclaiming stage relative to each other.

[0017] Preferably, judging whether the bucket wheel reclaimer is in the uneven reclaiming stage again according to the distance L comprises:

[0018] If the distance L is within the preset difference range, the bucket wheel reclaimer is still in the uniform material reclaiming stage; if the distance L exceeds the preset difference range, the bucket wheel reclaimer re-enters the uneven material reclaiming stage.

[0019] Preferably, the method for identifying the distance L specifically includes:

[0020] The first laser radar generates a point cloud for the edge of the material in the bucket and identifies the distance L between the edge of the material and the edge of the bucket.

[0021] Preferably, the step of acquiring the point cloud data of the material in the bucket identified by the first laser radar and calculating the volume V of the material according to the point cloud data specifically includes:

[0022] Acquire point cloud data of the material in the bucket identified by the first laser radar;

[0023] Acquire a three-dimensional model of the bucket;

[0024] The volume V of the material in the bucket is calculated by combining the three-dimensional model and the point cloud data.

[0025] Preferably, the step of obtaining the point cloud data of the material in the bucket identified by the first laser radar specifically includes performing denoising and registration preprocessing on the point cloud data;

[0026] Among them, point cloud denoising includes denoising the initial point cloud data using a sparse outlier removal method. This method calculates the average distance from each point to all its neighboring points. Assuming that the result is a Gaussian distribution, points with an average distance outside the standard range are defined as outliers and removed from the data set.

[0027] The point cloud registration includes using an iterative closest point automatic registration algorithm for the point cloud data of two adjacent periods. The ICP algorithm finds the closest point pair in the two point cloud sets, calculates the error of the closest point pair after transformation according to the estimated transformation relationship, and continuously iterates until the set objective function reaches the minimum value, and obtains the optimal translation matrix and rotation matrix to determine the final transformation relationship.

[0028] Finally, the point cloud to be registered and the reference point cloud data are matched one by one, thus completing the two-phase point cloud data registration.

[0029] Preferably, the method of calculating the total mass M of the material based on the mass m collected each time, so as to control the working state of the bucket wheel according to the total mass M of the material, specifically includes:

[0030] The mass m of the material in the bucket collected each time is accumulated to obtain the total mass M of the material;

[0031] When the total mass M of the material matches the preset material taking tonnage, the bucket wheel is controlled to lift up to stop conveying the material to the transmission belt.

[0032] In a second aspect, the present invention provides a bucket wheel automatic material retrieving device based on laser radar, which is applicable to the bucket wheel automatic material retrieving method based on laser radar described in the first aspect, comprising: a bucket wheel 1 and a first laser radar 21, wherein the first laser radar 21 is fixed on the bucket wheel 1;

[0033] The bucket wheel 1 includes a bucket wheel body 10, a plurality of buckets 11 and a baffle 12, wherein the plurality of buckets 11 are arranged on the outer surface of the bucket wheel body 10; the baffle 12 is slidably arranged with the inner surface of a preset arc length of the bucket wheel body 10 to block the discharge port of the bucket 11 rotating upward; the detection surface of the first laser radar 21 is oriented toward the bucket 11 having an upward movement tendency and close to the lowest point of the bucket wheel body 10 to detect the volume of the material in the bucket 11.

[0034] Preferably, the bucket wheel body 10 includes two circular frames 101 arranged opposite to each other, a plurality of cross beams 102 are arranged between the two circular frames 101 to divide a plurality of installation slots 100, the bucket 11 is installed on the installation slots 100, the tail of the bucket 11 is fixedly connected to the cross beam 102, and the two sides of the bucket 11 are respectively fixedly connected to the circular frames 101;

[0035] The first laser radar 21 is disposed toward the installation slot 100 close to the lowermost end of the bucket wheel body 10 .

[0036] Compared with the prior art, the beneficial effects of the present invention are: the volume V of the material in the bucket is continuously identified by the first laser radar, the integrated server calculates the mass m collected by the bucket each time according to the volume V and the material density ρ, and multiple masses m are added to obtain the total mass M of the collected materials. The integrated server controls whether the bucket wheel continues to pick up materials according to the preset material picking tonnage and the total mass M of the materials; the present invention adopts the first laser radar 21 for point cloud recognition, and the processor calculates and controls the material picking quality in combination with the point cloud data. Compared with the existing method of using a cantilever belt scale for mass calculation, the calculation and feedback control scheme adopted by the present invention is more automated, and the error control of the material picking quality is also more precise. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 It is a schematic diagram of the overall structure of a bucket wheel automatic material taking device based on laser radar provided in an embodiment of the present invention;

[0039] Figure 2 It is a schematic structural diagram of a bucket wheel body of a bucket wheel automatic material taking device based on laser radar provided in an embodiment of the present invention;

[0040] Figure 3 It is a schematic diagram of the recognition area of ​​a first laser radar of a bucket wheel automatic material taking device based on laser radar provided in an embodiment of the present invention;

[0041] Figure 4 It is a schematic diagram of the overall process of a laser radar-based bucket wheel automatic material taking method provided by an embodiment of the present invention;

[0042] Figure 5 It is a specific flow chart of step 1 of a laser radar-based bucket wheel automatic material taking method provided in an embodiment of the present invention;

[0043] Figure 6 It is a schematic diagram of a judgment flow of a bucket wheel material taking stage of a laser radar-based bucket wheel automatic material taking method provided by an embodiment of the present invention;

[0044] Figure 7 It is a specific flow chart of step 3 of a laser radar-based bucket wheel automatic material taking method provided in an embodiment of the present invention;

[0045] Figure 8 It is a schematic diagram of the recognition area of ​​the second first laser radar recognition method of a laser radar-based bucket wheel automatic material taking method provided in an embodiment of the present invention;

[0046] Fig. 9 It is a schematic diagram of a first laser radar identifying the distance between the edge of a pile and the edge of a bucket in a laser radar-based bucket wheel automatic material taking method provided by an embodiment of the present invention;

[0047] Fig.10 It is a structural schematic diagram of an automatic feeding device of a hybrid controlled pan coal feeding machine based on laser radar provided in an embodiment of the present invention;

[0048] Fig.11 It is a schematic diagram of a second laser radar installed on the top of a silo of an automatic reclaiming device of a hybrid controlled pan coal reclaimer based on laser radar provided by an embodiment of the present invention;

[0049] Fig.12 It is a schematic diagram of a second laser radar of an automatic reclaiming device of a hybrid control pan coal reclaimer based on laser radar provided by an embodiment of the present invention, which is installed on a drone;

[0050] Fig.13 It is a schematic flow chart of an automatic material taking method of a hybrid controlled pan coal taking machine based on laser radar provided in an embodiment of the present invention;

[0051] Fig.14 Schematic diagram of a first distance L1 of an automatic material taking method of a hybrid controlled pan coal reclaimer based on laser radar provided in an embodiment of the present invention;

[0052] Fig.15 It is a specific flow chart of step 2 of a method for automatic material reclaiming of a hybrid controlled pan coal reclaimer based on laser radar provided in an embodiment of the present invention;

[0053] Fig.16 It is a specific flow chart of step 203 of a method for automatic material reclaiming of a hybrid controlled disc coal reclaimer based on laser radar provided in an embodiment of the present invention;

[0054] Fig.17It is a specific flow chart of step 3 of a method for automatic material taking of a hybrid controlled disc coal taking machine based on laser radar provided in an embodiment of the present invention;

[0055] Fig.18 It is a schematic diagram of the overall structure of a laser radar coal bucket wheel reclaimer with fusion sensing provided by an embodiment of the present invention;

[0056] Fig.19 It is a schematic diagram of a bucket wheel of a laser radar coal bucket wheel reclaimer with fusion sensing provided by an embodiment of the present invention;

[0057] Fig. 20 It is a schematic diagram of a hopper and a conveyor belt of a laser radar disc coal bucket wheel reclaimer with fusion sensing provided by an embodiment of the present invention;

[0058] Fig.21 It is a schematic diagram of a baffle of a prior art laser radar coal bucket wheel reclaimer with fusion sensing provided by an embodiment of the present invention;

[0059] Fig. 22 It is a schematic diagram of the overall structure of a laser radar coal bucket wheel reclaimer with fusion sensing provided by an embodiment of the present invention;

[0060] Fig.23 It is a schematic diagram of the installation slot of a laser radar pan coal bucket wheel reclaimer with fusion sensing provided by an embodiment of the present invention;

[0061] Fig.24 It is a schematic diagram of fixing bolts and fixing nuts of a laser radar pan coal bucket wheel reclaimer with fusion sensing provided by an embodiment of the present invention;

[0062] Fig.25 It is a schematic diagram of a second radar component of a laser radar pan coal bucket wheel reclaimer with fusion sensing provided by an embodiment of the present invention being arranged on the top of a silo;

[0063] Fig.26 This is a schematic diagram of a second radar component of a laser radar pan coal bucket wheel reclaimer with fusion sensing provided by an embodiment of the present invention being arranged at the bottom of a drone. DETAILED DESCRIPTION

[0064] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0065] Unless the context requires otherwise, throughout the specification and claims, the term "including" is to be interpreted as open inclusion, that is, "including, but not limited to". In the description of the specification, the terms "one embodiment", "some embodiments", "exemplary embodiments", "examples", "specific examples" or "some examples" and the like are intended to indicate that specific features, structures, materials or characteristics associated with the embodiment or example are included in at least one embodiment or example of the present disclosure. The schematic representation of the above terms does not necessarily refer to the same embodiment or example. In addition, the specific features, structures, materials or characteristics may be included in any one or more embodiments or examples in any appropriate manner, that is, although they may be carried in the embodiments or examples of the above terms due to reasons such as the order and position of appearance, it is not limited to that they can be carried in combination by one embodiment or example.

[0066] In the description of the present invention, it is necessary to understand that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present disclosure.

[0067] In the description of the present invention, the terms "first" and "second" are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, unless otherwise specified, the meaning of "multiple" is two or more. In addition, for example, the same type of nouns may be described as two independent individuals by adding "A" and "B" at the end. In this case, the corresponding features defined as "A" and "B" are only used to distinguish the same type of individuals for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features.

[0068] When describing some embodiments, the expressions "coupling", "coupling" and "connection" and their derivatives may be used. For example, when describing some embodiments, the term "connection" may be used to indicate that two or more components are in direct physical or electrical contact with each other. For another example, when describing some embodiments, the term "coupling" may be used to indicate that two or more components are in direct physical or electrical contact. However, the terms "connection" or "coupling" may also refer to two or more components that are not in direct contact with each other, but still cooperate or interact with each other, such as "optical path coupling", "wireless connection", etc. The embodiments disclosed herein are not necessarily limited to the contents of the present invention.

[0069] In the description of the present invention, the expression "A and / or B" (where A and B are used to formally represent specific characteristic contents) will be involved, and the corresponding expressions include the following three combinations: only A, only B, and a combination of A and B.

[0070] As used herein, "about," "substantially," or "approximately" includes the stated value and an average value that is within an acceptable range of deviation from the particular value as determined by one of ordinary skill in the art taking into account the measurements in question and the errors associated with the measurement of the particular quantity (i.e., the limitations of the measurement system).

[0071] In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0072] Embodiment 1:

[0073] Embodiment 1 of the present invention provides a laser radar-based bucket wheel automatic material taking device, which is applicable to the laser radar-based bucket wheel automatic material taking method described in the subsequent scheme, such as Figure 1 As shown, it includes: a bucket wheel 1 and a first laser radar 21, wherein the first laser radar 21 is fixed on the bucket wheel 1; the bucket wheel 1 includes a bucket wheel body 10, a plurality of buckets 11 and a baffle 12, wherein the plurality of buckets 11 are arranged on the outer surface of the bucket wheel body 10; the baffle 12 is slidably arranged with the inner surface of the preset arc length of the bucket wheel body 10 to block the discharge port of the bucket 11 rotating upward; wherein the preset arc length is 1 / 3C-1 / 4C of the bucket wheel body; the detection surface of the first laser radar 21 is oriented toward the bucket 11 having an upward movement trend and close to the lowest point of the bucket wheel body 10 to detect the volume of the material in the bucket 11.

[0074] Among them, for the bucket 11, if Figure 2As shown, the bucket wheel body 10 includes two circular frames 101 arranged opposite to each other, and a plurality of cross beams 102 are arranged between the two circular frames 101 to divide a plurality of installation slots 100, and the bucket 11 is installed on the installation slots 100, the tail of the bucket 11 is fixedly connected to the cross beam 102, and the two sides of the bucket 11 are respectively fixedly connected to the circular frames 101; Figure 2 As shown, the first laser radar 21 is arranged toward the installation slot 100 close to the lowermost end of the bucket wheel body 10, wherein: Figure 3 The dotted box position shown in is the area detected by the first laser radar 21. In actual application scenarios, the first laser radar 21 only detects the material carried by the bucket 11 within the area where the dotted box at this angle is located.

[0075] Based on the above device, embodiment 1 of the present invention provides a bucket wheel automatic material taking method based on laser radar, such as Figure 4 As shown, including:

[0076] In step S1 , point cloud data of the material in the bucket 11 identified by the first laser radar 21 is obtained, and the volume V of the material is calculated based on the point cloud data.

[0077] In step S2, the mass m of the material in the bucket 11 is calculated in real time according to the volume V and the material density ρ.

[0078] In step S3, the total mass M of the material is calculated according to the mass m collected each time, so as to control the working state of the bucket wheel according to the total mass M of the material.

[0079] In the embodiment of the present invention, the execution subject may be a processor with computing function such as an integrated server.

[0080] The volume V of the material in the bucket 11 is continuously identified by the first laser radar 21, and the integrated server calculates the mass m collected by the bucket 11 each time according to the volume V and the material density ρ, and adds up the multiple masses m to obtain the total mass M of the collected materials. The integrated server controls whether the bucket wheel continues to pick up materials according to the preset tonnage of materials and the total mass M of materials. The present invention adopts the first laser radar 21 for point cloud recognition, and the processor calculates and controls the material quality in combination with the point cloud data. Compared with the existing method of using a cantilever belt scale for mass calculation, the calculation and feedback control scheme adopted by the present invention is more automated, and the error control of the material quality is also more precise.

[0081] In order to fully illustrate the solution provided by the embodiment of the present invention, the details of the above solution will be further described below.

[0082] In the above step S1, the point cloud data of the material in the bucket 11 identified by the first laser radar 21 is obtained, and the volume V of the material is calculated based on the point cloud data, such as Figure 5 As shown, specifically including:

[0083] In step S101 , point cloud data of the material in the bucket 11 identified by the first laser radar 21 is obtained.

[0084] In step S102 , a three-dimensional model of the bucket 11 is obtained.

[0085] In step S103 , the volume V of the material in the bucket 11 is calculated by combining the three-dimensional model and the point cloud data.

[0086] Among them, in order to enable more accurate identification and avoid interference from dust, a millimeter-wave radar is installed inside the first laser radar 21. The reason for setting the millimeter-wave radar as auxiliary identification is that the millimeter-wave radar has strong penetrating ability and is almost unaffected by adverse weather conditions such as rain, fog, and dust. In dusty environments such as coal and mines, the millimeter-wave radar can penetrate the dust layer, accurately detect the target object, and reduce misidentification caused by dust interference; although the first laser radar 21 has high precision and high resolution, it is easily interfered in a dusty environment. The penetrating power of the millimeter-wave radar can make up for this shortcoming of the first laser radar 21, and the combined use of the two can significantly improve the recognition accuracy.

[0087] Wherein, in step 101, after acquiring the point cloud data, the integrated server pre-processes the point cloud data, wherein the point cloud data of the material in the bucket 11 identified by the first laser radar 21 is acquired, specifically including denoising and registration pre-processing of the point cloud data; wherein, the point cloud denoising includes, denoising the initial point cloud data using a sparse outlier removal method, the method calculates the average distance from each point to all its adjacent points, assuming that the result is a Gaussian distribution, and the points whose average distance is outside the standard range are defined as outliers and removed from the data set; wherein, the point cloud registration includes, using an iterative closest point automatic registration algorithm for the point cloud data of two adjacent periods, the iterative closest point algorithm (Iterative Closest Point, abbreviated as IPC) finds the closest point pair in two sets of point cloud sets, calculates the error of the closest point pair after transformation according to the estimated transformation relationship, and continuously iterates until the set objective function reaches the minimum value, and obtains the optimal translation matrix and rotation matrix to determine the final transformation relationship.

[0088] The objective function can refer to the following function

[0089]

[0090] In the formula, R represents the rotation matrix, T represents the translation matrix, k is the number of points in the point cloud to be registered, and p i is the reference point cloud; q i is the point cloud to be registered.

[0091] Finally, the point cloud to be registered and the reference point cloud data are matched one by one, thus completing the two-phase point cloud data registration.

[0092] Since the amount of calculation required for each volume V identification process by the first laser radar 21 is large, which is not conducive to the long-term stable operation of the system, in the above step S1, the point cloud data of the material in the bucket 11 identified by the first laser radar 21 is obtained, and the volume V of the material is calculated based on the point cloud data, specifically including:

[0093] When the buckets of the bucket wheel reclaimer are in an uneven material reclaiming stage, the first laser radar 21 is controlled to continuously emit laser signals to the bucket 11 so as to continuously calculate the volume V of the material based on the point cloud data of the material in the bucket 11 .

[0094] When the buckets of the bucket wheel reclaimer are in the uniform material reclaiming stage, the volume average value calculated for the previous preset number of times is used as the volume V of the material in the bucket 11, and the first laser radar 21 is controlled to continuously emit laser signals to the bucket 11 to obtain the distance L between the edge of the material in the bucket 11 and the edge of the bucket 11, and then judge whether the bucket wheel reclaimer is in the uneven material reclaiming stage again based on the distance L.

[0095] In actual application scenarios, since the material pile is usually in the shape of a pyramid, during the operation of the bucket wheel reclaimer, the bucket wheel adopts a lateral material reclaiming method, that is, sweeping from one side of the material pile to the other side of the material pile. During this period, the bucket wheel continues to rotate. Reclaiming in this way can effectively avoid the collapse of the material pile. In the initial stage of reclaiming, since the diameter of the material pile at the top of the pyramid is relatively small, the volume of material taken by the bucket 11 at the reclaiming stage at the top of the material pile is different each time, that is, the quality of the material taken each time is different; when the material is continuously reclaimed to the middle of the material pile, the shape of the material pile is relatively stable and is not prone to collapse, and the volume and quality of the material taken by the bucket 11 each time are basically the same; when the material is continuously reclaimed to the bottom of the material pile, the bucket wheel cannot continue to move downward due to the height of the material pile. Therefore, at this stage, the bucket 11 is reclaiming materials in an uneven state. The uniform material collection stage can be understood as the volume of the material collected by the bucket 11 within the preset number of times being substantially equal, that is, the distance L between the edge of the material and the edge of the bucket 11 is also substantially equal; the maximum capacity of the bucket 11 is 0.5m 3 For example, the volume difference of the materials collected within the preset times can range from 0 to 0.05m 3The range of the difference value can be set according to the actual size of the bucket 11. It is assumed that the preset number of times can be 10 times, that is, the first laser radar 21 detects that the volume difference of the material in the bucket 11 is 0-0.05m for 10 consecutive times. 3 When the volume of the material in the bucket 11 exceeds the volume of the bucket 11 itself, the comprehensive service center will record the volume V of the collected material as the volume of the bucket 11.

[0096] For the above scheme, how to judge whether the bucket wheels of the bucket wheel reclaimer are in the uniform material reclaiming stage or the uneven material reclaiming stage can be as follows: Figure 6 The method steps shown specifically include:

[0097] In step S111, when the difference between the volumes V continuously calculated by the integrated server is not within the first preset range, the integrated server determines that the bucket wheels of the bucket wheel reclaimer are in an uneven reclaiming stage.

[0098] Among them, the maximum capacity of bucket 11 is 0.5m 3 For example, the first preset range may be 0-0.05m 3 , when the difference in volume V between consecutive times calculated by the comprehensive server is greater or less than 0-0.05m 3 When the bucket wheels of the bucket wheel reclaimer are in an uneven material reclaiming stage, the first laser radar 21 continuously identifies the surface of the material in the bucket 11.

[0099] In step S112, when the difference between the volumes V calculated by the integrated server for a first preset number of times in succession is all within a first preset range, the integrated server determines that the bucket wheels of the bucket wheel reclaimer are in a uniform reclaiming stage relative to each other.

[0100] In one embodiment, judging whether the bucket wheel reclaimer is in the uneven material reclaiming stage again according to the distance L includes: if the distance L is within the preset difference range, the bucket wheel reclaimer is still in the uniform material reclaiming stage; if the distance L exceeds the preset difference range, the bucket wheel reclaimer re-enters the uneven material reclaiming stage. Assuming that the first preset number of times is set to 10 times, when the difference in volume V between 10 consecutive times of reclaiming calculated by the integrated server is between 0-0.05m 3, the bucket wheels of the bucket wheel reclaimer are in a uniform material reclaiming stage relative to each other. At this time, during the 11th material reclaiming, the first laser radar 21 is dormant, stops performing point cloud recognition on the surface of the material in the bucket 11, and only performs point cloud recognition on the edge of the material in the bucket 11. The method for recognizing the distance L specifically includes: the first laser radar 21 generates a point cloud on the edge of the material in the bucket 11, and recognizes the distance L between the edge of the material and the edge of the bucket 11. During the process of performing the point cloud recognition for the first preset number of times, the first laser radar 21 also uploads the distance L between the edge of the material in the bucket 11 and the edge of the bucket 11 to the integrated server at the same time. As mentioned in the above content, the uniform material reclaiming stage can be understood as the volume of the material collected by the bucket 11 within the preset number of times is basically equal, that is, the distance L between the edge of the material and the edge of the bucket 11 is also roughly equal. Therefore, the preset difference range of the distance L can be 0-5cm, and the specific value can be set according to the size of the bucket 11. In the process of identifying the distance L, since the edge of the material in the bucket 11 is in an uneven state, the distance L is obtained by taking the average value of the distances from each point on the edge of the material to the edge of the bucket 11 during calculation.

[0101] In the above step 3, the total mass M of the material is calculated based on the mass m collected each time, so as to control the working state of the bucket wheel according to the total mass M of the material, such as Figure 7 As shown, specifically including:

[0102] In step S30, the mass m of the material in the bucket 11 collected each time is accumulated to obtain the total mass M of the material.

[0103] In step S31, when the total mass M of the material matches the preset material taking tonnage, the bucket wheel is controlled to be lifted to stop conveying the material to the transmission belt.

[0104] Among them, the timing of lifting the bucket wheel is when the integrated processor calculates that the mass m of the material in the current bucket 11 plus the current total mass M of the material matches the preset material taking tonnage. At this time, the integrated server controls the bucket wheel to lift and the bucket wheel stops taking materials. Since the bucket wheel consumes a lot of energy when starting, it is still in a rotating state when it is lifted.

[0105] Embodiment 2:

[0106] The embodiment of the present invention provides a second detection method of the first laser radar 21 and a processing method of the integrated server on the basis of the embodiment 1. The method of this embodiment is mainly different from that of the embodiment 1 in that, step S1: the point cloud data of the material in the bucket 11 identified by the first laser radar 21 is obtained, and the implementation process of calculating the volume V of the material according to the point cloud data is different. In this embodiment, the step S1 specifically includes: when the bucket wheel reclaimer is in a state where the buckets are not reclaiming materials uniformly, the first laser radar 21 is controlled to emit a laser signal according to the first acquisition frequency, so as to continuously calculate the volume V of the material according to the point cloud data of the material in the bucket 11; wherein, the first laser radar 21 emits a first laser signal to the bucket 11, and during the rotation process of the bucket wheel 1, the first laser radar 21 emits a second laser signal to the gap of the bucket 11; the frequency used by the first laser signal is the second acquisition frequency, and the frequency used by the second laser signal is the third acquisition frequency, and the first acquisition frequency is composed of the time division multiplexing of the second acquisition frequency and the third acquisition frequency. Among them, the second laser signal is used to obtain the distance D between the edge of the pile and the edge of the bucket 11, and then judge whether the bucket wheel enters or exits the state of uneven material picking between the buckets according to the distance D; when the bucket wheel reclaimer is in a state of uniform material picking between the buckets, the average volume of the material picked up for a preset number of times at the beginning of uniform material picking is used to calculate the volume of the subsequent material picked up for a preset number of times in this uniform material picking stage. For example, the comprehensive server determines that the bucket wheel has entered the uniform material taking stage, calculates the volume from the 1st material taking to the 10th material taking when entering the uniform material taking stage, and calculates the average volume of these 10 material takings. When taking the 11th material, the first laser radar 21 stops recognizing the material pile point cloud of the bucket 11, and only recognizes the distance D between the edge of the material pile and the edge of the bucket 11 and the number of times the bucket 11 passes the first laser radar 21 through the gap between the buckets 11 and 11. From the 11th material taking to the end of this uniform material taking stage, the volume of all subsequent material takings is calculated according to the average volume of the previous 10 material takings. When the first laser radar 21 detects that the bucket 11 is close to the edge of the material pile, the bucket wheel reclaimer enters the uneven material taking stage.

[0107] In actual application scenarios, such as Figure 8 As shown, the distance D between the edge of the pile and the edge of the bucket 11 obtained by the second laser signal is to detect the pile in the gap between the buckets 11 and 11. Fig. 9Taking the position shown in as an example, when the bucket 11 continues to move toward the left edge of the pile, until the first laser radar 21 can identify the edge of the pile through the gap between the bucket 11 and the bucket 11, the comprehensive server calculates the distance D based on the distance data detected by the first laser radar 21 and the model of the bucket 11. When the distance D is less than or equal to 0, that is, the left edge of the bucket coincides with or exceeds the edge of the pile, the comprehensive server controls the bucket wheel 1 to move to the right in reverse operation. In the process of the bucket wheel 1 continuing to work to the right, it gradually moves away from the left edge of the pile until the first laser radar 21 can no longer detect the left edge of the pile. The bucket wheel reclaimer enters the uniform reclaiming stage until the first laser radar 21 can identify the distance D between the right edge of the pile and the right edge of the bucket 11, and repeats the above actions.

[0108] Embodiment 3:

[0109] The embodiment of the present invention provides a method and device for automatic material feeding of a hybrid controlled disc coal feeder based on laser radar on the basis of embodiment 1 and embodiment 2. The main difference between the embodiment of the present invention and embodiment 1 and embodiment 2 is that the embodiment of the present invention adopts a second laser radar 31 to identify the first distance L1 between the bucket wheel 1 and the material pile, so as to determine whether the bucket 11 is in a state of uniform material feeding.

[0110] A device for automatically retrieving materials for a hybrid controlled coal reclaimer based on laser radar, which is suitable for automatically retrieving materials for a hybrid controlled coal reclaimer based on laser radar described in a subsequent solution, such as Fig.10 , Fig.11 and Fig.12 As shown, it includes: a bucket wheel 1, a first laser radar 21 and a second laser radar 31, the first laser radar 21 is fixed on the bucket wheel 1, and the second laser radar 31 is arranged above the material pile; the bucket wheel 1 includes a bucket wheel body 10, a plurality of buckets 11 and a baffle 12, and the plurality of buckets 11 are arranged on the outer surface of the bucket wheel body 10; the baffle 12 is slidably arranged with the inner surface of the preset arc length of the bucket wheel body 10 to block the discharge port of the bucket 11 rotating upward; the first laser radar 21 is fixed on the baffle 12, and the detection surface of the first laser radar 21 is oriented to the bucket 11 having an upward movement trend and close to the lowest point of the bucket wheel body 10 to detect the volume of the material in the bucket 11.

[0111] like Fig.11 and Fig.12 As shown, the second laser radar 31 is arranged on the top of the silo 6; or, the second laser radar 31 is carried on the drone 7 for point cloud recognition of the material pile.

[0112] Based on the automatic material taking device of the hybrid controlled pan coal reclaimer based on laser radar provided in the above scheme, embodiment 1 of the present invention provides an automatic material taking method of the hybrid controlled pan coal reclaimer based on laser radar, such as Fig.13 As shown, including:

[0113] In step S4, a first distance L1 between the bucket wheel 1 and the edge area of ​​the material pile identified by the second laser radar 31 is obtained, and the material taking state of the bucket 11 is determined according to the first distance L1.

[0114] The material taking state of the bucket 11 includes a uniform material taking state and an uneven material taking state.

[0115] In order to enable more accurate identification and avoid interference from dust, the first laser radar 21 and the second laser radar 31 are internally provided with millimeter-wave radars for auxiliary detection. The reason is that the millimeter-wave radar has strong penetrating ability and is almost unaffected by adverse weather conditions such as rain, fog, and dust. In dusty environments such as coal and mines, the millimeter-wave radar can penetrate the dust layer, accurately detect the target object, and reduce misidentification caused by dust interference. Although the laser radar has high precision and high resolution, it is easily interfered in a dusty environment. The penetrating ability of the millimeter-wave radar can make up for this shortcoming of the laser radar. The combined use of the two can significantly improve the recognition accuracy.

[0116] In step S5 , first point cloud data of the material in the bucket 11 identified by the first laser radar 21 is obtained, and the volume V1 of the material in the bucket 11 is calculated based on the first point cloud data and the material taking state.

[0117] In step S6, the mass m of the material in the bucket 11 is calculated in real time according to the volume V1 and the material density ρ, so as to calculate the total mass M of the taken material according to a plurality of the masses m.

[0118] In step S7 , the working state of the bucket wheel 1 is controlled according to the total mass M.

[0119] In this embodiment, the first distance L1 between the bucket wheel and the material pile is identified through the point cloud data of the second laser radar, so as to realize real-time monitoring and precise analysis of the material picking status. The volume V1 of the material in the bucket is determined by the point cloud data collected by the first laser radar and the material picking status to ensure the accuracy of material picking. Feedback control is formed among the first laser radar, the second laser radar and the bucket wheel to improve the automation level of the bucket wheel reclaimer.

[0120] In order to fully illustrate the solution provided by the embodiment of the present invention, the details of the above solution will be further described below.

[0121] In the above step S7, judging the material picking state of the bucket 11 based on the first distance L1 includes: when the first distance L1 is less than or equal to a first preset value, the integrated server determines that the bucket wheel 1 is in an uneven material picking state; when the first distance L1 is greater than the first preset value, the integrated server determines that the bucket 11 is in a uniform material picking state.

[0122] In actual application scenarios, since the material pile is usually in the shape of a pyramid, during the operation of the bucket wheel machine, the bucket wheel 1 adopts a lateral material extraction method, that is, sweeping from one side of the material pile to the other side of the material pile. During this period, the bucket wheel 1 continues to rotate. Taking the material pile in this way can effectively avoid the collapse of the material pile. Taking the maximum diameter of the material pile as 7m as an example, the first preset value can be 40cm. The first distance L1 between the bucket wheel 1 and the top edge of the material pile is specifically, as Fig.14 As shown, Fig.14 Taking the orientation shown in as an example, when the second laser radar 31 recognizes that the bucket wheel 1 is moving to the left side of the pile, the first distance L1 is the distance from the left side of the pile to the bucket wheel 1 (such as Fig.14 When the second laser radar 31 recognizes that the bucket wheel 1 is moving to the right side of the pile, the first distance L1 is the distance from the right side of the pile to the bucket wheel 1 (as shown in the figure on the left); Fig.14 as shown in the figure on the right).

[0123] In the above step S5, the volume V1 of the material in the bucket 11 is calculated based on the first point cloud data and the material taking state, specifically including: when the buckets of the bucket wheel reclaimer are in an uneven material taking state, the first laser radar 21 is controlled to continuously emit laser signals to the bucket 11, so as to calculate the volume V1 of the material according to the first point cloud data of the material in the bucket 11; in actual application scenarios, if the first laser radar 21 is continuously operated, the amount of calculation is extremely large, which is a heavy burden for the overall operation of the system. Therefore, in order to reduce the pressure of the system, when the buckets 11 of the bucket wheel reclaimer are in an even material taking state, when they just start to enter the even state, the first laser radar 21 continuously emits laser signals to the bucket 11 to obtain the volume of the material in the bucket. After obtaining the volume of the previous preset number of times, the first laser radar 21 is controlled to enter a dormant state and no longer emit laser signals to the bucket 11. The subsequent volume calculation method of the material in the bucket 11 is: the average volume calculated by the previous preset number of times is used as the volume V1 of the material in the bucket.

[0124] For example, the current preset number of times is 5 times, and the average volume of material taken by the bucket 11 in 5 times is 0.6m 3 , during the dormancy of the first laser radar 21, each time the material is taken, the volume V1 of the material in the bucket 11 is 0.6m 3 calculate.

[0125] According to the above scheme, the volume of the material in the bucket 11 needs to be calculated each time when the material is not uniformly taken and when the material is just entering a uniform state. The volume V1 of the material is calculated based on the first point cloud data of the material in the bucket 11, as shown in FIG. Fig.15 As shown, specifically including:

[0126] In step S501 , first point cloud data of the material in the bucket 11 identified by the first laser radar 21 is obtained.

[0127] In step S502 , a three-dimensional model of the bucket 11 is obtained.

[0128] In step S503 , the volume V1 of the material in the bucket 11 is calculated by combining the three-dimensional model and the first point cloud data.

[0129] In the actual material taking process, the bucket wheel 1 may not descend enough, resulting in less material taking each time. There are two situations, namely, the bucket wheel 1 cannot be lowered again and the bucket wheel 1 is not deep enough. The bucket wheel 1 cannot be lowered again, which usually occurs when the bucket wheel machine enters the later stage of the material taking process. The height of the material pile is not enough to support the bucket wheel 1 to increase its depth. If the bucket wheel 1 continues to descend, the bucket 11 may touch the ground, causing the bucket 11 to deform and cause damage; and the insufficient depth of the bucket wheel 1 is manifested as the bucket wheel 1 can continue to descend but the descending height is insufficient, resulting in less material taking and low efficiency. Therefore, for this scenario, when the buckets 11 of the bucket wheel reclaimer are in a uniform material taking state, the volume average value calculated by the previous preset number of times is used as the volume V1 of the material in the bucket 11, specifically including: when the buckets 11 of the bucket wheel reclaimer are in a uniform material taking state, it is determined whether each bucket 11 is in a full bucket state. If not, the bucket wheel 1 is controlled to descend a preset distance so that each bucket 11 is in a full bucket state in the uniform material taking state. If the bucket is full, the average volume calculated by the preset number of times is used as the volume V1 of the material in the bucket. The preset number of times may be 5, and the specific number may be configured according to the actual situation.

[0130] During the operation of the bucket wheel 1, it moves back and forth from one side of the material pile to the other side of the material pile. Therefore, the bucket 11 will be in an uneven material taking state-even material taking state-uneven material taking state. For the above situation, when the buckets 11 of the bucket wheel reclaimer are in a uniform material taking state, it is determined whether each bucket 11 is in a full bucket state. If it is not in a full bucket state, the bucket wheel 1 is controlled to descend a preset distance so that in the uniform material taking state, each bucket 11 is in a full bucket state. Fig.16 As shown, specifically including:

[0131] In step 211, if the difference between the volume of the material in each bucket 11 and the volume of the bucket 11 within the previous preset number of times calculated by the integrated server is greater than a second preset value, the integrated server obtains the second point cloud data identified by the second laser radar 31 to calculate the height H of the current material pile.

[0132] Among them, the maximum capacity of bucket 11 is 0.6m 3 For example, the second preset value can be set to 0.06m 3 The specific number can be set according to the actual capacity of the bucket 11.

[0133] In step 212, if the integrated server determines that the height H allows the bucket wheel to descend a preset distance, the integrated server controls the bucket wheel 1 to descend the preset distance. After taking material again for the first preset number of times, if the integrated server determines that the bucket 11 is in a uniform material taking state, the first laser radar 21 goes into sleep mode.

[0134] Specifically, if after the first preset number of material collections, the volume of materials in the bucket 11 collected within the first preset number of times is within the second preset value, the first laser radar 21 is in sleep mode. In the stage of uniform material collection, the volume of materials collected by each bucket 11 after the first preset number of times is calculated according to the average value of the volume of materials collected within the first preset number of times. The first laser radar 21 is in sleep mode after the first preset number of times, and only recognizes the number of collections of the bucket 11 and uploads it to the integrated server.

[0135] In the above preferred scheme, the material collection situation of the bucket wheel machine is judged according to the volume of the material in the bucket 11 identified by the first laser radar 21. If the volume of the material contained in the bucket 11 continues to be too small within the first preset number of times, and the height of the material pile identified by the second laser radar 31 is within the allowable range that the bucket wheel 1 can continue to descend, the bucket wheel 1 is lowered so that the bucket 11 can collect more materials, thereby improving the material collection efficiency and uniformity of the bucket wheel machine, thereby overcoming the problems of uneven material collection and low material collection efficiency of the existing bucket wheel machine.

[0136] According to the above scheme, in step S6, the mass m of the material in the bucket 11 is calculated in real time according to the volume V1 and the material density ρ, so as to calculate the total mass M of the taken material according to the multiple masses m, as shown in FIG. Fig.17 As shown, specifically including:

[0137] In step S601, the mass m of the material in the bucket 11 collected each time is accumulated to obtain the total mass M of the material;

[0138] In step S602, when the total mass M of the material matches the preset material taking tonnage, the bucket wheel 1 is controlled to be lifted to stop conveying the material to the transmission belt.

[0139] Among them, the timing for lifting the bucket wheel 1 is when the first laser radar 21 detects that the mass m of the material in the current bucket 11 plus the current total mass M of the material matches the preset material taking tonnage. At this time, the integrated server controls the bucket wheel 1 to lift and the bucket wheel 1 stops taking materials. Since the bucket wheel 1 consumes a lot of energy when starting, the bucket wheel 1 is still in a rotating state when it is lifted.

[0140] In the above scheme mentioned in the embodiment of the present invention, obtaining the first point cloud data and the second point cloud data specifically includes performing denoising and registration preprocessing on the first point cloud data and the second point cloud data;

[0141] Among them, point cloud denoising includes denoising the initial point cloud data using a sparse outlier removal method. This method calculates the average distance from each point to all its neighboring points. It is assumed that the result is a Gaussian distribution. Points with an average distance outside the standard range are defined as outliers and removed from the data set.

[0142] Among them, the point cloud registration includes using the iterative closest point (IPC) algorithm for the point cloud data of two adjacent periods. The ICP algorithm finds the closest point pairs in the two sets of point clouds, calculates the error of the closest point pairs after transformation according to the estimated transformation relationship, and continuously iterates until the set objective function reaches the minimum value, and obtains the optimal translation matrix and rotation matrix to determine the final transformation relationship.

[0143] The objective function can refer to the following function

[0144]

[0145] In the formula, R represents the rotation matrix, T represents the translation matrix, k is the number of points in the point cloud to be registered, and p i is the reference point cloud; q i is the point cloud to be registered.

[0146] Finally, the point cloud to be registered and the reference point cloud data are matched one by one, thus completing the two-phase point cloud data registration.

[0147] Embodiment 4:

[0148] The embodiment of the present invention provides a laser radar pan coal bucket wheel feeder with fusion sensing on the basis of embodiment 1 to embodiment 3, which is applicable to the automatic feeding method of bucket wheel based on laser radar described in embodiment 1 and embodiment 2, and the automatic feeding method of pan coal feeder based on hybrid control laser radar described in embodiment 3.

[0149] like Fig.18 and Fig.19 As shown, it includes: a bucket wheel 1 and a first radar component 2, wherein the first radar component 2 is fixed on the bucket wheel 1; the bucket wheel 1 includes a bucket wheel body 10, a plurality of buckets 11 and a baffle 12, wherein the plurality of buckets 11 are arranged on the outer surface of the bucket wheel body 10, and a gap exists at the junction of the bucket 11 and the bucket wheel body 10 to serve as a discharge port; the baffle 12 is slidably arranged with the inner surface of the preset arc length of the bucket wheel body 10 to block the discharge port of the bucket 11 rotating upward; the detection surface of the first radar component 2 faces the bucket 11 having an upward movement tendency and close to the lowest point of the bucket wheel body 10 to detect the volume of the material in the bucket 11.

[0150] The bucket wheel body 10 is provided with an inner frame which is not shown in the figure. The inner frame is fixed and the baffle 12 is fixed to the inner frame. Therefore, the baffle 12 and the inner surface of the preset arc length of the bucket wheel body 10 are slidably arranged as follows: the baffle 12 is fixed and the bucket wheel body 10 rotates, so that when the bucket 11 moves upward, the baffle 12 closes the inner side of the bucket 11 to prevent materials from falling out of the bucket 11. Specifically, the lower end of the baffle 12 of the preset arc length is close to the lowest point of the bucket wheel body 10, and the upper end is close to the highest point of the bucket wheel body 10. At the same time, the lower end of the baffle 12 needs to reserve an area for detection by the first radar assembly 2, and does not block the detection range of the first radar assembly 2.

[0151] In one embodiment, the bucket wheel body 10 is circular, the circumference of the bucket wheel body 10 is C, and the arc length range of the baffle 12 is

[0152] In addition to the first radar assembly 2, in order to realize the automation of bucket wheel machine reclaiming, the bucket wheel machine also includes a second radar assembly 3, the second radar assembly 3 is used to identify the volume of the pile, and the second radar assembly 3 is arranged on the top of the silo 6 or on the drone 7 (such as Fig.26 As shown), it is used to monitor the volume of the stockpile in real time.

[0153] The first radar assembly 2 includes a first laser radar 21 (such as Fig.23 ), the second radar assembly 3 includes a second laser radar 31 (such as Fig.25 ), the first laser radar 21 and the second laser radar 31 are connected to the integrated server, the first laser radar 21 is used to identify the point cloud data of the material in the bucket 11, so that the integrated server can calculate the volume based on the point cloud data, and the second laser radar 31 is used to identify the point cloud data of the material pile in the warehouse, so that the integrated server can calculate the volume based on the point cloud data.

[0154] Compared with the prior art that uses a cantilever belt scale to feedback the material quality, by setting a first radar component 2 on the bucket wheel 1, the volume of the material in the bucket 11 is identified in real time, and the mass of the material in each bucket 11 can be obtained more quickly, thereby calculating the total mass of the material, avoiding the situation where the total mass of the material has reached the expected mass when the cantilever belt scale is used for material weighing, but the bucket wheel 1 is still taking materials, resulting in excessive material. In addition, by calculating the mass of the material in each bucket 11 separately, the situation of insufficient material taking caused by pits when weighing using a cantilever belt scale is also overcome. In the preferred solution, by setting a second radar component 3 to identify the volume of the material pile, combined with the volume of the material in the bucket 11 identified by the first radar component 2, the working state of the bucket wheel 1 can be adjusted and controlled in real time according to the above data, which plays a positive role in improving the material taking efficiency of the bucket wheel machine.

[0155] In order to improve the efficiency of material collection, when it is identified that the volume of material in the bucket 11 is too small (or the height of the material in the bucket 11 is too far from the edge of the bucket 11), the integrated server determines whether the height of the material pile allows the bucket wheel 1 to descend a certain distance based on the volume information of the material pile transmitted back by the second laser radar 31, so that the bucket 11 can collect more materials at one time. If the volume of the material pile is too small and the height is too low, the bucket wheel 1 will no longer descend; if the volume of the material pile is large and the height is high, the bucket wheel 1 can be allowed to descend a certain distance.

[0156] In addition to the above structure, in order to make the materials collected by the bucket 11 fall on the transmission belt, Fig. 20 As shown, the laser radar coal bucket wheel reclaimer with fusion sensing also includes a funnel 4 and a conveyor belt 5. The funnel 4 is arranged above the conveyor belt 5 and is located directly below the highest point of the bucket wheel body 10. The funnel 4 is fixed to the steel beams on both sides of the conveyor belt 5. The funnel 4 is used to guide the material in the bucket 11 to fall onto the conveyor belt 5.

[0157] According to the above structure, a first radar component 2 is arranged on the bucket wheel 1, and a second radar component 3 is arranged on the top of the silo 6. The two work together to judge the material taking situation of the bucket wheel based on the volume of the material in the bucket 11 identified by the first radar component 2. Based on the volume of the material pile identified by the second radar component 3 and the distance relationship between the bucket wheel 1 and the material pile, if the volume of the material in the bucket 11 is too small and the height of the material pile is within the allowable range that the bucket wheel 1 can continue to descend, the bucket wheel 1 is lowered so that the bucket 11 can collect more materials to improve the material taking efficiency and uniformity of the bucket wheel. In addition, the volume of the material in the bucket 11 is identified by the first radar component 2, and the volume of the material pile and the distance relationship between the bucket wheel 1 and the material pile are identified by the second radar component 3, so as to realize real-time monitoring and precise analysis of the state of the material pile, and then dynamically adjust the material taking parameters of the bucket wheel to ensure the stability, efficiency and safety of the material taking process. Feedback control is formed between the first radar component 2, the second radar component 3 and the bucket wheel 1 to improve the automation level of the bucket wheel 1 material taking machine.

[0158] For the baffle 12 inside the bucket wheel body 10, Fig.21 As shown, the baffle 12 used in the conventional bucket wheel 1 is in the form. In the embodiment of the present invention, since the first radar assembly 2 needs to be installed on a fixed object, and the laser signal of the first laser radar 21 needs to be projected into the bucket 11 and cannot be blocked, and at the same time, the installation of the radar cannot hinder the normal operation of the bucket wheel machine, based on this, the embodiment of the present invention improves the form of the conventional baffle 12 by cutting off a part of the lower end of the baffle 12 (such as Fig.21 As shown in the dotted box), the detection port of the first laser radar 21 is not blocked. At the same time, cutting off this part will not cause the material in the bucket 11 to fall out. The baffle 12 is fixed and will not rotate with the rotation of the bucket wheel 1.

[0159] like Fig. 22 As shown, the bucket wheel body 10 includes two relatively arranged circular frames 101, and a plurality of cross beams 102 are arranged between the two circular frames 101 to divide a plurality of installation slots 100. The bucket 11 is installed on the installation slots 100, and the tail of the bucket 11 is fixedly connected to the cross beam 102, and the two sides of the bucket 11 are respectively fixedly connected to the circular frames 101.

[0160] In actual application scenarios, the materials collected by the bucket wheel machine can be coal or sand and gravel. Taking coal as an example, the particle size of coal is uneven. If larger coal particles are stuck between the baffle 12 and the bucket 11, the friction between the baffle 12 and the bucket wheel 1 is too large during the rotation of the bucket wheel 1, thereby wearing the baffle 12, causing metal fatigue, and reducing the service life of the bucket wheel 1 and the baffle 12. Based on this, a preset range of gaps is set between the baffle 12 and the annular frame 101 to ensure the smooth rotation of the bucket wheel 1. The preset range of gaps can be 1-8 mm. In addition, it is worth mentioning that due to the uneven size of coal particles, there may be gaps between particles when they are stacked, resulting in the overall actual density of the coal stacked in the bucket 11 being less than the density of the coal itself. Therefore, in order to determine the density used when calculating the mass of the coal in the bucket 11, a stacking density experiment is conducted on the coal. After experimental research and analysis, it is found that the stacking density of the coal (i.e., the density in the natural stacking state) is between 0.8 and 1.0 tons / cubic meter. Based on the above conclusion, 0.9 tons / cubic meter can be used as the density meter when calculating the mass of the coal. Moreover, since the coal picking mass and the preset picking tonnage do not need to be completely consistent during the coal picking process, it is allowed that the picking tonnage is slightly greater than or less than the preset picking tonnage. Therefore, the present invention uses the first laser radar 21 to assist in identifying and calculating the volume of coal in each bucket 11, and obtains the mass of the coal in each bucket 11 according to the calculated volume and the density obtained from the experiment. The mass of the coal in each bucket 11 is added together to obtain the total mass of the picking. Compared with weighing with a cantilever belt scale, the error between the final total mass of the picking and the preset picking tonnage is smaller.

[0161] In order to ensure the stability and reliability of the baffle 12 during operation, adapt to the needs of different materials and operating conditions, and improve the operating efficiency and safety of the bucket wheel mechanism, continue to refer to Fig.19 The bucket wheel reclaimer further comprises a connecting frame 121, wherein the connecting frame 121 and the baffle 12 are connected via a hinge, and the first radar assembly 2 is fixedly connected to the connecting frame 121. The connecting frame 121 can not only support and fix the baffle 12, but also adjust the gap between the baffle 12 and the bucket wheel 1, or the position of the baffle 12 through an adjusting member (not shown in the figure) arranged on the connecting frame 121.

[0162] For the first radar assembly 2, if Fig.23 As shown, the first radar assembly 2 includes a first fixing frame 20 and a first laser radar 21, the first fixing frame 20 includes a first fixing end 201 and a first connecting end 202, the first fixing end 201 is fixedly connected to the connecting frame 121, and the first connecting end 202 is connected to the first laser radar 21 through a hinge. Fig.24As shown, the first laser radar 21 is provided with a housing 210 on the outside, and the housing 210 is fixedly connected to one of the hinge units in the hinge; the hinge unit is provided with a mounting plate 211, and the housing 210 is fixedly connected to the mounting plate 211. The first connection end 202 is provided with a fixing bolt 203 and a fixing nut 204, the fixing bolt 203 is inserted into the through hole of the hinge, and the fixing nut 204 is threadedly connected to the fixing bolt 203. During the installation of the first laser radar 21, after fixing the first fixed end 201 of the first fixed frame 20 to the connecting frame 121, fix the outer shell 210 of the first laser radar 21 to the mounting plate 211, adjust the angle of the first laser radar 21, and perform a test to check whether the detection range of the first laser radar 21 is blocked and whether the detection range of the first laser radar 21 can cover the entire area where the bucket 11 is located. After adjusting the position of the first laser radar 21 accordingly, fix the fixing bolt 203 and the fixing nut 204 to lock the position and angle of the first laser radar 21.

[0163] For the second radar assembly 3, if Fig.25 As shown, the second radar assembly 3 is used to identify the volume of the stockpile, and the second radar assembly 3 includes a connecting column 30 and a second laser radar 31, one end of the connecting column 30 is fixedly connected to the second laser radar 31, and the other end of the connecting column 30 is connected to the bearing component. In the scenario preset in the embodiment of the present invention, the bucket wheel machine is a small warehouse operation bucket wheel machine, therefore, for the identification of the volume of the stockpile and the distance between the edge of the stockpile and the bucket wheel 1, the second laser radar 31 can be set above the stockpile, therefore, the embodiment of the present invention adopts the following two solutions.

[0164] The first solution is to place the second laser radar 31 on the top of the warehouse. Fig.25As shown, the bearing component is a slider 601, a slide rail 60 is provided on the top of the silo 6, the slide rail 60 is fixedly connected to the steel frame on the top of the silo 6, the other end of the connecting column 30 is fixedly connected to the slider 601, and the slider 601 is slidably connected to the slide rail 60. In order to prevent the slider 601 from slipping on the slide rail 60, both ends of the slide rail 60 are bent. Since the slide rail 60 is a straight line, in order to facilitate the control of the position of the second laser radar 31, a landmark can be provided on the floor of the warehouse for the fixed-point stacking of materials. When it is necessary to take materials from the pile, the landmark number instruction is input to the integrated server, the second laser radar 31 slides to the top of the corresponding landmark number, and the position of the second laser radar 31 is fine-tuned according to the position of the pile. After the second laser radar 31 is adjusted, a signal is sent to the integrated server, and the integrated server starts the first laser radar 21 and the bucket wheel 1. Among them, a power unit (not shown in the figure) is configured on the side of the slider 601, and the power unit is used to receive instructions from the integrated server and drive the slider 601 to move on the slide rail 60.

[0165] The second option, such as Fig.26 As shown, the bearing component is a drone 7, the second laser radar 31 is arranged on the drone 7, and the other end of the connecting column 30 is fixedly connected to the drone 7. In the actual application scenario, the drone 7 carrying the second laser radar 31 is located directly above the pile of materials to identify the volume and height of the pile of materials.

[0166] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for automatic bucket wheel material taking based on laser radar, characterized in that: include: Acquire point cloud data of the material in the bucket identified by the first laser radar, and calculate the volume V of the material according to the point cloud data; Calculate the mass m of the material in the bucket in real time based on the volume V and the material density ρ; According to the mass m collected each time, the total mass M of the material is calculated, so as to control the working state of the bucket wheel according to the total mass M of the material.

2. The automatic bucket wheel material taking method based on laser radar according to claim 1 is characterized in that: The step of obtaining point cloud data of the material in the bucket identified by the first laser radar and calculating the volume V of the material according to the point cloud data specifically includes: When the buckets of the bucket wheel reclaimer are in a stage of uneven material reclaiming, the first laser radar is controlled to continuously emit laser signals to the buckets, so as to continuously calculate the volume V of the material according to the point cloud data of the material in the buckets; When the buckets of the bucket wheel reclaimer are in the uniform material taking stage, the volume average value calculated for the previous preset number of times is used as the volume V of the material in the bucket, and the first laser radar is controlled to continuously emit laser signals to the bucket to obtain the distance L between the edge of the material in the bucket and the edge of the bucket, and then judge whether the bucket wheel reclaimer is in the uneven material taking stage again based on the distance L.

3. The automatic bucket wheel material taking method based on laser radar according to claim 2 is characterized in that: The method further comprises: When the difference between the volumes V continuously calculated by the integrated server is not within the first preset range, the integrated server determines that the bucket wheels of the bucket wheel reclaimer are in an uneven reclaiming stage; When the difference between the volumes V calculated by the integrated server for a first preset number of times in succession is within a first preset range, the integrated server determines that the bucket wheels of the bucket wheel reclaimer are in a uniform material reclaiming stage relative to each other.

4. The automatic bucket wheel material taking method based on laser radar according to claim 2 is characterized in that: The step of judging whether the bucket wheel reclaimer is in the uneven reclaiming stage again according to the distance L comprises: If the distance L is within the preset difference range, the bucket wheel reclaimer is still in the uniform material reclaiming stage; if the distance L exceeds the preset difference range, the bucket wheel reclaimer re-enters the uneven material reclaiming stage.

5. The automatic bucket wheel material taking method based on laser radar according to claim 4 is characterized in that: The method for identifying the distance L specifically includes: The first laser radar generates a point cloud for the edge of the material in the bucket and identifies the distance L between the edge of the material and the edge of the bucket.

6. The automatic bucket wheel material taking method based on laser radar according to claim 1 is characterized in that: The step of obtaining point cloud data of the material in the bucket identified by the first laser radar and calculating the volume V of the material according to the point cloud data specifically includes: Acquire point cloud data of the material in the bucket identified by the first laser radar; Acquire a three-dimensional model of the bucket; The volume V of the material in the bucket is calculated by combining the three-dimensional model and the point cloud data.

7. The automatic bucket wheel material taking method based on laser radar according to claim 6 is characterized in that: The obtaining of point cloud data of the material in the bucket identified by the first laser radar specifically includes denoising and registration preprocessing of the point cloud data; Among them, point cloud denoising includes denoising the initial point cloud data using a sparse outlier removal method. This method calculates the average distance from each point to all its neighboring points. Assuming that the result is a Gaussian distribution, points with an average distance outside the standard range are defined as outliers and removed from the data set. The point cloud registration includes using an iterative closest point automatic registration algorithm for the point cloud data of two adjacent periods. The ICP algorithm finds the closest point pair in the two point cloud sets, calculates the error of the closest point pair after transformation according to the estimated transformation relationship, and continuously iterates until the set objective function reaches the minimum value, and obtains the optimal translation matrix and rotation matrix to determine the final transformation relationship. Finally, the point cloud to be registered and the reference point cloud data are matched one by one, thus completing the two-phase point cloud data registration.

8. The automatic bucket wheel material taking method based on laser radar according to any one of claims 1 to 7, characterized in that: The method of calculating the total mass M of the material based on the mass m collected each time, and controlling the working state of the bucket wheel according to the total mass M of the material, specifically includes: The mass m of the material in the bucket collected each time is accumulated to obtain the total mass M of the material; When the total mass M of the material matches the preset material taking tonnage, the bucket wheel is controlled to lift up to stop conveying the material to the transmission belt.

9. A bucket wheel automatic material reclaiming device based on laser radar, applicable to the bucket wheel automatic material reclaiming method based on laser radar according to any one of claims 1 to 8, characterized in that: include: A bucket wheel (1) and a first laser radar (21), wherein the first laser radar (21) is fixed on the bucket wheel (1); The bucket wheel (1) comprises a bucket wheel body (10), a plurality of buckets (11) and a baffle (12), wherein the plurality of buckets (11) are arranged on the outer surface of the bucket wheel body (10); the baffle (12) is slidably arranged with the inner surface of the bucket wheel body (10) of a preset arc length to block the discharge port of the bucket (11) rotating upward; the detection surface of the first laser radar (21) is oriented toward the bucket (11) having an upward movement tendency and close to the lowest point of the bucket wheel body (10) to detect the volume of the material in the bucket (11).

10. The automatic bucket wheel material taking device based on laser radar according to claim 9, characterized in that: The bucket wheel body (10) comprises two circular frames (101) arranged opposite to each other, a plurality of cross beams (102) are arranged between the two circular frames (101) to divide a plurality of installation slots (100), the bucket (11) is installed on the installation slots (100), the tail of the bucket (11) is fixedly connected to the cross beam (102), and both sides of the bucket (11) are respectively fixedly connected to the circular frames (101); The first laser radar (21) is arranged toward the installation slot (100) close to the lowermost end of the bucket wheel body (10).

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