Automatic material taking and layer opening method and system of arm type bucket-wheel stacker-reclaimer

Abstract

The invention relates to the technical field of industrial automation control, in particular to an automatic material taking and layer opening method and system of an arm type bucket-wheel stacker-reclaimer. The method comprises the following steps: acquiring three-dimensional data information of an operation material pile; performing rotary projection on the three-dimensional data information according to a track center line of the arm-type bucket-wheel stacker-reclaimer to obtain a basic contour of an operation material pile; based on the basic contour, carrying out stack layer initial division on the operation material pile to obtain material pile layer information; and according to the material pile layer information and the material taking parameters of the arm type bucket-wheel stacker-reclaimer, pile layer subdivision is conducted, and effective open layer height information is obtained. According to the method, the three-dimensional data information of the operation material pile is subjected to rotary projection, and then the projection result is subjected to contour analysis, so that the operation material pile is divided for multiple times, the optimal layer opening related parameters are obtained, the problem of low material taking efficiency of the material taking machine is solved, and the material taking uniformity and stability are effectively ensured.

Description

Technical Field

[0001] The invention relates to the technical field of industrial automation control, and in particular to an automatic material taking and layer opening method and system for an arm-type bucket wheel stacker and reclaimer. Background Art

[0002] The arm-type bucket wheel stacker-reclaimer is a new type of machine with high efficiency and continuous loading and unloading. It is widely used in bulk material yard operations in ports, mines, power and other industries. Please refer to Figure 2 , the traditional arm-type bucket wheel stacker and reclaimer often requires manual operation during the material reclaiming process. The operator observes the shape and height of the material pile and manually controls the arm, bucket wheel and other components of the reclaimer to reclaim materials in layers, which leads to low reclaiming efficiency and difficulty in ensuring the uniformity and stability of reclaiming. Especially when dealing with material piles of different shapes, densities and compositions, the operator's experience and skills are required to be high. Manual operation is more difficult to achieve the ideal reclaiming effect, and the reclaiming efficiency and accuracy are relatively low. Summary of the invention

[0003] In view of the shortcomings of the existing methods and the needs of practical applications, in order to improve the uniformity and stability of the material reclaiming of the arm-type bucket wheel stacker and reclaimer and solve the problem of low material reclaiming efficiency of the reclaimer. On the one hand, the present invention provides an automatic material reclaiming and layer opening method for an arm-type bucket wheel stacker and reclaimer, comprising the following steps: Acquire three-dimensional data information of the working material pile; perform rotational projection on the three-dimensional data information according to the track center line of the arm-type bucket wheel stacker and reclaimer to obtain the basic outline of the working material pile; perform initial layer division on the working material pile based on the basic outline to obtain material pile layer information; perform layer subdivision according to the material pile layer information and the reclaiming parameters of the arm-type bucket wheel stacker and reclaimer to obtain effective layer opening height information. The present invention performs rotational projection on the three-dimensional data information of the working material pile, and then uses the basic outline obtained by the projection in combination with the reclaiming parameters of the arm-type bucket wheel stacker and reclaimer to perform multiple layered optimizations, thereby obtaining the optimal layer opening height information, which is beneficial for the control system to control the arm-type bucket wheel stacker and reclaimer to perform automated layer opening work through the layer opening height information, thereby solving the problem of low reclaiming efficiency of the reclaimer.

[0004] Optionally, the three-dimensional data information is rotated and projected according to the track center line of the arm-type bucket wheel stacker and reclaimer to obtain the basic outline of the working stockpile, including the following steps: A rotational projection horizontal coordinate is set along the track centerline of the arm-type bucket wheel stacker and reclaimer; the three-dimensional data information is rotationally projected based on the rotational projection horizontal coordinate to obtain the rotational projection source points of all rotation angles; the basic outline of the working stockpile is obtained according to the terrain height of the rotational projection source points. The present invention gradually obtains the rotational projection results of the three-dimensional data information along the track centerline, comprehensively displays the spatial information of the stockpile, and is conducive to improving the accuracy of the present invention.

[0005] Optionally, the three-dimensional data information is rotationally projected based on the rotational projection horizontal coordinate to obtain rotational projection source points of all rotation angles, satisfying the following formula: ,in, The horizontal coordinate of the rotation projection source point representing the rotation angle, The ordinate of the rotation projection source point representing the rotation angle, represents the horizontal coordinate of the rotated projection, Indicates the reclaiming rotation radius of the arm-type bucket wheel stacker reclaimer. Indicates the rotation angle of the arm-type bucket wheel stacker and reclaimer. The invention calculates all the rotational projection source points of each rotational projection coordinate, thereby further improving the accuracy of the data.

[0006] Optionally, obtaining the basic outline of the working stockpile according to the terrain height of the rotational projection source point comprises the following steps: Determine whether the rotational projection source point is in the working area. If so, continue to calculate the height of the contour point of the working stockpile; if not, abandon the calculation result of the rotation angle and calculate the next rotation angle; set the contour height difference threshold, and obtain the contour height of the rotational projection horizontal coordinate according to the terrain height of the rotational projection source point, the current contour point height and the contour height difference threshold; combine the contour heights of all rotational projection horizontal coordinates to obtain the basic contour of the working stockpile. The basic contour of the working stockpile obtained by the present invention accurately reflects the mutual geographical relationship between the track centerline and the stockpile, which is further conducive to the layered calculation of the stockpile.

[0007] Optionally, the initial division of the working stockpile into layers based on the basic outline to obtain stockpile layer information comprises the following steps: A profile height deviation threshold is set; the profile height of the rotating projection horizontal coordinate and the profile height deviation threshold are combined to initially divide the working material pile into layers to obtain material pile layer information. The present invention determines the initial layering of the profile point by the profile height deviation threshold, which is conducive to the subsequent refinement of the layering and improves the layer opening efficiency of the present invention.

[0008] Optionally, performing pile layer subdivision according to the pile layer information and the reclaiming parameters of the arm-type bucket wheel stacker and reclaimer to obtain effective opening layer height information comprises the following steps: The current layer is set as the highest existing layer of the stockpile according to the principle of top-down; the effective layer height information and the stockpile layer are re-determined through the height difference between the current layer and the next layer and the maximum layer height and minimum layer height of the arm-type bucket wheel stacker and reclaimer to obtain the effective layer height information. The present invention is further conducive to the stratification of the stockpile by accurately stratifying from top to bottom and combining the material taking parameters of the arm-type bucket wheel stacker and reclaimer.

[0009] Optionally, re-determining effective layer height information and stockpile layering according to the layer height difference, the maximum layer height, and the minimum layer height comprises the following steps: If the height difference is greater than the maximum height, the first stratification scheme is executed; if the height difference is less than the minimum height, the second stratification scheme is executed; if the height difference is between the maximum height and the minimum height, the third stratification scheme is executed; according to the execution result, the current layer height is set to the new minimum layer height in the execution result, and an iterative cycle is performed until the current layer height is less than the bottom material height. The present invention executes different stratification schemes for different situations, thereby ensuring the stratification results of the present invention.

[0010] Optionally, the execution of the first layering scheme includes the following steps: obtaining the number of division layers according to the layer heights of the current layer and the next layer and the maximum layer height; obtaining a first execution result according to the number of division layers and the layer heights of the current layer and the next layer; the execution of the second layering scheme includes merging the current layer and the next layer into one layer to obtain a second execution result; the execution of the third layering scheme includes setting the layer height of the current layer as the new effective layer height.

[0011] Optionally, the number of division layers is obtained according to the layer heights of the current layer and the next layer and the maximum layer height, satisfying the following formula: ,in, Indicates the number of division layers, Indicates the current layer height. Indicates the height of the next layer. Indicates the maximum floor height, The present invention makes adjustments according to different stratification results, which is conducive to quickly obtaining the optimal stratification result.

[0012] In the second aspect, in order to be able to efficiently execute the automatic material reclaiming and layer opening method of an arm-type bucket wheel stacker and reclaimer provided by the present invention, the present invention also provides an automatic material reclaiming and layer opening system for an arm-type bucket wheel stacker and reclaimer, including a processor, an input device, an output device and a memory, wherein the processor, the input device, the output device and the memory are interconnected, wherein the memory is used to store a computer program, the computer program includes program instructions, and the processor is configured to call the program instructions to execute the automatic material reclaiming and layer opening method of an arm-type bucket wheel stacker and reclaimer as described in the first aspect of the present invention. The automatic material reclaiming and layer opening system for an arm-type bucket wheel stacker and reclaimer of the present invention has a compact structure and stable performance, and can stably execute the automatic material reclaiming and layer opening method of an arm-type bucket wheel stacker and reclaimer provided by the present invention, further improving the overall applicability and practical application ability of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 A flow chart of an automatic material reclaiming and layer opening method for an arm-type bucket wheel stacker and reclaimer provided in an embodiment of the present invention; Figure 2 A schematic diagram of the material reclaiming operation of an arm-type bucket wheel stacker and reclaimer provided in an embodiment of the present invention; Figure 3 A rotating projection diagram of a pile of materials provided by an embodiment of the present invention; Figure 4 A framework diagram of an automatic material reclaiming and layer opening system of an arm-type bucket wheel stacker and reclaimer provided in an embodiment of the present invention; Figure 5 A schematic structural diagram of an automatic material reclaiming and layer opening device of an arm-type bucket wheel stacker and reclaimer provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0014] The specific embodiments of the present invention will be described in detail below. It should be noted that the embodiments described herein are only for illustration and are not intended to limit the present invention. In the following description, a large number of specific details are set forth in order to provide a thorough understanding of the present invention. However, it is obvious to those of ordinary skill in the art that these specific details do not need to be adopted to implement the present invention. In other examples, in order to avoid confusing the present invention, known circuits, software or methods are not specifically described.

[0015] Throughout the specification, references to "one embodiment," "an embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in conjunction with the embodiment or example is included in at least one embodiment of the present invention. Therefore, the phrases "in one embodiment," "in an embodiment," "an example," or "an example" appearing in various places throughout the specification do not necessarily all refer to the same embodiment or example. In addition, particular features, structures, or characteristics may be combined in one or more embodiments or examples in any suitable combination and / or subcombination. In addition, it should be understood by those of ordinary skill in the art that the figures provided herein are for illustrative purposes and that the figures are not necessarily drawn to scale.

[0016] See also Figure 1 In order to improve the uniformity and stability of the arm-type bucket wheel stacker and reclaimer, and solve the problem of low material reclaiming efficiency of the reclaimer. The present invention provides an automatic material reclaiming and layer opening method for an arm-type bucket wheel stacker and reclaimer, such as Figure 1 As shown, the method comprises the following steps: S1. Obtaining three-dimensional data information of the working material pile.

[0017] The working stockpile refers to the natural raw materials or processed materials piled up artificially, which need to be taken by a reclaimer and transported to other places by transportation equipment for further use. The three-dimensional data information of the working stockpile refers to the data obtained after scanning the working stockpile with a three-dimensional scanning device, including the geographical coordinate information of any point in the working stockpile and other related information of the stockpile.

[0018] S2. Rotate and project the three-dimensional data information according to the track center line of the arm-type bucket wheel stacker and reclaimer to obtain the basic outline of the working material pile.

[0019] In an embodiment, the three-dimensional data information is rotated and projected according to the track center line of the arm bucket wheel stacker and reclaimer to obtain the basic outline of the working stockpile, including the following steps: S21. Set the horizontal coordinate of the rotational projection along the track centerline of the arm-type bucket wheel stacker and reclaimer.

[0020] Specifically, along the track centerline of the arm-type bucket wheel stacker and reclaimer, starting from the horizontal coordinate corresponding to the left boundary of the working stockpile, a set of rotational projection coordinates is set at fixed intervals. Furthermore, according to the computing power and accuracy requirements, the fixed distance can be set to 10 cm. The initial rotational projection coordinates are set to , and then the rotation projection coordinates are , ,,, , Indicates the number of rotation projection coordinates set. Indicates the vertical coordinate of the track centerline.

[0021] S22, performing rotational projection on the three-dimensional data information based on the rotational projection horizontal coordinate to obtain rotational projection source points of all rotation angles.

[0022] Specifically, the simulated rotation angle , and Traverse 0°-90° with an interval of 0.5° to obtain the corresponding rotation projection source point. Figure 3 , the three-dimensional data information is rotated and projected based on the rotational projection horizontal coordinate to obtain the rotational projection source points of all rotation angles, satisfying the following formula: ,in, The horizontal coordinate of the rotation projection source point representing the rotation angle, The ordinate of the rotation projection source point representing the rotation angle, represents the horizontal coordinate of the rotated projection, Indicates the reclaiming rotation radius of the arm-type bucket wheel stacker reclaimer. Indicates the rotation angle of the arm-type bucket wheel stacker and reclaimer. Indicates the vertical coordinate of the track centerline.

[0023] S23, obtaining a basic outline of the working stockpile according to the terrain height of the rotational projection source point.

[0024] In this embodiment, after obtaining the coordinates of the rotational projection source point, it is also necessary to determine whether the rotational projection source point is in the working area. If so, continue to calculate the contour point height of the working material pile; if not, abandon the calculation result of the rotation angle and perform the next rotation angle calculation.

[0025] Further, in step S23, the basic contour of the working stockpile is obtained according to the terrain height of the rotational projection source point, and the contour height difference threshold is set to obtain the contour height of the rotational projection horizontal coordinate according to the terrain height of the rotational projection source point, the current contour point height and the contour height difference threshold; The contour height difference threshold is set and adjusted according to practical experience. In the embodiment, the contour height difference threshold is 20 cm; The terrain height of the first rotated projection source point corresponding to the rotated projection horizontal coordinate is used as the initial contour height, and it is determined whether the terrain height of the rotated projection source point is greater than the sum of the initial contour height and the contour height difference threshold. If so, it is listed as a candidate contour point; if not, it is recorded as a contour point; when the candidate contour points exceed a certain number, their average terrain height is updated as the contour height of this rotated projection horizontal coordinate position. This certain number is set according to the situation, and 20 is taken in this embodiment.

[0026] Furthermore, the basic profile of the working stockpile is obtained by combining the profile heights of all the rotated projection horizontal coordinates.

[0027] S3. Based on the basic outline, initially divide the working material pile into layers to obtain material pile layer information.

[0028] In an optional embodiment, the step S3 of performing initial division of the working stockpile into layers based on the basic outline to obtain stockpile layer information includes the following steps: S31, setting a profile height deviation threshold.

[0029] Specifically, the contour height deviation threshold is set according to practical experience. In this implementation, the contour height deviation threshold is set to 10 centimeters.

[0030] S32, combining the profile height of the rotated projection horizontal coordinate and the profile height deviation threshold, performing initial layer division on the working material pile to obtain material pile layer information.

[0031] Along the track centerline, when the profile heights of more than 20 consecutive rotated projection horizontal coordinates are within the profile height deviation threshold, the average terrain height of the corresponding rotated projection horizontal coordinate points is used as an initial stockpile layer information, and then the distribution of multiple levels of stockpile layers is obtained.

[0032] S4. Subdivide the pile layer according to the material pile layer information and the material reclaiming parameters of the arm-type bucket wheel stacker and reclaimer to obtain effective opening layer height information.

[0033] In the embodiment, the top-down principle is adopted, and the current layer is set as the highest existing layer of the pile; Furthermore, the effective layer height information and the stockpile layer are re-determined through the height difference between the current layer and the next layer and the maximum layer height and the minimum layer height of the arm-type bucket wheel stacker and reclaimer to obtain the effective opening layer height information.

[0034] Furthermore, if the floor height difference is greater than the maximum floor height, a first layering scheme is executed; The implementation of the first layering scheme comprises the following steps: According to the heights of the current layer and the next layer and the maximum layer height, the number of divided layers is obtained. Specifically, according to the heights of the current layer and the next layer and the maximum layer height, the number of divided layers is obtained, which satisfies the following formula: ,in, Indicates the number of division layers, Indicates the current layer height. Indicates the height of the next layer. Indicates the maximum floor height, Represents the rounding function.

[0035] According to the number of divided layers and the layer heights of the current layer and the next layer, a first execution result is obtained. Specifically, the first execution result obtained includes layer height information of new layers from top to bottom: ; If the floor height difference is less than the minimum floor height, the second layering scheme is executed, wherein the execution of the second layering scheme includes merging the current layer and the next layer into one layer, obtaining a second execution result, and the height information of the merged new layer is ; If the height difference is between the maximum height and the minimum height, a third layering scheme is executed, wherein the execution of the third layering scheme includes setting the current layer height as a new effective layer height, that is, no new layer modification is made.

[0036] Furthermore, according to the execution result, the current layer height is set as the new minimum layer height in the execution result, and an iterative loop is performed until the current layer height is less than the bottom material height.

[0037] It should be understood that if the next material pile does not exist, the bottom material height should be calculated as the layer height of the next material pile.

[0038] See also Figure 4 In an embodiment, in order to efficiently execute the automatic material reclaiming and layer opening method of an arm-type bucket wheel stacker and reclaimer provided by the present invention, the present invention also provides an automatic material reclaiming and layer opening system of an arm-type bucket wheel stacker and reclaimer, including: an input device, an output device, a processor, and a memory, wherein the input device, the output device, the processor, and the memory are interconnected, and the memory contains program instructions, and the program instructions are used for the steps of the automatic material reclaiming and layer opening method of the arm-type bucket wheel stacker and reclaimer. The automatic material reclaiming and layer opening system of an arm-type bucket wheel stacker and reclaimer of the present invention has a compact structure and stable performance, and can stably execute the automatic material reclaiming and layer opening method of an arm-type bucket wheel stacker and reclaimer of the present invention, further improving the overall applicability and practical application ability of the present invention.

[0039] In an embodiment, the processor may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. An input device may be used to obtain data information. An output device may be used to output the results obtained by storing program instructions contained in a computer program in a memory provided by the present invention. The memory may include a read-only memory and a random access memory, and provide instructions and data to the processor. A portion of the memory may also include a non-volatile random access memory.

[0040] In yet another alternative embodiment, see Figure 5 In order to efficiently execute the automatic material reclaiming and layer opening method of the arm-type bucket wheel stacker and reclaimer provided by the present invention, this embodiment also provides an automatic material reclaiming and layer opening device of the arm-type bucket wheel stacker and reclaimer, such as Figure 5 As shown, including: The memory 10 is used to store computer programs; the processor 20 is used to execute the computer programs to implement the automatic material reclaiming and layer opening method of the arm-type bucket wheel stacker and reclaimer. The memory 10, the processor 20, the communication interface 31 and the communication bus 32. The memory 10, the processor 20 and the communication interface 31 all communicate with each other through the communication bus 32.

[0041] In an embodiment, the memory 10 is used to store one or more program instructions. The memory 10 may store program instructions for implementing the following functions: Acquire three-dimensional data information of the working material pile; perform rotational projection on the three-dimensional data information according to the track center line of the arm-type bucket wheel stacker and reclaimer to obtain the basic outline of the working material pile; perform initial layer division on the working material pile based on the basic outline to obtain material pile layer information; perform layer subdivision according to the material pile layer information and the reclaiming parameters of the arm-type bucket wheel stacker and reclaimer to obtain effective opening layer height information.

[0042] In one possible implementation, the memory 10 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, and at least one application required for a function, etc.; the data storage area may store data created during use. In addition, the memory 10 may include a read-only memory and a random access memory, and provide instructions and data to the processor. A portion of the memory may also include NVRAM. The memory stores an operating system and operating instructions, executable modules or data structures, or a subset thereof, or an extended set thereof, wherein the operating instructions may include various operating instructions for implementing various operations. The operating system may include various system programs for implementing various basic tasks and processing hardware-based tasks.

[0043] The processor 20 may be a central processing unit (CPU), an application specific integrated circuit, a digital signal processor, a field programmable gate array or other programmable logic device, and the processor 20 may be a microprocessor or any conventional processor, etc. The processor 20 may call a program stored in the memory 10. The communication interface 31 may be an interface of a communication module, and is used to connect with other devices or systems.

[0044] Of course, it should be noted that Figure 5 The structure shown does not constitute a limitation on the automatic material reclaiming and layer opening device of the arm-type bucket wheel stacker and reclaimer in this embodiment. In actual applications, the automatic material reclaiming and layer opening device of the arm-type bucket wheel stacker and reclaimer may include Figure 5 More or fewer components than shown, or combinations of certain components.

[0045] The embodiment further provides a storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the automatic material reclaiming and layer opening method of the above-mentioned arm-type bucket wheel stacker and reclaimer are implemented.

[0046] The storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0047] In summary, the present invention performs rotational projection on the three-dimensional data information of the working material pile, and then uses the basic contour obtained by the projection in combination with the material taking parameters of the arm-type bucket wheel stacker and reclaimer to perform multiple layered optimizations, thereby obtaining the optimal layer opening height information, which is beneficial for the control system to control the arm-type bucket wheel stacker and reclaimer to perform automated layer opening work through the layer opening height information, thereby solving the problem of low material taking efficiency of the reclaimer.

[0048] Therefore, the present invention effectively overcomes various shortcomings in the prior art and has high industrial utilization value.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope recorded in the present invention.

Claims

1. An automatic material reclaiming and layer opening method for an arm-type bucket wheel stacker and reclaimer, characterized in that: The automatic material reclaiming and layer opening method of the arm-type bucket wheel stacker and reclaimer comprises the following steps: Obtain three-dimensional data information of the working material pile; Rotate and project the three-dimensional data information according to the track centerline of the arm-type bucket wheel stacker and reclaimer to obtain the basic outline of the working material pile; Based on the basic outline, initially dividing the working material pile into layers to obtain material pile layer information; The pile layer information and the reclaiming parameters of the arm-type bucket wheel stacker and reclaimer are used to subdivide the pile layer to obtain effective opening layer height information.

2. The automatic material reclaiming and layer opening method of the arm-type bucket wheel stacker and reclaimer according to claim 1, characterized in that: The method of rotating and projecting the three-dimensional data information according to the track center line of the arm-type bucket wheel stacker and reclaimer to obtain the basic outline of the working material pile includes the following steps: Along the track centerline of the arm-type bucket wheel stacker-reclaimer, the rotating projection horizontal coordinate is set; Performing rotational projection on the three-dimensional data information based on the rotational projection horizontal coordinate to obtain rotational projection source points of all rotation angles; The basic outline of the working stockpile is obtained according to the terrain height of the rotational projection source point.

3. The automatic material reclaiming and layer opening method of the arm-type bucket wheel stacker and reclaimer according to claim 2 is characterized in that: The three-dimensional data information is rotated and projected based on the rotational projection horizontal coordinate to obtain the rotational projection source points of all rotation angles, satisfying the following formula: ,in, The horizontal coordinate of the rotation projection source point representing the rotation angle, The ordinate of the rotation projection source point representing the rotation angle, represents the horizontal coordinate of the rotated projection, Indicates the reclaiming rotation radius of the arm-type bucket wheel stacker reclaimer. Indicates the rotation angle of the arm-type bucket wheel stacker and reclaimer. Indicates the vertical coordinate of the track centerline.

4. The automatic material reclaiming and layer opening method of the arm-type bucket wheel stacker and reclaimer according to claim 2, characterized in that: The step of obtaining the basic outline of the working stockpile according to the terrain height of the rotational projection source point comprises the following steps: Determine whether the rotational projection source point is in the working area, if so, continue to calculate the height of the contour point of the working material pile; if not, abandon the calculation result of the rotation angle and perform the calculation of the next rotation angle; Setting a contour height difference threshold, and obtaining the contour height of the horizontal coordinate of the rotational projection according to the terrain height of the rotational projection source point, the height of the current contour point and the contour height difference threshold; The basic profile of the working stockpile is obtained by combining the profile heights of all rotated projection abscissas.

5. The automatic material reclaiming and layer opening method of the arm-type bucket wheel stacker and reclaimer according to claim 4, characterized in that: The method of initially dividing the working material pile into layers based on the basic outline to obtain material pile layer information comprises the following steps: Set the profile height deviation threshold; The working material pile is initially divided into layers by combining the profile height of the rotated projection horizontal coordinate and the profile height deviation threshold to obtain material pile layer information.

6. The automatic material reclaiming and layer opening method of the arm-type bucket wheel stacker and reclaimer according to claim 1, characterized in that: The method of performing pile layer segmentation according to the pile layer information and the reclaiming parameters of the arm-type bucket wheel stacker and reclaimer to obtain effective opening layer height information comprises the following steps: Adopting the principle of top-down, the current layer is set as the highest existing layer of the stockpile; Through the height difference between the current layer and the next layer and the maximum and minimum layer heights of the arm-type bucket wheel stacker and reclaimer, the effective layer height information and the material pile layer are re-determined to obtain the effective opening layer height information.

7. The automatic material reclaiming and layer opening method of the arm-type bucket wheel stacker and reclaimer according to claim 6, characterized in that: Re-determining effective layer height information and stockpile layering by using the layer height difference, the maximum layer height, and the minimum layer height includes the following steps: If the floor height difference is greater than the maximum floor height, executing the first layering scheme; If the floor height difference is less than the minimum floor height, executing the second layering scheme; If the floor height difference is between the maximum floor height and the minimum floor height, executing the third layering scheme; According to the execution result, the current layer height is set to the new minimum layer height in the execution result, and an iterative loop is performed until the current layer height is less than the bottom material height.

8. The automatic material reclaiming and layer opening method of the arm-type bucket wheel stacker and reclaimer according to claim 7, characterized in that: The implementation of the first layering scheme comprises the following steps: According to the heights of the current layer and the next layer and the maximum layer height, the number of divided layers is obtained; Obtaining a first execution result according to the number of divided layers and the layer heights of the current layer and the next layer; The executing the second layering scheme includes merging the current layer and the next layer into one layer to obtain a second execution result; The execution of the third layering scheme includes setting the current layer height as the new effective layer height.

9. The automatic material reclaiming and layer opening method of the arm-type bucket wheel stacker and reclaimer according to claim 8, characterized in that: The number of divided layers is obtained according to the layer heights of the current layer and the next layer and the maximum layer height, satisfying the following formula: ,in, Indicates the number of division layers, Indicates the current layer height. Indicates the height of the next layer. Indicates the maximum floor height, Represents the rounding function.

10. An automatic material taking and layer opening system for an arm-type bucket wheel stacker and reclaimer, characterized in that: The automatic material reclaiming and layer opening system of the arm-type bucket wheel stacker and reclaimer comprises: an input device, an output device, a processor, and a memory, wherein the input device, the output device, the processor, and the memory are interconnected, and the memory comprises program instructions, and the program instructions are used to execute the automatic material reclaiming and layer opening method of the arm-type bucket wheel stacker and reclaimer according to any one of claims 1 to 9.

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