Automatic operation control method and system for gantry-type scraper reclaimer

Abstract

The present invention discloses an automatic operation control method and system for a gantry-type scraper reclaimer, which belongs to the field of electronic information technology. The surface structure data of the material pile is obtained by a laser scanner, and the precise position and posture information of the scraper reclaimer is obtained in combination with a plurality of sensors installed on the scraper reclaimer. A three-dimensional model of the material pile is established using a multiple spatial variable transposition algorithm, and the data quality is improved by preliminary data filtering methods such as noise filtering. The cutting-in angle of the material pile at each position is calculated by the scraper cutting-in posture model, and the cutting-in angles of each point are clustered and merged according to the material reclaiming strategy to obtain the final operating range. The system hardware equipment includes a laser scanner, a network communication device, a position and posture sensor, a computing and storage device, etc. The present invention can calculate the material reclaiming range and angle of the scraper reclaimer in real time, automatically control the scraper reclaimer to complete the material reclaiming task, improve the working efficiency, and has guiding significance for the intelligent transformation of the 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 industries such as electricity, coal, chemicals, and cement, the gantry scraper reclaimer's automatic operation control method and system are developed based on the need to improve and upgrade traditional stacking and reclaiming operation methods.

[0003] Traditionally, the operation of gantry-type scraper reclaimers relied on on-site monitoring and manual control, a method that was not only inefficient but also posed safety risks. With the rapid development of industrial automation technology, particularly advancements in sensor technology, remote communication technology, data processing, and intelligent decision-making, automated operation control of gantry-type scraper reclaimers has become possible.

[0004] To achieve automated control of the gantry-type scraper reclaimer, a comprehensive perception system must be built. This system can collect key information such as the shape, height, composition, and operating status of the material pile in real time. This information is collected by sensor modules such as encoders, cameras, and lidar, and is initially processed before being transmitted to the control system.

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

[0006] In response to the above-mentioned 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, and the specific range and reclaiming angle of the scraper are calculated through the interval division strategy, thereby automatically controlling the scraper reclaimer to complete the automatic operation task.

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

[0008] Precise positioning of the scraper reclaimer's position and attitude: The scraper reclaimer's position information in space and the scraper's pitch angle and attitude information are obtained through inclinometers, Graham lines, encoders and other sensing devices installed on the scraper reclaimer;

[0009] Establishing a 3D model of the stockpile: Using a laser scanner to obtain surface structure data of the stockpile, a multiple spatial variable transposition algorithm is used to establish a 3D point cloud model of the stockpile, followed by preliminary data filtering.

[0010] Scraper reclaimer cutting posture calculation: The scraper reclaimer's physical dimensions and the filtered 3D point cloud model of the stockpile are used to establish the scraper reclaimer's cutting posture model. The cutting angle at each position of the stockpile is calculated based on the cutting posture model. The cutting angles at each point are then 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 laser scanner's own rotation angle in space and the offset distance of the laser scanner relative to the scraper reclaimer origin. The offset distance of the laser scanner relative to the scraper reclaimer origin includes the translation amount of the laser scanner relative to the scraper reclaimer origin in three directions and the offset amount of the scraper reclaimer origin from the stockpile origin.

[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 embodiments, the filtering of data of the three-dimensional point cloud model using a neighborhood statistics filtering method includes:

[0016] Find the set of all points in the 3D point cloud model of the pile that are within the distance threshold range for each point, count the number of elements in each set, and delete the points in the 3D point cloud model of the pile that have a number of elements 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 ) is the coordinate of any point on the stockpile.

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

[0019] Segment the 3D point cloud model of the stockpile according to a preset step size to obtain point cloud subsets;

[0020] The scraper cutting posture model is used to calculate the material taking angle of each point cloud subset, 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 principle of convex reclaiming interval, the sub-intervals of the stockpile 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 fetching angle of each point cloud subset using 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 embodiments, the merging of 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 extraction 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 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, create a new interval And add the line segment to the interval, that is is the minimum travel position of the ith interval, is the maximum moving 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, i.e. x tr is the given interval width threshold;

[0029] Otherwise, the line segment is determined to be an ascending, flat, or descending segment. If the combination of the last segment of the previous interval and the current segment is descending-flat, descending-ascending, or flat-ascending, a new interval is created and the current segment is added to the interval. Otherwise, the current segment is merged into the previous interval to obtain a convex interval.

[0030] In some optional embodiments, the calculation of the entry point of each merged reclaiming interval and the starting point and 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 reclaiming interval is selected as the entry point, and the starting and ending points are calculated based on the filtered three-dimensional point cloud model of the material pile. Each time the direction of travel changes, 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 lines, 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 pre-processing and then stored in the memory;

[0035] A main controller, configured to receive and process data from the position and attitude sensor and the laser scanner;

[0036] Computing and storage devices are used to store and process data, calculate the material picking interval and material picking posture based on 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 range 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 using 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 using neighborhood statistical filtering method to eliminate noise;

[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 locations;

[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 to:

[0044] Segment the 3D point cloud data of the stockpile according to a preset step size 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 the scraper cutting posture model to calculate the scraping range and angle of the scraper reclaimer in real time, and automatically controls the scraper reclaimer to complete the reclaiming operation task. It 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 the reclaiming process provided by an embodiment of the present invention;

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

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

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

[0054] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely for the purpose of explaining 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 may 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 for a gantry-type scraper in a comprehensive primary material yard of a certain steel enterprise, wherein a method for controlling the automatic operation of a gantry-type scraper reclaimer includes:

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

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

[0058] The offset distance of the laser scanner relative to the origin of the scraper reclaimer is defined as the translation amounts Δx, Δy, and 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 and scan, and obtains the initial stack scanning data based on the installation parameter information of the laser scanner on the scraper reclaimer. The initial stack scanning data is a set of vector points 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 storage yard will cause a lot of noise in the laser scanner data, which is eliminated 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 count the set C i The number of elements N i =Count(C i ), delete the point P with the smallest 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 click 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 the 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, round(k*N 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 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 designated 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 scraper's rotation center 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 can cut into the 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 pile point cloud data. The pile 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 reclaiming angle at By calculating the reclaiming angles of all subsets of the stockpile point cloud data, a scatter plot of the reclaimer's travel-pitch angles can be obtained, such as Figure 2 As shown in FIG, a scatter plot of the travel-pitch angle corresponding to the three-dimensional point cloud model of the stockpile.

[0071] S600, the travel-pitch angle scatter plot contains densely sampled data points along the travel direction of the material surface. To simplify the data and filter out interference from local material surface height fluctuations, the Douglas-Peucker (DP) data compression algorithm is used to convert the scatter plot into a line graph. The key turning points on the line graph are extracted and used to segment the stockpile 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 material interval after division should be "convex" rather than "concave". Figure 3 As shown in the figure, the left side is a schematic diagram of the convex reclaiming interval. 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 downwards a little. The scraper reclaimer can always pick up materials in close contact with the material surface during the reciprocating reclaiming 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 reclaiming process, which maximizes the reclaiming efficiency. Figure 3 The right side figure is a schematic diagram of the concave reclaiming interval. 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 principle of convex material collection interval, 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 are not involved in the convex or concave judgment. The specific interval merging algorithm is as follows:

[0074] 1) Traverse each simplified line segment and calculate the angle difference of the line segment 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 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 travel position of the ith interval, is the maximum moving 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, or flat-ascending, then create a new interval and add the current line segment to it; otherwise, merge the current line segment 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 movement in each reclaiming interval. Figure 4 Taking the No. 6 reclaiming interval in the drawing as an example, the entry point is the point with the largest pitch angle in the reclaiming interval, that is, point A. The starting and ending points of the reciprocating movement are calculated in real time based on the point cloud data scanned by the pile. Each time the direction of travel is changed, the pitch angle of the scraper is adjusted downward by one angle, such as Figure 4 As shown, the dotted line in the figure represents the travel trajectory of the scraper.

[0080] The hardware equipment for the automatic operation control system of a gantry-type scraper reclaimer primarily includes: a 2D laser scanner with a turntable (constituting a 3D scanning system), a network switch, a Gray bus communication positioning device, a distance encoder, an inclinometer, an onboard data acquisition and processing computer, a model data storage server, a backend computing server, and a scraper reclaimer PLC system. The 2D laser scanner with turntable is installed on the scraper reclaimer. As the scraper reclaimer moves, a Gray line is installed on the side of the scraper reclaimer's running track to accurately locate the scraper reclaimer's travel position. The inclinometer installed on the scraper reclaimer's scraper acquires the scraper's pitch angle in real time. The travel position and pitch angle are transmitted to the computing server via the network switch by the onboard PLC acquisition program. The computing device processes the collected data, calculates the reclaiming range and reclaiming posture, 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, or 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 merely 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 scope of protection 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 surface structure data of the pile, build a 3D point cloud model of the pile, and perform preliminary data filtering; The scraper reclaimer's position information in space, the scraper's pitch angle information, and the filtered 3D point cloud model of the stockpile are used to establish a scraper reclaimer entry posture model. The entry angles at various locations in the stockpile are calculated based on the entry posture model. The entry angles at each point are clustered and merged according to the reclaiming strategy to obtain the final operating range. The method of clustering and merging the entry angles of each point according to the material taking strategy to obtain the final operation range includes: Segment the 3D point cloud model of the stockpile according to a preset step size to obtain point cloud subsets; The scraper cutting posture model is used to calculate the material taking angle of each point cloud subset, 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 principle of convex reclaiming interval, 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; 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 extraction angle difference and position difference , is the material fetching angle at the starting point of the line segment, is the material fetching angle at the end point of the line segment, is the running position of the end point of the line segment, is the running position of the starting point of the line segment; If the line segment is the first line segment, create a new interval , and add the line segment to the interval, that is , For the i The minimum travel position of an interval, For the i The maximum travel position of an interval; If the line segment is not the first one, first determine whether it is a small interval If so, merge the line segment with the previous interval, i.e. , is the given interval width threshold; Otherwise, the line segment is determined to be an ascending, flat, or descending segment. If the combination of the last segment of the previous interval and the current segment is descending-flat, descending-ascending, or flat-ascending, a new interval is created and the current segment is added to the interval. Otherwise, the current segment is merged into the previous interval to obtain a convex interval.

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

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 using the neighborhood statistics filtering method includes: Find the set of all points in the 3D point cloud model of the pile that are within the distance threshold range for each point, count the number of elements in each set, and delete the points in the 3D point cloud model of the pile that have a number of elements less than a preset value.

5. The method according to claim 1, wherein The scraper cutting posture model is: ,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 pitch angle of the scraper, ( x i , y i , z i ) is the coordinate of any point on the stockpile.

6. The method according to claim 5, characterized in that The calculation of the material fetching angle of each point cloud subset using 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.

7. The method according to claim 6, characterized in that The calculation of the entry point of each merged reclaiming interval and the starting point and 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 reclaiming interval is selected as the entry point, and the starting and ending points are calculated based on the filtered three-dimensional point cloud model of the material pile. Each time the direction of travel changes, the scraper pitch angle is adjusted downward by one angle.

8. 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 attitude information of the scraper; Laser scanner, used to obtain surface structure data of the stockpile; The terminal is used to build a 3D point cloud model of the stockpile and perform preliminary data filtering. Then, the scraper reclaimer's position information in space and the scraper's pitch angle posture information are used with the filtered 3D point cloud model of the stockpile to build a scraper reclaimer cutting posture model. Based on the cutting posture model, the cutting angles at various locations in the stockpile are calculated. The cutting angles at each point are clustered and merged according to the reclaiming strategy to obtain the final operating range. The method of clustering and merging the entry angles of each point according to the material taking strategy to obtain the final operation range includes: Segment the 3D point cloud model of the stockpile according to a preset step size to obtain point cloud subsets; The scraper cutting posture model is used to calculate the material taking angle of each point cloud subset, 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 principle of convex reclaiming interval, 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; 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 extraction angle difference and position difference , is the material fetching angle at the starting point of the line segment, is the material fetching angle at the end point of the line segment, is the running position of the end point of the line segment, is the running position of the starting point of the line segment; If the line segment is the first line segment, create a new interval , and add the line segment to the interval, that is , For the i The minimum travel position of an interval, For the i The maximum travel position of an interval; If the line segment is not the first one, first determine whether it is a small interval If so, merge the line segment with the previous interval, i.e. , is the given interval width threshold; Otherwise, the line segment is determined to be an ascending, flat, or descending segment. If the combination of the last segment of the previous interval and the current segment is descending-flat, descending-ascending, or flat-ascending, a new interval is created and the current segment is added to the interval. Otherwise, the current segment is merged into the previous interval to obtain a convex interval.

Images