Automatic operation control method and system for portal type scraper reclaimer

Abstract

The invention discloses an automatic operation control method and system for a portal-type scraper reclaimer, and belongs to the technical field of electronic information, surface structure data of a material pile are obtained through a laser scanner, and the accurate position and attitude information of the scraper reclaimer are obtained in combination with various sensors installed on the scraper reclaimer. A three-dimensional model of a material pile is established by utilizing a multi-space variable transpose algorithm, and the data quality is improved through preliminary data filtering methods such as noise filtering and the like. And calculating the cut-in angle of the material pile at each position through the cut-in attitude model of the scraper, and clustering and merging the cut-in angles of each point according to a material taking strategy to obtain a final operation interval. System hardware equipment comprises a laser scanner, network communication equipment, a position attitude sensor, computing storage equipment and the like. According to the method, the material taking interval and angle of the scraper material taking machine can be calculated in real time, the scraper material taking machine is automatically controlled to complete the material taking operation task, the operation efficiency is improved, and the method has guiding significance on intelligent transformation of a stacker.

Description

Technical Field

[0001] The present invention belongs to the field of electronic information technology, and more specifically, relates to an automatic operation control method and system for a gantry-type scraper reclaimer. Background Art

[0002] As an effective stacking and mixing equipment for raw material yards in the power, coal, chemical, cement and other industries, the research and development background of the gantry scraper reclaimer's automatic operation control method and system is derived from the need to improve and upgrade the traditional stacking and reclaiming operation mode.

[0003] Traditionally, the operation of gantry-type scraper reclaimers relies on manual on-site monitoring and manual control, which is not only inefficient but also has safety risks. With the rapid development of industrial automation technology, especially the continuous advancement of sensor technology, remote communication technology, data processing and intelligent decision-making technology, automatic operation control of gantry-type scraper reclaimers has become possible.

[0004] In order to realize the automatic operation control of the gantry scraper reclaimer, it is necessary to build a comprehensive perception system first, which can collect key information such as the shape, height, composition and operation status of the material pile in real time. This information is collected by sensor modules such as encoders, cameras, and lidar, and transmitted to the control system after preliminary processing.

[0005] In summary, it is a technical problem that urgently needs to be solved to develop an automatic operation control method and system for a gantry-type scraper reclaimer, which can automatically adjust the descent depth and travel range of the scraper arm according to preset process parameters and reclaiming strategies, and realize different reclaiming operation processes such as left-side reclaiming, right-side reclaiming, middle reclaiming, or reclaiming at both ends. Summary of the invention

[0006] In response to the above defects or improvement needs of the prior art, the present invention proposes an automatic operation control method and system for a gantry-type scraper reclaimer, which can obtain point cloud data of the material pile in real time and establish a three-dimensional model. Then, a calculation method is established based on the physical model of the scraper machine, and the specific range and angle of the scraper reclaiming are calculated through the interval division strategy, thereby automatically controlling the scraper reclaimer to complete the automatic operation task.

[0007] To achieve the above object, according to one aspect of the present invention, a method for controlling automatic operation of a gantry-type scraper reclaimer is provided, comprising:

[0008] Precise positioning of the position and attitude of the scraper reclaimer: The position information of the scraper reclaimer in space and the pitch angle attitude information of the scraper are obtained through the inclinometer, Graham line, encoder and other sensor equipment installed on the scraper reclaimer;

[0009] Establishment of the 3D model of the pile: The surface structure data of the pile is obtained through the laser scanner equipment, and the 3D point cloud model of the pile is established by using the multiple spatial variable transposition algorithm, and preliminary data filtering is performed;

[0010] Scraper reclaimer cutting posture calculation: The scraper reclaimer cutting posture model is established using the physical dimensions of the scraper reclaimer and the filtered three-dimensional point cloud model of the material pile. The cutting angle of the material pile at each position is calculated based on the cutting posture model, and then the cutting angles of each point are clustered and merged according to the reclaiming strategy to obtain the final operating range.

[0011] In some optional embodiments, the method of establishing a three-dimensional model of a stockpile using a multiple spatial variable transposition algorithm includes:

[0012] A three-dimensional point cloud model of the stockpile is established based on the installation parameter information of the laser scanner, wherein the installation parameter information includes the rotation angle of the laser scanner itself in space and the offset distance of the laser scanner relative to the origin of the scraper reclaimer, and the offset distance of the laser scanner relative to the origin of the scraper reclaimer includes the translation amount of the laser scanner relative to the origin of the scraper reclaimer in three directions and the offset amount of the origin of the scraper reclaimer from the origin of the stockpile.

[0013] In some optional implementation schemes, the preliminary data filtering includes:

[0014] The neighborhood statistical filtering method is used to filter the data of the 3D point cloud model to eliminate the noise caused by the dust in the yard.

[0015] In some optional implementation schemes, the use of a neighborhood statistics filtering method to filter data on a three-dimensional point cloud model includes:

[0016] Find the set of all points within the distance threshold range for each point in the three-dimensional point cloud model of the stockpile, count the number of elements in each set, and delete the points in the three-dimensional point cloud model of the stockpile whose number of elements is less than a preset value.

[0017] In some optional embodiments, the scraper cutting posture model is: γ i =γ it +γ ib ,in, h is the height of the scraper's rotation center from the ground, d is the distance between the upper and lower surfaces of the scraper, γ is the scraper's pitch angle, (x i ,y i ,z i ) are the coordinates of any point on the pile.

[0018] In some optional implementation schemes, clustering and merging the cut-in angles of each point according to the material fetching strategy to obtain the final operation interval includes:

[0019] The three-dimensional point cloud model of the stockpile is segmented according to a preset step length to obtain a point cloud subset;

[0020] The material taking angle of each point cloud subset is calculated by the scraper cutting posture model, and a scatter plot of the travel-pitch angle is obtained;

[0021] The Douglas-Peucker data compression algorithm is used to convert the scatter plot into a line graph, and the key turning points are extracted. The turning points are used to divide the stockpile address into multiple sub-intervals.

[0022] According to the convex reclaiming interval principle, the stockpile sub-intervals are merged, and the scraper cutting posture model is used to calculate the entry point of each merged reclaiming interval and the starting and ending points of each reciprocating movement of the reclaimer.

[0023] In some optional embodiments, the calculating of the material taking angle of each point cloud subset by the scraper cutting posture model includes:

[0024] For each point cloud subset, all points in the point cloud subset are traversed, and the scraper pitch angle corresponding to each point is obtained from the scraper cutting posture model, and the maximum pitch angle is selected as the material picking angle of the point cloud subset.

[0025] In some optional implementation schemes, the merging of the stockpile sub-intervals according to the convex material taking interval principle includes:

[0026] Simplify the width of each sub-interval, traverse each simplified line segment, and calculate the line segment material collection angle difference Δγ=γ B -γ A And the position difference Δx = x B -x A , γ A is the material taking angle at the starting point of the line segment, γ B is the material taking angle at the end point of the line segment, x B is the running position of the end point of the line segment, x A is the running position of the starting point of the line segment;

[0027] If the line segment is the first line segment, a new interval is created And add the line segment to the interval, that is is the minimum running position of the ith interval, is the maximum running position of the i-th interval;

[0028] If the line segment is not the first one, first determine whether it is a small interval Δx<x tr , if so, merge the line segment with the previous interval, that is x tr is the given interval width threshold;

[0029] Otherwise, determine whether the line segment is an ascending, flat or descending line segment. If the combination of the last line segment of the previous interval and the current line segment is descending-flat, descending-ascending, or flat-ascending, create a new interval and add the current line segment to the interval. Otherwise, merge the current line segment into the previous interval to obtain a convex interval.

[0030] In some optional implementation schemes, the calculation of the entry point of each merged reclaiming interval and the starting point and the ending point of each reciprocating movement of the reclaimer by the scraper entry posture model includes:

[0031] The point with the largest pitch angle in the merged material picking interval is selected as the entry point, and the starting point and the end point are calculated by the filtered three-dimensional point cloud model of the material pile. Each time the direction of travel is changed, the scraper pitch angle is adjusted downward by one angle.

[0032] According to another aspect of the present invention, there is provided an automatic operation control system for a gantry type scraper reclaimer, comprising:

[0033] Position and attitude sensors, including Graham wires, encoders and inclinometers installed on the scraper reclaimer, are used to obtain the precise position of the scraper reclaimer and the pitch angle of the scraper in real time;

[0034] A laser scanner is installed on the scraper reclaimer and moves with the scraper reclaimer to scan the pile and obtain surface structure data; the scanned data is transmitted to the computing device for preprocessing and then stored in the memory;

[0035] A main controller for receiving and processing data from the position and attitude sensor and the laser scanner;

[0036] A computing storage device is used to store and process data, and calculate the material picking interval and material picking posture according to the processing results, and transmit the calculation results to the main controller;

[0037] The computing device processes the collected data to calculate the material picking interval and material picking posture, and transmits them to the main controller.

[0038] In some optional embodiments, the installation parameter information of the laser scanner includes the laser scanner's own rotation angle in space and the offset distance of the laser scanner relative to the origin of the scraper reclaimer, and the own rotation angle is described by Euler angles.

[0039] In some optional embodiments, the computing storage device is further configured to perform the following steps:

[0040] Perform preliminary data filtering on the data acquired by the laser scanner, including eliminating noise using neighborhood statistical filtering methods;

[0041] Establish a scraper reclaimer cutting posture model based on the physical dimensions of the scraper reclaimer, and calculate the cutting angle of the material pile at various positions;

[0042] According to the material taking strategy, the entry angles of each point are clustered and merged to obtain the final operation range.

[0043] In some optional embodiments, the computing storage device is further used for:

[0044] The three-dimensional point cloud data of the stockpile is segmented according to a preset step length to obtain a series of point cloud subsets;

[0045] Calculate the material fetching angle of each point cloud subset and obtain a scatter plot of the travel-pitch angle;

[0046] The Douglas-Peucker data compression algorithm is used to convert the scatter plot into a line graph and extract the key turning points;

[0047] According to the principle of convex reclaiming interval, the stockpile intervals are merged, and the entry point of each reclaiming interval and the starting and ending points of each reciprocating movement of the reclaimer are calculated.

[0048] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0049] The present invention utilizes laser scanning three-dimensional imaging technology and a scraper cutting-in posture model to calculate the material-retrieving range and angle of the scraper reclaimer in real time, and automatically controls the scraper reclaimer to complete the material-retrieving task. This has guiding significance for the intelligent transformation of the stacker and improves the operating efficiency of the scraper reclaimer. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 This is a cross-sectional view of a scraper reclaimer during a reclaiming process provided by an embodiment of the present invention;

[0051] Figure 2 This is a schematic diagram of a running-pitch angle scatter point provided by an embodiment of the present invention;

[0052] Figure 3 is a schematic diagram of a convex and concave material taking interval provided by an embodiment of the present invention;

[0053] Figure 4 It is a schematic diagram of a material taking entry point and a travel path provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solutions 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. 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.

[0055] This embodiment discloses an automatic operation method and system of a gantry-type scraper in a comprehensive primary material yard of a steel enterprise, wherein a gantry-type scraper reclaimer automatic operation control method comprises:

[0056] S100, obtaining installation parameter information of a laser scanner on a scraper reclaimer, wherein the installation parameter information includes a rotation angle of the laser scanner in space and an offset distance of the laser scanner relative to an origin of the scraper reclaimer;

[0057] The rotation angle of the laser scanner itself can be described by Euler angles, that is, yaw tilt and rotation The origin of the scraper reclaimer is defined as the pitch axis of the scraper reclaimer.

[0058] Among them, the offset distance of the laser scanner relative to the origin of the scraper reclaimer is defined as the translation amounts Δx, Δy, Δz in three directions and the offset of the origin of the scraper reclaimer from the origin of the yard.

[0059] S200, during the stacking operation of the scraper reclaimer, the turntable drives the laser scanner to rotate for scanning, and obtains initial stacking scanning data based on the installation parameter information of the laser scanner on the scraper reclaimer. The initial stacking scanning data is a vector point set in the laser scanner coordinate system. 5 PC={ 5 P i ( 5 x i , 5 y i , 5 z i )}, where P i (x i ,y i ,z i ) is the i-th vector point in the laser scanner coordinate system O5;

[0060] S300, noise filtering. The dust in the yard will cause a lot of noise in the laser scanner data, which can be eliminated by using the neighborhood statistical filtering method:

[0061] Find each point P in the point cloud i =(xi ,y i ,z i ) The set C of all points within the distance threshold range tr i .

[0062] C i ={(x ij ,y ij ,z ij )|||(x ij ,y ij ,z ij )-(x i ,y i ,z i )||<tr}

[0063] Among them, x i ,y i ,z i They are the three coordinate values ​​of the current point, x ij ,y ij ,z ij Point P i All points in its neighborhood whose distance is less than the threshold.

[0064] Then the statistical set C i The number of elements N i =Count(C i ), delete the point P with a smaller number of set elements (number of neighbors) in the point cloud i , the noise points can be filtered out.

[0065] For the determination of noise points, two exemplary rules are listed below:

[0066] For example, the number of neighbors of the point cloud to be deleted is set to a fixed number N m , that is, as long as N i =Count(C i )<N m , then point P i is considered as noise and removed from the point cloud.

[0067] For example, the number of neighbors of the point cloud to be deleted is set to a statistical percentage k (0 < k < 1) of the number of neighbors of the entire point cloud. First, all points in the point cloud are sorted according to the number of neighbors N. i =Count(C i ) to sort from large to small, and round(k*N) the last (smaller end) of the sorted result p ) points are considered as noise and removed from the point cloud, where N p is the total number of points in the point cloud.

[0068] S400, gantry type scraper reclaimer reclaiming process cross section diagram as shown below Figure 1 As shown, the height of the scraper's rotation center from the ground is h, the distance between the upper and lower surfaces of the scraper (i.e., the thickness of the scraper) is d, and the pitch angle of the scraper is γ. Figure 1 The shaded part of the middle triangle is a schematic diagram of the material pile. After the scraper reclaimer reaches the specified position along the track direction, it adjusts the pitch angle of the scraper to cut into the surface of the material pile, and then completes the material reclaiming operation through the rotation of the scraper.

[0069] The coordinate system is established with the projection of the rotation center of the scraper on the ground as the origin when the scraper reclaimer is in the initial position. The x-axis is parallel to the track, the z-axis is perpendicular to the ground and upward, and the y-axis is determined by the right-hand coordinate system. In this coordinate system, the attitude of the scraper reclaimer can be determined by two degrees of freedom, the travel position x and the pitch angle γ. To calculate the attitude of the scraper reclaimer, assume that the coordinates of any point on the pile are (x i ,y i ,z i ), by connecting this point with the center of rotation of the scraper, such as Figure 1 As shown, the pitch angle can be divided into two parts, namely, the scraper cutting posture model is described as: γ i =γ it +γ ib , where γ it and γ ib It can be obtained through triangular relationship conversion, namely: Assuming the width of the scraper is w, the position at which the scraper of the reclaimer can cut into this point is (x i ±w,γ i ).

[0070] S500, the three-dimensional point cloud data of the stockpile can be expressed as {C j =(x j ,y j ,z j )|j=1…N},C j Represents a point in the point cloud data, and N represents the number of points in the stockpile point cloud data. The stockpile 3D point cloud data is segmented according to the minimum walking step length Δx of the reclaimer to obtain a series of point cloud subsets, where the i-th subset can be expressed as M is the number of points in the point cloud subset. By traversing all points in the point cloud subset, the scraper pitch angle corresponding to each point can be obtained according to the formula in S400. Then the walking position is x i Scraper take-off angle at By calculating the reclaiming angles of all subsets of the stockpile point cloud data, a scatter plot of the reclaimer travel-pitch angle can be obtained, such as Figure 2 As shown, it is a scatter plot of the travel-pitch angle corresponding to the three-dimensional point cloud model of the pile.

[0071] S600, the running-pitch angle scatter plot contains densely sampled data points along the running direction of the material surface. In order to simplify the data and filter the interference of local material surface height jump, the Douglas-Peucker (DP) data compression algorithm is used to convert the scatter plot into a line graph, and the key turning points on the line graph are extracted. These turning points are used to divide the material pile address into multiple sub-intervals;

[0072] S700. In order to ensure the continuity and stability of the material flow and maximize the material efficiency, the concept of convex material interval is proposed, that is, the divided material interval should be "convex" rather than "concave". Figure 3 As shown in the figure, the left side is a schematic diagram of the convex feeding area. The reciprocating trajectory of the scraper reclaimer is shown by the arrow line. The movement range of each layer taken from top to bottom is expanded downward a little bit. The scraper reclaimer can always pick up materials in close contact with the material surface during the reciprocating feeding process. The movement range of each layer of the scraper reclaimer is calculated and adjusted by the real-time data of the onboard laser scanner. The reclaimer will not idle during the feeding process, which maximizes the feeding efficiency. Figure 3 The right side figure is a schematic diagram of the concave material reclaiming area. The reciprocating trajectory of the scraper reclaimer is shown as the dotted line in the figure. The scraper will idle for a period of time, causing material breakage and reducing the scraper reclaiming efficiency.

[0073] According to the above convex material collection interval principle, the stockpile intervals are merged. It should be noted that in order to avoid very small material collection intervals, intervals with area widths less than a certain threshold are directly merged with the previous interval and do not participate in the convex or concave judgment. The specific interval merging algorithm is as follows:

[0074] 1) Traverse each simplified line segment and calculate the material taking angle difference Δγ=γ B -γ A And the position difference Δx = x B -x A , γ A is the material taking angle at the starting point of the line segment, γ B is the material taking angle at the end point of the line segment, x B is the running position of the end point of the line segment, x A is the running position of the starting point of the line segment;

[0075] 2) If the line segment is the first line segment, create a new interval And add the line segment to the interval, that is is the minimum running position of the ith interval, is the maximum running position of the i-th interval;

[0076] 3) If the line segment is not the first one, first determine whether it is a small interval Δx<xtr , if so, merge it directly with the previous interval, that is x tr is the given interval width threshold;

[0077] 4) Otherwise, determine whether the line segment is an ascending, flat, or descending line segment. If the combination of the last line segment of the previous interval and the current line segment is descending-flat, descending-ascending, flat ascending, a new interval is created and the current line segment is added to the interval, otherwise the current line segment is merged into the previous interval;

[0078] 5) After traversing each line segment, several intervals containing a group of line segments are generated, and the intervals are all "convex".

[0079] After the material pile is divided into reclaiming intervals, it is necessary to continue to calculate the entry point of each reclaiming interval. The entry point is selected according to the principle of maximum pitch angle. In order to maximize the reclaiming efficiency, it is also necessary to calculate the starting point and end point of each reclaimer's reciprocating in each reclaiming interval. Figure 4 Taking the No. 6 reclaiming interval in the figure as an example, the entry point is the point with the largest pitch angle in the reclaiming interval, that is, point A. The starting point and end point of the reciprocating are calculated in real time based on the point cloud data scanned by the pile. Each time the direction of travel changes, the pitch angle of the scraper is adjusted downward by an angle, such as Figure 4 As shown, the dotted line in the figure represents the travel trajectory of the scraper.

[0080] The hardware equipment of the automatic operation control system of the gantry type scraper reclaimer mainly includes: 2D laser scanner plus turntable (constituting a 3D scanning system), network switch, Gray bus communication positioning device, distance encoder, inclinometer, airborne data acquisition and processing computer, model data storage server, background computing server, scraper reclaimer PLC system, etc. The 2D laser scanner plus turntable is installed on the scraper reclaimer. As the scraper reclaimer moves, the Graham line is installed on the side of the scraper reclaimer running track to accurately locate the travel position of the scraper reclaimer. The inclinometer installed on the scraper of the scraper reclaimer obtains the pitch angle of the scraper in real time. The travel position and pitch angle are transmitted to the computing server by the airborne PLC acquisition program through the network switch device. The computing device calculates the reclaiming interval and reclaiming posture after processing the collected data, and transmits it to the main controller.

[0081] It should be pointed out that, according to the needs of implementation, the various steps / components described in this application can be split into more steps / components, and two or more steps / components or partial operations of steps / components can be combined into new steps / components to achieve the purpose of the present invention.

[0082] It will be easily understood by those skilled in the art that 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 controlling the automatic operation of a gantry type scraper reclaimer, characterized in that: include: Obtain the position information of the scraper reclaimer in space and the pitch angle attitude information of the scraper; Obtain the surface structure data of the pile, build a 3D point cloud model of the pile, and perform preliminary data filtering; The scraper machine's cutting-in posture model is established using the scraper reclaimer's position information in space, the scraper's pitch angle posture information, and the filtered three-dimensional point cloud model of the material pile. The cutting-in angle of the material pile at each position is calculated based on the cutting-in posture model, and the cutting-in angles of each point are clustered and merged according to the reclaiming strategy to obtain the final operating range.

2. The method according to claim 1, characterized in that: The step of establishing a three-dimensional point cloud model of a stockpile comprises: A three-dimensional point cloud model of the material pile is established based on the installation parameter information of the laser scanner and the surface structure data of the material pile, wherein the installation parameter information includes the rotation angle of the laser scanner itself in space and the offset distance of the laser scanner relative to the origin of the scraper reclaimer, and the offset distance of the laser scanner relative to the origin of the scraper reclaimer includes the translation amount of the laser scanner relative to the origin of the scraper reclaimer in three directions and the offset amount of the origin of the scraper reclaimer from the origin of the yard.

3. The method according to claim 1 or 2, characterized in that: The preliminary data filtering includes: The neighborhood statistical filtering method is used to filter the data of the 3D point cloud model to eliminate the noise caused by the dust in the yard.

4. The method according to claim 3, characterized in that The method of filtering data of the three-dimensional point cloud model by using the neighborhood statistics filtering method includes: Find the set of all points within the distance threshold range for each point in the three-dimensional point cloud model of the stockpile, count the number of elements in each set, and delete the points in the three-dimensional point cloud model of the stockpile whose number of elements is less than a preset value.

5. The method according to claim 1, characterized in that The scraper cutting posture model is: γ i =γ it +γ ib ,in, h is the height of the scraper's rotation center from the ground, d is the distance between the upper and lower surfaces of the scraper, γ is the scraper's pitch angle, (x i ,y i ,z i ) are the coordinates of any point on the pile.

6. The method according to claim 5, characterized in that The method of clustering and merging the cutting angles of each point according to the material taking strategy to obtain the final operation interval includes: The three-dimensional point cloud model of the stockpile is segmented according to a preset step length to obtain a point cloud subset; The material taking angle of each point cloud subset is calculated by the scraper cutting posture model, and a scatter plot of the travel-pitch angle is obtained; The Douglas-Peucker data compression algorithm is used to convert the scatter plot into a line graph, and the key turning points are extracted. The turning points are used to divide the stockpile address into multiple sub-intervals. According to the convex reclaiming interval principle, the stockpile sub-intervals are merged, and the scraper cutting posture model is used to calculate the entry point of each merged reclaiming interval and the starting and ending points of each reciprocating movement of the reclaimer.

7. The method according to claim 6, characterized in that The calculation of the material taking angle of each point cloud subset by the scraper cutting posture model includes: For each point cloud subset, all points in the point cloud subset are traversed, and the scraper pitch angle corresponding to each point is obtained from the scraper cutting posture model, and the maximum pitch angle is selected as the material picking angle of the point cloud subset.

8. The method according to claim 7, characterized in that The method of merging the stockpile sub-intervals according to the convex material taking interval principle includes: Simplify the width of each sub-interval, traverse each simplified line segment, and calculate the line segment material collection angle difference Δγ=γ B -γ A And the position difference Δx = x B -x A , γ A is the material taking angle at the starting point of the line segment, γ B is the material taking angle at the end point of the line segment, x B is the running position of the end point of the line segment, x A is the running position of the starting point of the line segment; If the line segment is the first line segment, a new interval is created And add the line segment to the interval, that is is the minimum travel position of the ith interval, is the maximum running position of the i-th interval; If the line segment is not the first one, first determine whether it is a small interval Δx<x tr , if so, merge the line segment with the previous interval, that is x tr is the given interval width threshold; Otherwise, determine whether the line segment is an ascending, flat or descending line segment. If the combination of the last line segment of the previous interval and the current line segment is descending-flat, descending-ascending, or flat-ascending, create a new interval and add the current line segment to the interval. Otherwise, merge the current line segment into the previous interval to obtain a convex interval.

9. The method according to claim 8, characterized in that The calculation of the entry point of each merged reclaiming interval and the starting point and the ending point of each reciprocating movement of the reclaimer by the scraper entry posture model includes: The point with the largest pitch angle in the merged material picking interval is selected as the entry point, and the starting point and the end point are calculated by the filtered three-dimensional point cloud model of the material pile. Each time the direction of travel is changed, the scraper pitch angle is adjusted downward by one angle.

10. An automatic operation control system for a gantry type scraper reclaimer, characterized in that: include: Position and attitude sensor, used to obtain the position information of the scraper reclaimer in space and the pitch angle and attitude information of the scraper; Laser scanners to obtain surface structure data of the stockpile; The terminal is used to establish a three-dimensional point cloud model of the material pile and perform preliminary data filtering. Then, the scraper reclaimer's position information in space and the scraper's pitch angle posture information are used to establish a scraper machine cutting posture model. The cutting angle of the material pile at each position is calculated based on the cutting posture model. The cutting angles of each point are clustered and merged according to the material reclaiming strategy to obtain the final operating range.

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