Control method, device and equipment of bucket-wheel stacker-reclaimer and medium

Abstract

The invention discloses a control method, device and equipment of a bucket-wheel stacker-reclaimer and a medium, and belongs to the technical field of material transportation. The method comprises the steps that the working pressure of the oil inlet and outlet pipeline is obtained through the pressure collector; according to the working pressure, the risk level of land gnawing and hopper closing of the bucket-wheel stacker-reclaimer is determined, and the risk level comprises the low level and the high level; if the risk level is the low level, the slewing mechanism is controlled to decelerate; and if the risk level is the high level, the bucket-wheel stacker-reclaimer is controlled to stop. According to the method, in the working process of the bucket-wheel stacker-reclaimer, according to the working pressure of a hydraulic station motor in real time, the risk level of ground gnawing and bucket blockage is accurately determined, when the risk level is low, the speed of a swing mechanism is reduced, when the risk level is high, the machine is directly shut down, the probability of safety accidents caused by ground gnawing and bucket blockage is reduced, and the working efficiency is improved. And the working safety of the bucket wheel type stacker-reclaimer is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of material transportation, and in particular to a control method, device, equipment and medium for a bucket wheel stacker and reclaimer. Background Art

[0002] Bucket-wheel stackers play an important role in bulk material handling and storage operations in ports, mines, power and other industries. During its operation, the bucket-wheel stacker-reclaimer may experience ground-biting and bucket-sucking due to factors such as uneven tracks, uneven wheel wear, and uneven material accumulation. Ground-biting and bucket-sucking phenomena not only cause serious wear on the tracks and wheels, reduce the service life of the equipment, and increase maintenance costs, but may also cause safety accidents and affect the normal progress of production operations.

[0003] In the related art, the tracks and wheels of bucket wheel stackers are regularly inspected and maintained to prevent the bucket from chewing the ground and blocking the bucket during operation. However, this regular inspection and maintenance method is only preventive and limited, and cannot monitor in real time and accurately whether the bucket wheel stacker will chew the ground and block the bucket during operation, resulting in a high probability of safety accidents occurring in the bucket wheel stacker. Summary of the invention

[0004] In view of the above problems, the present invention is proposed to provide a control method, device, equipment and medium for a bucket wheel stacker and reclaimer that solves the above problems. During the operation of the bucket wheel stacker and reclaimer, the risk level of the occurrence of ground gnawing and bucket jamming can be accurately determined in real time according to the working pressure of the hydraulic station motor. When the risk level is low, the speed of the slewing mechanism is reduced, and when the risk level is high, the machine is directly shut down, thereby reducing the probability of safety accidents caused by ground gnawing and bucket jamming and improving the safety of the bucket wheel stacker and reclaimer.

[0005] In a first aspect, the present invention provides a control method for a bucket wheel stacker and reclaimer, which is applied to the bucket wheel stacker and reclaimer. The bucket wheel stacker and reclaimer comprises a bucket wheel, a pressure collector and a slewing mechanism. The bucket wheel is driven by a hydraulic station. The pressure collector is arranged on the inlet and outlet oil pipelines of the hydraulic motor of the hydraulic station. The method comprises:

[0006] Acquire the working pressure of the inlet and outlet oil pipelines through the pressure collector;

[0007] Determine, according to the working pressure, a risk level of the bucket wheel stacker reclaimer causing ground chewing and bucket jam, wherein the risk level includes a low level and a high level;

[0008] If the risk level is the low level, controlling the rotary mechanism to decelerate;

[0009] If the risk level is the high level, the bucket wheel stacker and reclaimer is controlled to shut down.

[0010] Optionally, determining the risk level of the bucket wheel stacker reclaimer gnawing the ground and jamming the bucket according to the working pressure includes:

[0011] If the working pressure is greater than a preset first pressure threshold and less than or equal to a preset second pressure threshold, it is determined that the risk level of the bucket wheel stacker reclaimer gnawing the ground and jamming the bucket is the low level; wherein the first pressure threshold is less than the second pressure threshold;

[0012] If the working pressure is greater than the second pressure threshold, it is determined that the risk level of the bucket wheel stacker reclaimer gnawing the ground and jamming the bucket is the high level.

[0013] Optionally, determining the risk level of the bucket wheel stacker reclaimer gnawing the ground and jamming the bucket according to the working pressure includes:

[0014] Determine a duration during which the working pressure is greater than a preset first pressure threshold and less than or equal to a preset second pressure threshold;

[0015] If the duration is greater than a preset time threshold, it is determined that the risk level of the bucket wheel stacker reclaimer gnawing the ground and jamming the bucket is the low level.

[0016] Optionally, before determining the risk level of the bucket wheel stacker reclaimer gnawing the ground and blocking the bucket according to the working pressure, the method further includes:

[0017] Acquiring the operating conditions of the bucket wheel stacker and reclaimer, wherein the operating conditions include a reclaiming condition and a stacking condition;

[0018] A first pressure threshold and a second pressure threshold corresponding to the operating condition are determined.

[0019] Optionally, determining the risk level of the bucket wheel stacker reclaimer gnawing the ground and jamming the bucket according to the working pressure includes:

[0020] Obtaining the pitch angle of the bucket wheel stacker and reclaimer;

[0021] The risk level of the bucket wheel stacker reclaimer gnawing into the ground and jamming the bucket is determined according to the pitch angle and the working pressure.

[0022] Optionally, determining the risk level of the bucket wheel stacker reclaimer gnawing the ground and jamming the bucket according to the pitch angle and the working pressure includes:

[0023] If the pitch angle is greater than a first angle threshold and less than a second angle threshold, calculating a pressure fluctuation value according to the working pressure;

[0024] If within the set time period, the number of times that the pressure fluctuation value is greater than the fluctuation threshold exceeds the first number threshold and is less than or equal to the second number threshold, it is determined that the risk level of the bucket wheel stacker reclaimer gnawing the ground and blocking the bucket is the low level;

[0025] If, within the set time period, the number of times that the pressure fluctuation value is greater than the fluctuation threshold exceeds the second number threshold, it is determined that the risk level of the bucket wheel stacker reclaimer gnawing the ground and jamming the bucket is the high level.

[0026] Optionally, the bucket wheel stacker and reclaimer further includes an alarm device;

[0027] After controlling the slewing mechanism to decelerate or controlling the bucket wheel stacker to stop, the method further includes:

[0028] An alarm signal is determined based on the risk level, and the alarm signal is sent to the alarm device.

[0029] In a second aspect, the present invention provides a control device for a bucket wheel stacker and reclaimer, the bucket wheel stacker and reclaimer comprising a bucket wheel, a pressure collector and a slewing mechanism, the bucket wheel being driven by a hydraulic station, the pressure collector being arranged on an inlet and outlet oil pipeline of a hydraulic motor of the hydraulic station, the device comprising:

[0030] An acquisition module, used for acquiring the working pressure of the inlet and outlet oil pipelines through the pressure collector;

[0031] A first determination module is used to determine the risk level of the bucket wheel stacker reclaimer gnawing the ground and jamming the bucket according to the working pressure, wherein the risk level includes a low level and a high level;

[0032] A first control module, configured to control the slewing mechanism to decelerate if the risk level is the low level;

[0033] The second control module is configured to control the bucket wheel stacker to shut down if the risk level is the high level.

[0034] In a third aspect, the present invention provides a bucket wheel stacker and reclaimer, comprising: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method described in the first aspect by executing the computer instructions.

[0035] In a fourth aspect, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the method described in the first aspect.

[0036] The technical solution provided in the embodiments of the present invention has at least the following technical effects or advantages:

[0037] The embodiment of the present invention provides a control method, device, equipment and medium for a bucket wheel stacker and reclaimer. The working pressure of the inlet and outlet oil pipelines is obtained through a pressure collector, and the working state of the bucket wheel stacker and reclaimer is reflected through the working pressure. According to the working pressure, the risk level of the bucket wheel stacker and reclaimer to cause ground gnawing and bucket jam is determined. The risk level includes low level and high level. Ground gnawing and bucket jam may occur due to abnormal pressure. If the risk level is low, the slewing mechanism is controlled to slow down to prevent the ground gnawing and bucket jam from further deteriorating. If the risk level is high, the bucket wheel stacker and reclaimer is controlled to stop to avoid safety accidents and improve the safety of bucket wheel stacker and reclaimer operation. This method can reduce the probability of safety accidents caused by ground gnawing and bucket jam, and improve the safety of bucket wheel stacker and reclaimer operation.

[0038] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0040] Figure 1 is a flow chart of a control method of a bucket wheel stacker and reclaimer provided by an embodiment of the present invention;

[0041] Figure 2 It is a structural block diagram of a control device of a bucket wheel stacker and reclaimer provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of the present application clearer, the implementation mode of the present application will be further described in detail below in conjunction with the accompanying drawings. It should be understood that the embodiments of the present disclosure and the specific features in the embodiments are detailed descriptions of the technical solutions of the present application, rather than limitations on the technical solutions of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments can be combined with each other.

[0043] Figure 1 is a flow chart of a control method for a bucket wheel stacker and reclaimer provided by an embodiment of the present invention, such as Figure 1 As shown, the method includes:

[0044] Step S110: obtaining the working pressure of the inlet and outlet oil pipelines through a pressure collector.

[0045] In an embodiment of the present application, a bucket wheel stacker and reclaimer includes a bucket wheel, a pressure collector and a slewing mechanism. The bucket wheel is driven by a hydraulic station and is responsible for direct excavation and loading of materials. The slewing mechanism is used to realize 360-degree rotation of the bucket wheel. The pressure collector is arranged on the inlet and outlet oil pipelines of the hydraulic motor of the hydraulic station. Among them, the pressure collector can be a pressure sensor, and the pressure sensor is installed at the pressure taking port of the hydraulic station motor of the bucket wheel stacker and reclaimer, and the working pressure of the motor is detected by the pressure sensor. Among them, the pressure sensor can also be arranged on the straight pipe section of the inlet and outlet pipelines of the motor, and away from elbows and valves. During installation, it is necessary to ensure that the pressure sensor is firmly connected to the pipeline and well sealed to avoid leakage. After installation, the pressure sensor is debugged. First, check whether the electrical connection of the pressure sensor is correct, and then calibrate and test the pressure sensor by applying a known pressure source. During the calibration process, adjust the output signal of the pressure sensor to match the actual applied pressure value. At the same time, observe the output stability and response time of the pressure sensor to ensure that it meets the design requirements.

[0046] The pressure sensor should be selected according to the working pressure range, accuracy requirements and working environment of the bucket wheel stacker and reclaimer. For example, a pressure sensor with suitable range, high accuracy, good waterproof, dustproof and corrosion resistance, good stability, accuracy and anti-interference ability should be selected to adapt to the complex working environment of the bucket wheel stacker and reclaimer.

[0047] In an embodiment of the present application, the pressure sensor is connected to a data acquisition module, which converts the working pressure of the analog signal detected by the pressure sensor into the working pressure of the digital signal, and transmits it to the controller through a wired or wireless communication method. According to the output signal type and range of the pressure sensor, the acquisition parameters of the data acquisition module, such as sampling frequency, resolution, etc., are set to ensure that the data acquisition module can accurately collect the output signal of the pressure sensor and convert it into a digital signal for transmission. Among them, the wireless communication method can be implemented through a wireless base station and a wireless terminal. For example, the data acquisition module transmits the working pressure of the digital signal to the wireless terminal, forwards it to the wireless base station through the wireless terminal, and the wireless base station forwards it to the controller.

[0048] Exemplarily, the data acquisition module may be a PLC (Programmable Logic Controller).

[0049] Step S120: Determine the risk level of the bucket wheel stacker reclaimer gnawing the ground and jamming the bucket according to the working pressure, where the risk level includes a low level and a high level.

[0050] In the embodiment of the present application, the working pressure of the motor can reflect the operating status of the bucket wheel stacker. Abnormal working pressure indicates that the bucket wheel stacker is likely to have a ground chewing phenomenon. Therefore, the controller processes and analyzes the working pressure sent by the data acquisition module to determine the risk level of ground chewing. The risk level is divided into no risk, low level and high level.

[0051] Step S130: If the risk level is low, control the rotary mechanism to decelerate.

[0052] In the embodiment of the present application, if the risk level is low, it means that the possibility of ground gnawing and bucket jamming is small. At this time, it is only necessary to control the slewing mechanism of the bucket wheel stacker and reclaimer to slow down through the controller to avoid further deterioration of the ground gnawing and bucket jamming phenomenon and reduce damage to the track and the wheels of the bucket wheel stacker and reclaimer.

[0053] Step S140: If the risk level is high, the bucket wheel stacker reclaimer is controlled to shut down.

[0054] In the embodiment of the present application, if the risk level is high, it means that there is a high possibility of ground gnawing and bucket jamming. At this time, it is necessary to control the bucket wheel stacker and reclaimer to shut down directly through the controller to reduce damage to the track and the wheels of the bucket wheel stacker and reclaimer, extend the service life of the equipment, and reduce maintenance costs.

[0055] In the embodiment of the present application, by real-time monitoring of the working pressure of the motor, early signs of the ground-eating phenomenon can be discovered in time, thereby improving the accuracy and timeliness of monitoring. Compared with the traditional method of relying on manual experience, this method is more scientific and reliable, reduces the risk of safety accidents caused by the ground-eating phenomenon, ensures the life safety of operators and the normal operation of equipment, and provides a safer and more reliable environment for production operations.

[0056] Optionally, step S120 includes:

[0057] If the working pressure is greater than the preset first pressure threshold and less than or equal to the preset second pressure threshold, the risk level of the bucket wheel stacker reclaimer gnawing the ground and jamming the bucket is determined to be low; if the working pressure is greater than the second pressure threshold, the risk level of the bucket wheel stacker reclaimer gnawing the ground and jamming the bucket is determined to be high. The first pressure threshold is less than the second pressure threshold.

[0058] In the embodiment of the present application, the controller is input with control logics such as the normal range of working pressure and protection measures. According to the actual operation of the bucket wheel stacker and reclaimer and empirical data, these control logics are reasonably set to ensure accurate and reliable protection of the bucket wheel stacker and reclaimer and the operator. At the same time, the communication interface of the controller is configured so that it can communicate stably with the data acquisition module.

[0059] Specifically, if the controller determines that the working pressure is greater than the preset first pressure threshold and less than or equal to the preset second pressure threshold, it means that the working pressure is a little abnormal, and the risk level of ground-gnawing bucket is determined to be low; if the controller determines that the working pressure is greater than the second pressure threshold, it means that the working pressure is seriously abnormal, and the risk level of ground-gnawing bucket is determined to be high. If the controller determines that the working pressure is less than or equal to the first pressure threshold, it means that the working pressure is normal, and the risk level of ground-gnawing bucket is determined to be no risk; if the risk level is no risk, the process is exited to allow the bucket wheel stacker and reclaimer to work normally.

[0060] Optionally, step S120 further includes:

[0061] Determine the duration of the working pressure being greater than a preset first pressure threshold and less than or equal to a preset second pressure threshold; if the duration is greater than the preset time threshold, determine that the risk level of the bucket wheel stacker and reclaimer gnawing the ground and jamming the bucket is low.

[0062] In an embodiment of the present application, in order to more accurately determine the risk level of the bucket wheel stacker and reclaimer gnawing the ground and stuffing the bucket, the duration of the pressure abnormality can be additionally considered. When the working pressure is greater than a preset first pressure threshold and less than or equal to a preset second pressure threshold, the timing starts. If the timing time exceeds the preset time threshold and the pressure is still not less than or equal to the first pressure threshold, the risk level of the bucket wheel stacker and reclaimer gnawing the ground and stuffing the bucket is determined to be a low level; if the working pressure starts to be greater than the second pressure threshold before or after the timing time reaches the time threshold, the risk level of the bucket wheel stacker and reclaimer gnawing the ground and stuffing the bucket is determined to be a high level.

[0063] Optionally, before step S120, the method further includes:

[0064] The operating condition of the bucket wheel stacker and reclaimer is obtained, wherein the operating condition includes a reclaiming condition and a stacking condition; and a first pressure threshold and a second pressure threshold corresponding to the operating condition are determined.

[0065] In the embodiment of the present application, the bucket wheel stacker reclaimer can be used not only for reclaiming but also for stacking. The normal range of working pressure of the bucket wheel stacker reclaimer under reclaiming conditions and stacking conditions will be different. Therefore, under different working conditions, the corresponding first pressure threshold and second pressure threshold will be different, so that the risk level of the bucket being chewed and stuffed can be determined more accurately. Among them, under different working conditions, the corresponding first pressure threshold and second pressure threshold can be determined according to historical working pressure data, and after determination, they can be adjusted according to actual conditions.

[0066] Optionally, step S120 further includes:

[0067] The first step is to obtain the pitch angle of the bucket wheel stacker.

[0068] In the embodiment of the present application, the pitch angle refers to the pitch angle of the cantilever beam of the bucket wheel stacker and reclaimer in the vertical plane. When the bucket wheel stacker and reclaimer is reclaiming materials, the cantilever beam is set at a certain rotation angle and pitch height. The normal change of the working pressure of the bucket wheel stacker and reclaimer is different at different rotation angles.

[0069] The second step is to determine the risk level of the bucket wheel stacker reclaimer gnawing into the ground based on the rotation angle and working pressure.

[0070] In the embodiment of the present application, the risk level of ground-gnawing and muffled fighting can be determined based on the rotation angle and the working pressure, so that the determination is more accurate.

[0071] Optionally, the second step includes:

[0072] If the rotation angle is greater than the first angle threshold and less than the second angle threshold, the pressure fluctuation value is calculated according to the working pressure;

[0073] If within the set time period, the number of times that the pressure fluctuation value is greater than the fluctuation threshold exceeds the first number threshold and is less than or equal to the second number threshold, the risk level of the bucket wheel stacker reclaimer gnawing the ground and blocking the bucket is determined to be low;

[0074] If within the set time period, the number of times that the pressure fluctuation value is greater than the fluctuation threshold exceeds the second number threshold, it is determined that the risk level of the bucket wheel stacker reclaimer gnawing the ground and blocking the bucket is high.

[0075] In the embodiment of the present application, when the rotation angle is between the first angle threshold and the second angle threshold, if the working pressure fluctuates frequently, the ground-gnawing phenomenon is most likely to occur. Therefore, when the rotation angle is greater than the first angle threshold and less than the second angle threshold, within the set time, if the number of times the pressure fluctuation value is greater than the fluctuation threshold exceeds the first number threshold and is less than or equal to the second number threshold, it means that within a period of time, the working pressure fluctuates slightly, the number of fluctuations is also slightly more, and there is a possibility of ground-gnawing phenomenon, then the risk level of ground-gnawing phenomenon is determined to be low; if the number of times the pressure fluctuation value is greater than the fluctuation threshold exceeds the second number threshold, it means that the fluctuation is violent, and the possibility of ground-gnawing phenomenon is very high, then the risk level of ground-gnawing phenomenon is determined to be high. Exemplarily, the first number threshold is 20 times, the second number threshold is 60 times, the first angle threshold is 11°, and the second angle threshold is 25°.

[0076] The pressure fluctuation value is obtained by calculating the difference between the working pressure and the preset average pressure. The preset average pressure may be the average value of all historical working pressures collected when the bucket wheel stacker reclaimer works normally during a certain period of time in the past when the rotation angle of the bucket wheel stacker reclaimer is between the first angle threshold and the second angle threshold.

[0077] Optionally, the bucket wheel stacker and reclaimer further includes an alarm device; after controlling the slewing mechanism to decelerate or controlling the bucket wheel stacker and reclaimer to stop, the method further includes:

[0078] An alarm signal is determined based on the risk level and sent to an alarm device.

[0079] In the embodiment of the present application, there is also an alarm function. When it is found that there is a possibility of the gnawing bucket phenomenon, an alarm is issued to remind the operator. The alarm can be an audible and visual alarm to ensure that the operator can detect it in time. The controller will also record the data of abnormal working pressure and the time of occurrence and other information to provide a basis for subsequent fault analysis and processing, and provide strong support for the maintenance management and optimization and improvement of the equipment. By analyzing these data, the cause of the gnawing bucket phenomenon can be found, and corresponding measures can be taken to prevent and improve it, thereby improving the overall performance of the equipment. For example, if the working pressure continues to be high, it may be that the track is severely worn or there is too much material accumulation, and the track needs to be inspected and repaired, or the working parameters of the bucket wheel stacker and reclaimer need to be adjusted.

[0080] In the embodiment of the present application, the working pressure can also be displayed on the monitoring interface, and the operator can view the changes in data such as the working pressure and the operating status of the bucket wheel stacker and reclaimer in real time through the monitoring interface.

[0081] The method of the embodiment of the present application has the functions of monitoring and protection, and improves the working safety of the bucket wheel stacker and reclaimer through real-time monitoring, data processing, alarm prompts and control protection measures. Its hardware equipment such as pressure sensors and the software programs in the controller should ensure the stability and reliability of operation. Equipment such as pressure sensors, data acquisition modules and controllers should be regularly maintained and data analyzed and processed, such as checking whether the connection of the pressure sensor is loose or corroded, and cleaning the surface of the pressure sensor to ensure its normal operation. Regular software upgrades and system maintenance are performed on the data acquisition module and controller to ensure the stability and reliability of their performance, so as to ensure their normal operation and effective protection.

[0082] Based on the same inventive concept, an embodiment of the present invention further provides a control device for a bucket wheel stacker and reclaimer, the bucket wheel stacker and reclaimer comprising a bucket wheel, a pressure collector and a slewing mechanism, the bucket wheel is driven by a hydraulic station, the pressure collector is arranged on the inlet and outlet oil pipelines of the hydraulic motor of the hydraulic station, Figure 2 is a structural block diagram of a control device for a bucket wheel stacker and reclaimer provided by an embodiment of the present invention, such as Figure 2 As shown, the device 200 includes an acquisition module 201 , a first determination module 202 , a first control module 203 and a second control module 204 .

[0083] An acquisition module 201 is used to acquire the working pressure of the inlet and outlet oil pipelines through a pressure collector;

[0084] The first determination module 202 is used to determine the risk level of the bucket wheel stacker reclaimer gnawing the ground and blocking the bucket according to the working pressure, and the risk level includes a low level and a high level;

[0085] The first control module 203 is used to control the slewing mechanism to decelerate if the risk level is low;

[0086] The second control module 204 is configured to control the bucket wheel stacker and reclaimer to stop if the risk level is high.

[0087] Optionally, the first determining module 202 is further configured to:

[0088] If the working pressure is greater than a preset first pressure threshold and less than or equal to a preset second pressure threshold, it is determined that the risk level of the bucket wheel stacker reclaimer gnawing the ground and jamming the bucket is low; wherein the first pressure threshold is less than the second pressure threshold;

[0089] If the working pressure is greater than the second pressure threshold, it is determined that the risk level of the bucket wheel stacker reclaimer gnawing the ground and jamming the bucket is high.

[0090] Optionally, the first determining module 202 is further configured to:

[0091] Determine a duration during which the working pressure is greater than a preset first pressure threshold and less than or equal to a preset second pressure threshold;

[0092] If the duration is greater than a preset time threshold, it is determined that the risk level of the bucket wheel stacker reclaimer gnawing the ground and blocking the bucket is low.

[0093] Optionally, the apparatus 200 further includes a second determining module:

[0094] Obtain the operating conditions of the bucket wheel stacker and reclaimer, which include reclaiming conditions and stacking conditions;

[0095] A first pressure threshold and a corresponding second pressure threshold corresponding to the operating condition are determined.

[0096] Optionally, the first determining module 202 includes:

[0097] An acquisition unit, used for acquiring a rotation angle of the bucket wheel stacker reclaimer;

[0098] The determination unit is used to determine the risk level of the bucket wheel stacker reclaimer gnawing the ground and blocking the bucket according to the rotation angle and the working pressure.

[0099] Optionally, the determining unit is further configured to:

[0100] If the rotation angle is greater than the first angle threshold and less than the second angle threshold, the pressure fluctuation value is calculated according to the working pressure;

[0101] If within the set time period, the number of times that the pressure fluctuation value is greater than the fluctuation threshold exceeds the first number threshold and is less than or equal to the second number threshold, the risk level of the bucket wheel stacker reclaimer gnawing the ground and blocking the bucket is determined to be low;

[0102] If within the set time period, the number of times that the pressure fluctuation value is greater than the fluctuation threshold exceeds the second number threshold, it is determined that the risk level of the bucket wheel stacker reclaimer gnawing the ground and blocking the bucket is high.

[0103] Optionally, the bucket wheel stacker reclaimer further includes an alarm device, and the device 200 further includes an alarm module for:

[0104] After controlling the slewing mechanism to decelerate or controlling the bucket wheel stacker to stop, an alarm signal is determined based on the risk level, and the alarm signal is sent to an alarm device.

[0105] It can be understood that the device provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0106] An embodiment of the present invention further provides a bucket wheel stacker and reclaimer, which may include a processor and a memory, wherein the processor and the memory may be communicatively connected to each other via a bus or other means.

[0107] The processor may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application, or 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 gate or transistor logic devices, discrete hardware components and other chips, or a combination of the above-mentioned chips.

[0108] The memory may include a large capacity memory for data or instructions. By way of example and not limitation, the memory may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. Where appropriate, the memory may include a removable or non-removable (or fixed) medium. Where appropriate, the memory may be inside or outside the electronic device. In a particular embodiment, the memory may be a non-volatile solid-state memory.

[0109] In one example, the memory may be a read-only memory (ROM). In one example, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0110] The processor implements any one of the control methods of the bucket wheel stacker and reclaimer in the above embodiments by reading and executing computer program instructions stored in the memory.

[0111] In one example, the electronic device may further include a communication interface and a bus. Among them, the processor, memory, and communication interface are connected through a bus and communicate with each other. The communication interface is mainly used to realize the communication between the modules, devices, units and / or devices in the embodiment of the present application. Where appropriate, the bus may include one or more buses.

[0112] In addition, in combination with the control method of the bucket wheel stacker and reclaimer in the above embodiments, the embodiment of the present invention can provide a computer readable storage medium for implementation. The computer readable storage medium stores computer program instructions; when the computer program instructions are executed by the processor, any of the control methods of the bucket wheel stacker and reclaimer in the above embodiments is implemented.

[0113] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above-mentioned types of memory.

[0114] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages:

[0115] The embodiment of the present invention provides a control method, device, equipment and medium for a bucket wheel stacker and reclaimer. The working pressure of the inlet and outlet oil pipelines is obtained through a pressure collector, and the working state of the bucket wheel stacker and reclaimer is reflected through the working pressure. According to the working pressure, the risk level of the bucket wheel stacker and reclaimer to cause ground gnawing and bucket jam is determined. The risk level includes low level and high level. Ground gnawing and bucket jam may occur due to abnormal pressure. If the risk level is low, the slewing mechanism is controlled to slow down to prevent the ground gnawing and bucket jam from further deteriorating. If the risk level is high, the bucket wheel stacker and reclaimer is controlled to stop to avoid safety accidents and improve the safety of bucket wheel stacker and reclaimer operation. This method can reduce the probability of safety accidents caused by ground gnawing and bucket jam, and improve the safety of bucket wheel stacker and reclaimer operation.

[0116] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0117] Similarly, it should be understood that in order to streamline the present disclosure and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, this disclosed method should not be interpreted as reflecting the intention that the claimed invention requires more features than those explicitly recited in each claim. More specifically, as reflected in the claims below, inventive aspects lie in less than all the features of the individual embodiments disclosed above. Therefore, the claims that follow the specific embodiment are hereby expressly incorporated into the specific embodiment, with each claim itself serving as a separate embodiment of the present invention.

[0118] It should be noted that the above embodiments illustrate the present invention rather than limit it, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be construed as a limitation on the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "one" or "an" preceding a component does not exclude the presence of a plurality of such components. The present invention may be implemented by means of hardware comprising a number of different components and by means of a suitably programmed computer. In a unit claim enumerating a number of devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc., does not indicate any order. These words may be interpreted as names.

Claims

1. A control method for a bucket wheel stacker and reclaimer, characterized in that: Applied to a bucket wheel stacker and reclaimer, the bucket wheel stacker and reclaimer comprises a bucket wheel, a pressure collector and a slewing mechanism, the bucket wheel is driven by a hydraulic station, the pressure collector is arranged on the inlet and outlet oil pipelines of the hydraulic motor of the hydraulic station, and the method comprises: Acquire the working pressure of the inlet and outlet oil pipelines through the pressure collector; Determine, according to the working pressure, a risk level of the bucket wheel stacker reclaimer causing ground chewing and bucket jam, wherein the risk level includes a low level and a high level; If the risk level is the low level, controlling the rotary mechanism to decelerate; If the risk level is the high level, the bucket wheel stacker and reclaimer is controlled to shut down.

2. The control method of the bucket wheel stacker and reclaimer according to claim 1, characterized in that: Determining the risk level of the bucket wheel stacker reclaimer gnawing the ground and jamming the bucket according to the working pressure includes: If the working pressure is greater than a preset first pressure threshold and less than or equal to a preset second pressure threshold, it is determined that the risk level of the bucket wheel stacker reclaimer gnawing the ground and jamming the bucket is the low level; wherein the first pressure threshold is less than the second pressure threshold; If the working pressure is greater than the second pressure threshold, it is determined that the risk level of the bucket wheel stacker reclaimer gnawing the ground and jamming the bucket is the high level.

3. The control method of the bucket wheel stacker and reclaimer according to claim 1, characterized in that: Determining the risk level of the bucket wheel stacker reclaimer gnawing the ground and jamming the bucket according to the working pressure includes: Determine a duration during which the working pressure is greater than a preset first pressure threshold and less than or equal to a preset second pressure threshold; If the duration is greater than a preset time threshold, it is determined that the risk level of the bucket wheel stacker reclaimer gnawing the ground and jamming the bucket is the low level.

4. The control method of the bucket wheel stacker and reclaimer according to claim 2 or 3, characterized in that: Before determining the risk level of ground chewing and fighting according to the working pressure, the method further includes: Acquiring the operating conditions of the bucket wheel stacker and reclaimer, wherein the operating conditions include a reclaiming condition and a stacking condition; A first pressure threshold and a second pressure threshold corresponding to the operating condition are determined.

5. The control method of the bucket wheel stacker and reclaimer according to claim 1, characterized in that: Determining the risk level of the bucket wheel stacker reclaimer gnawing the ground and jamming the bucket according to the working pressure includes: Obtaining the pitch angle of the bucket wheel stacker and reclaimer; The risk level of the bucket wheel stacker reclaimer gnawing into the ground and jamming the bucket is determined according to the pitch angle and the working pressure.

6. The control method of the bucket wheel stacker and reclaimer according to claim 5, characterized in that: Determining the risk level of the bucket wheel stacker reclaimer gnawing the ground and jamming the bucket according to the pitch angle and the working pressure includes: If the pitch angle is greater than a first angle threshold and less than a second angle threshold, calculating a pressure fluctuation value according to the working pressure; If within the set time period, the number of times that the pressure fluctuation value is greater than the fluctuation threshold exceeds the first number threshold and is less than or equal to the second number threshold, it is determined that the risk level of the bucket wheel stacker reclaimer gnawing the ground and blocking the bucket is the low level; If, within the set time period, the number of times that the pressure fluctuation value is greater than the fluctuation threshold exceeds the second number threshold, it is determined that the risk level of the bucket wheel stacker reclaimer gnawing the ground and jamming the bucket is the high level.

7. The control method of a bucket wheel stacker and reclaimer according to claim 1, characterized in that: The bucket wheel stacker and reclaimer further comprises an alarm device; After controlling the slewing mechanism to decelerate or controlling the bucket wheel stacker to stop, the method further includes: An alarm signal is determined based on the risk level, and the alarm signal is sent to the alarm device.

8. A control device for a bucket wheel stacker and reclaimer, characterized in that: The bucket wheel stacker reclaimer comprises a bucket wheel, a pressure collector and a slewing mechanism. The bucket wheel is driven by a hydraulic station. The pressure collector is arranged on the oil inlet and outlet pipelines of the hydraulic motor of the hydraulic station. The device comprises: An acquisition module, used for acquiring the working pressure of the inlet and outlet oil pipelines through the pressure collector; A first determination module is used to determine the risk level of the bucket wheel stacker reclaimer gnawing the ground and jamming the bucket according to the working pressure, wherein the risk level includes a low level and a high level; A first control module, configured to control the slewing mechanism to decelerate if the risk level is the low level; The second control module is configured to control the bucket wheel stacker to shut down if the risk level is the high level.

9. A bucket wheel stacker reclaimer, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method according to any one of claims 1 to 7 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to cause the computer to execute the method according to any one of claims 1 to 7.

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