Multi-machine collaborative accurate positioning and deviation rectifying system and method for wheel bucket continuous equipment

Abstract

The invention discloses a multi-machine collaborative accurate positioning and deviation rectifying system and method for wheel bucket continuous equipment, and relates to the technical field of intelligent control. The Beidou positioning system is installed on the wheel bucket continuous equipment, the positioning deviation correction method comprises the steps that the Beidou positioning system is used for monitoring a discharging opening of upstream butt joint equipment in real time, accurate discharging center point coordinates are obtained in real time, when deviation occurs, logic calculation and decision making are conducted according to collected numerical values, and the deviation of the discharging center point is corrected through judged transverse and longitudinal deviation amounts. And the wheel bucket continuous equipment is accurately positioned in pose, pre-warned in deflection and automatically centered in accurate time efficiency. The deviation limit difference and set radar sensor detection data are compared and optimized, a redundancy detection system is formed, the positioning accuracy is improved, faults caused by deviation misjudgment when an accurate positioning deviation correction system is in complex environments such as rain and snow are avoided, and support is provided for a multi-machine cooperative intelligent control system of wheel and bucket continuous equipment.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to a system and method for accurately positioning and correcting a deviation of a wheel bucket continuously equipped with multiple machines in a coordinated manner. Background Art

[0002] Bucket wheel continuous equipment mainly includes bucket wheel excavators, transfer machines, receiving vehicles, soil dumpers and other equipment. When working, they need to be connected in series and coordinated to complete the material collection operation. During the material collection process, the bucket wheel excavator needs to frequently move intermittently and retreat for a long distance and then move forward intermittently, working in a reciprocating cycle. In this process, the transfer machine and the receiving vehicle need to work in coordination with the bucket wheel excavator; however, due to the delay and mechanical inertia of the open-pit mining equipment, it is very easy to cause the position of the equipment transfer point to be skewed and not centered when working for a long time. If the offset is too large, it will cause material spreading, deviation of the receiving belt, blockage of the drop bucket and other faults. Severe cases may even cause shutdowns, affecting production efficiency. A series of safety hazards will also arise later. At present, in the field of automatic alignment of offset misalignment during the operation of continuous bucket wheel system series mining and transportation equipment, relevant technologies have been made public. For example, the Chinese patent "An open-pit mine bucket continuous equipment intelligent centering device and method" (patent number: CNZL202111140661.0, publication date: July 2, 2024) discloses a method of real-time monitoring of the distance between the discharge port reflector of the upstream docking equipment through four sets of radar diffuse reflection sensor positioning detection devices, so as to achieve timely and accurate automatic docking of series equipment. Although sensor positioning detection has the advantages of low cost, low power consumption, and easy deployment, this method still has certain shortcomings in practical applications. For example, the accuracy of the detection sensor is affected by various factors such as type, layout, and environmental interference, which affects its application in complex mining conditions with coordinated linkage of multiple machines. With the continuous improvement of my country's Beidou positioning technology and the continuous improvement of positioning accuracy, the above problems can be solved by integrating the Beidou system with the sensor system. Summary of the invention

[0003] Based on the above problems and the deficiencies of the prior art, the purpose of the present invention is to provide a system and method for the coordinated positioning and correction of multiple machines of a bucket continuously equipped.

[0004] The present invention is realized by the following technical scheme: a precise positioning and deviation correction system for a bucket wheel continuously equipped with a multi-machine system, the technical key points of which are:

[0005] The precise positioning system comprises a positioning receiving unit arranged on the unloading unit, the receiving unit, and the operating platform unit, and a reference station positioning unit arranged on the head station unit;

[0006] The positioning receiving unit includes an adjustment bracket and a Beidou full-frequency special antenna arranged on the adjustment bracket; the adjustment bracket includes a base fixed on the receiving unit and the unloading unit, the base is connected to the switch mounting plate through a support frame, and the Beidou full-frequency special antenna is fixed on the mounting plate. The positioning receiving unit is respectively provided with two sets on each receiving unit or unloading unit, and the operating platform, for use in coordination with positioning;

[0007] The base station positioning unit includes an adjustment bracket and a Beidou full-frequency measurement antenna arranged on the adjustment bracket; the adjustment bracket includes a base fixed to the working surface head station unit, the base is connected to the switch mounting plate through a support frame, and the Beidou full-frequency measurement antenna is fixed on the mounting plate.

[0008] In the above scheme, the system also includes a data processing host unit and a high-precision integrated positioning and timing receiver display unit, and the data processing host unit includes a high-precision Beidou positioning base station host unit and a high-precision Beidou positioning mobile station host unit. The high-precision integrated positioning and timing receiver display unit includes a display touch screen module and an interface that supports data transmission. The data processing host unit and the high-precision integrated positioning and timing receiver display unit are connected to the on-site Beidou positioning receiving unit and the base station unit through the high-precision integrated positioning and timing receiver network port cable, radio frequency cable, and high-precision positioning and timing receiver power cable, and all Beidou positioning systems of the wheel bucket continuous equipment are formed into a network through optical fiber or wireless network modules to complete the collaborative positioning data exchange of multiple machines of the wheel bucket continuous equipment.

[0009] A method for accurately positioning and correcting the continuous equipment of a bucket wheel with multiple machines in coordination is implemented by using an accurate positioning and correcting system for the continuous equipment of a bucket wheel with multiple machines. The technical key points are: comprising the following steps:

[0010] Step A. Install the bucket wheel excavator, transfer machine, and receiving vehicle for the first time and overlap them. According to the unloading position of the discharge port, the position of the transfer machine discharge port is adjusted based on the optimal receiving position of the receiving vehicle receiving port; then adjust the position of the bucket wheel excavator discharge port according to the position of the transfer machine receiving port, and calibrate the diagonal with a measuring tool to complete the first alignment overlap of the continuous equipment;

[0011] Step B. After the first continuous equipment alignment and overlap is completed, adjust the positioning receiving unit; install two sets of positioning receiving units at the right side of the drop-off platform of the rear end of the bucket wheel excavator, the head of the transfer machine, the rear end of the transfer machine, and the head of the receiving vehicle, respectively, represented by T1, T2, T3, T4, T5, T6, T7, and T8; install a set of reference station positioning units at the head station of the belt conveyor on the working face, respectively represented by JZ1;

[0012] Step C. Adjust the positioning receiving unit so that two sets of antennas at each position of T1 and T2, T3 and T4, T5 and T6, T7 and T8 are installed on the right side of the blanking port;

[0013] Step D: Adjust the positioning receiving unit so that the height of the two sets of antenna brackets at each position of T1 and T2, T3 and T4, T5 and T6, T7 and T8 is not less than 2 meters, vertical to the ground and there are no obstructions around the antenna device;

[0014] Step E: Adjust the positioning receiving unit so that the vertical distance L between the two sets of antennas at each position of T1 and T2, T3 and T4, T5 and T6, T7 and T8 and the center line of the blanking port is equal;

[0015] Step F: Adjust the positioning receiving unit so that the horizontal distance between the two sets of antennas at each position of T1 and T2, T3 and T4, T5 and T6, T7 and T8 and the center line of the blanking port is not less than 4 meters;

[0016] Step G: Adjust the positioning receiving unit so that the distance between the two sets of antennas at each position of T1 and T2, T3 and T4, T5 and T6, T7 and T8 is not less than 10 meters, so as to improve the positioning accuracy;

[0017] Step H. Adjust the reference station positioning unit JZ1 so that the reference station antenna device is installed at a fixed position of the head station; 4 meters away from the center of the working surface belt and there are no obstructions around;

[0018] Step I. Continuously observe Beidou satellite signals through the base station positioning unit JZ1 receiver, and transmit the observed data to each mobile station through the network;

[0019] Step J. The dual antennas of each of the T1 and T2, T3 and T4, T5 and T6, T7 and T8 of the positioning receiving unit receive satellite signals while receiving the precise calibration data of the base station positioning unit;

[0020] Step K. Calculate the coordinates and accuracy of the drop point of the mobile station in real time according to the relative positioning principle, i.e., the drop point coordinate T of the drop port center of the receiving vehicle SL equipment, the drop point coordinate D of the drop port center of the receiving arm of the transfer machine ZZ equipment, the drop point coordinate U of the drop port center of the discharge arm of the transfer machine ZZ equipment, and the drop point coordinate G of the drop port center of the discharge arm of the bucket wheel excavator LD equipment;

[0021] Step L. Obtain the axial extension azimuth of the track according to the positioning antennas of the receiving vehicles T1 and T2, and set it as θ, and use it as the reference azimuth of the base station;

[0022] Step M. Based on the original initial reference coordinates T and the target real-time coordinates D, obtain the vector from T to D

[0023] Step N. According to the direction angle and the vector in Step M Obtain the lateral offset Xofset of the docking point between the discharge opening of the transfer machine and the receiving hopper of the receiving wagon;

[0024] Step O. According to the direction angle and the vector in Step M Obtain the longitudinal offset Yofset of the docking point between the discharge opening of the transfer machine and the receiving wagon;

[0025] Step P. Similarly, according to Steps L, M, N, and O, obtain the real-time lateral coordinates and offset of the center discharge point of the bucket-wheel excavator and the docking point of the discharge opening of the transfer machine;

[0026] Step Q. Similarly, according to Steps L, M, N, and O, obtain the real-time longitudinal coordinates and offset of the center discharge point of the transfer machine and the bucket-wheel excavator and the docking point of the discharge opening of the transfer machine;

[0027] Step R. According to the lateral offset and the longitudinal offset, automatically control the discharge opening to automatically adjust the docking position. Until the coordinates are within the allowable deviation range, the automatic docking is completed and the deviation correction ends.

[0028] In the above solution, the process of obtaining the real-time lateral coordinates and offset of the center discharge point of the transfer machine and the bucket-wheel excavator in Step P includes the following steps:

[0029] Step P1. First, judge the lateral offset value of the receiving wagon. According to the continuous system production process, the receiving wagon reciprocates on the fixed walking mechanism. It is set that the center coordinate point of the receiving hopper of the receiving wagon has no lateral offset. When the center coordinate of the discharge opening of the transfer machine's discharge arm coincides with the center coordinate point of the receiving hopper of the receiving wagon, it is the best docking position, that is, the coordinates are the same. At this time, the center coordinate point of the receiving hopper of the receiving wagon is used as the reference point for the lateral offset of the transfer machine's discharge arm;

[0030] Step P2. When there is a lateral offset between the center coordinate point of the discharge opening of the transfer machine's discharge arm and the center coordinate point of the receiving hopper of the receiving wagon, when the lateral offset is 0 < Xofset < &, -& < Xofset < 0, where & is the allowable deviation amount, it is judged that the discharge point of the transfer machine's discharge arm is in the centered state, and the system does not perform deviation correction interference and works normally, and adjusts itself during operation;

[0031] Step P3. When there is a lateral offset between the center coordinate point of the discharge opening of the transfer machine's discharge arm and the center coordinate point of the receiving hopper of the receiving wagon, when the lateral offset is & < Xofset < §, where § is the micro-deviation amount, it is judged that the discharge point of the transfer machine's discharge arm is in a slightly right-offset state. The system immediately controls the left rotation of the transfer machine's discharge arm until the coordinate point returns to 0 < Xofset < &, and it is judged that the discharge point of the transfer machine's discharge arm and the receiving point of the receiving wagon are in the centered state, and the deviation correction stops;

[0032] Step P4. When there is a lateral offset between the center coordinate point of the discharge opening of the transfer machine's discharge arm and the center coordinate point of the receiving opening of the receiving wagon, and when the lateral offset -§ < Xofset < -&, it is determined that the discharge point of the transfer machine's discharge arm is in a slightly left-offset state. The system immediately controls the right rotation of the transfer machine's discharge arm until the coordinate point is restored to -& < Xofset < 0. At this time, it is determined that the discharge point of the transfer machine's discharge arm and the receiving point of the receiving wagon are in a centered state, and the deviation correction is stopped.

[0033] Step P5. When there is a lateral offset between the center coordinate point of the discharge opening of the transfer machine's discharge arm and the center coordinate point of the receiving opening of the receiving wagon, and when the lateral offset Xofset > §, it is determined that the discharge point of the transfer machine's discharge arm is in the right extreme deviation state. The system immediately stops the linked automatic deviation correction and centering mode and switches to the single-action mode. Manual intervention is used to adjust the docking position of the transfer point until the coordinate point is restored to 0 < Xofset < &. At this time, it is determined that the discharge point of the transfer machine's discharge arm and the receiving point of the receiving wagon are in a centered state, and the deviation correction is stopped.

[0034] Step P6. When there is a lateral offset between the center coordinate point of the discharge opening of the transfer machine's discharge arm and the center coordinate point of the receiving opening of the receiving wagon, and when the lateral offset Xofset < -§, it is determined that the discharge point of the transfer machine's discharge arm is in the left extreme deviation state. The system immediately stops the linked automatic deviation correction and centering mode and switches to the single-action mode. Manual intervention is used to adjust the docking position of the transfer point until the coordinate point is restored to -& < Xofset < 0. At this time, it is determined that the discharge point of the transfer machine's discharge arm and the receiving point of the receiving wagon are in a centered state, and the deviation correction is stopped.

[0035] Step P7. Since the discharge arm and the discharging arm of the transfer machine are a rotating arm, that is, when the center point of the discharge opening of the transfer machine's discharge arm has an offset for automatic adjustment and deviation correction, according to steps P3 - P6, the center point coordinate of the receiving opening of the transfer machine's receiving arm also changes;

[0036] Step P8. Similarly, the center point coordinate of the receiving opening of the transfer machine's receiving arm is the reference point for the center point of the discharge opening of the bucket-wheel excavator's discharge arm. The position of the center point of the discharge opening of the bucket-wheel excavator's discharge arm and the center point coordinate of the receiving opening of the transfer machine's receiving arm are judged. The judgment method is the same as P1 - P6. When the center point of the discharge opening of the bucket-wheel excavator's discharge arm and the center point coordinate of the receiving opening of the transfer machine's receiving arm are centered, the automatic lateral deviation correction during the continuous system linkage work is completed.

[0037] In the above solution, the process of obtaining the real-time longitudinal coordinates and offsets of the center discharge points of the transfer machine and the bucket-wheel excavator described in step Q includes the following steps:

[0038] Step Q1. First, judge the longitudinal offset value of the receiving wagon. According to the continuous system production process, the receiving wagon travels following the transfer machine on the fixed traveling mechanism. The positioning and deviation correction system sets the center coordinate point of the receiving opening of the receiving wagon as the reference point for the longitudinal offset of the transfer machine's discharge arm;

[0039] Step Q2. There is a longitudinal offset between the center coordinate point of the discharge opening of the transfer machine's discharge arm and the center coordinate point of the receiving opening of the receiving wagon. When the longitudinal offset is 0 < Yofset < α or -α < Yofset < 0, where & is the allowable skew, it is determined that the discharge point of the transfer machine's discharge arm is in the centered state, the system does not perform deviation correction interference, the system operates normally, and adjusts itself during operation;

[0040] Step Q3. When there is a longitudinal offset between the center coordinate point of the discharge opening of the transfer machine's discharge arm and the center coordinate point of the receiving opening of the receiving wagon, and when the longitudinal offset is α < Yofset < β, where β is the slight skew, it is determined that the discharge point of the transfer machine's discharge arm is in a slightly forward-offset state. When the main system PLC receives the forward skew of the discharge point of the transfer machine's discharge arm, the system immediately controls the transfer machine's discharge arm to move forward until the coordinate point returns to 0 < Yofset < α, and it is determined that the discharge point of the transfer machine's discharge arm and the receiving point of the receiving wagon are in the centered state, and the deviation correction is stopped;

[0041] Step Q4. When there is a lateral offset between the center coordinate point of the discharge opening of the transfer machine's discharge arm and the center coordinate point of the receiving opening of the receiving wagon, and when the lateral offset is -β < Yofset < -α, it is determined that the discharge point of the transfer machine's discharge arm is in a slightly backward-offset state. When the main system PLC receives the backward skew of the discharge point of the transfer machine's discharge arm, the system immediately controls the discharge arm to move backward until the coordinate point returns to -α < Yofset < 0, and it is determined that the discharge point of the transfer machine's discharge arm and the receiving point of the receiving wagon are in the centered state, and the deviation correction is stopped;

[0042] Step Q5. When there is a longitudinal offset between the center coordinate point of the discharge opening of the transfer machine's discharge arm and the center coordinate point of the receiving opening of the receiving wagon, and when the longitudinal offset is Yofset > β, it is determined that the discharge point of the transfer machine's discharge arm is in the extreme forward-skew state. The system immediately stops the linked automatic deviation correction and centering mode, switches to the single-action mode, and manually intervenes to adjust the docking position of the transfer point until the coordinate point returns to 0 < Xofset < α, and it is determined that the discharge point of the transfer machine's discharge arm and the receiving point of the receiving wagon are in the centered state, and the deviation correction is stopped;

[0043] Step Q6. When there is a longitudinal offset between the center coordinate point of the discharge opening of the transfer machine's discharge arm and the center coordinate point of the receiving opening of the receiving wagon, and when the longitudinal offset is Yofset < -β, it is determined that the discharge point of the transfer machine's discharge arm is in the extreme backward-skew state. The system immediately stops the linked automatic deviation correction and centering mode, switches to the single-action mode, and manually intervenes to adjust the docking position of the transfer point until the coordinate point returns to -α < Xofset < 0, and it is determined that the discharge point of the transfer machine's discharge arm and the receiving point of the receiving wagon are in the centered state, and the deviation correction is stopped;

[0044] Step Q7. Since the unloading arm and the discharge arm of the transfer machine are a rotating arm, when the center point of the material discharge port of the unloading arm of the transfer machine is longitudinally offset, the coordinates of the center point of the material discharge port of the transfer machine receiving arm are automatically adjusted and corrected according to steps Q3-Q6;

[0045] Step Q8. Similarly, the coordinates of the center point of the feeding port of the receiving arm of the transfer machine are used as the reference point of the center point of the feeding port of the unloading arm of the bucket wheel excavator. The coordinate positions of the center point of the feeding port of the unloading arm of the bucket wheel excavator and the center point of the feeding port of the receiving arm of the transfer machine are determined. The determination method is the same as Q1-Q6. When the coordinates of the center point of the feeding port of the unloading arm of the bucket wheel excavator and the center point of the feeding port of the receiving arm of the transfer machine are aligned, the automatic correction of the lateral deviation during the continuous system linkage operation is completed.

[0046] Beneficial effects of the invention: The invention discloses a precise positioning and correction device system and method for multi-machine collaborative wheel bucket continuous equipment, which relates to the field of intelligent control technology. A Beidou positioning system is installed on the wheel bucket continuous equipment, and the positioning and correction method uses the Beidou positioning system to monitor the blanking port of the upstream docking equipment in real time, and obtains the precise coordinates of the blanking center point in real time. When deflection occurs, logical calculations and decisions are performed based on the collected values, and the posture of the wheel bucket continuous equipment is accurately positioned through the judged lateral and longitudinal offsets, and deflection warnings are issued, and automatic centering is performed with accurate timeliness. The deflection limit difference is compared and optimized with the detection data of the posture sensor to form a redundant detection system, which improves the accuracy of positioning and avoids the precise positioning and correction system from misjudging the deflection and causing failures or even accidents in complex environments such as rain and snow. Support is provided for the multi-machine collaborative intelligent control system for wheel bucket continuous equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a schematic diagram of the overall arrangement of the continuous system positioning receiving antenna device of the present invention;

[0048] Figure 2 A schematic diagram of the continuous system precise positioning offset algorithm of the present invention;

[0049] Figure 3 A schematic diagram of power supply for the precise positioning and deviation correction system of the present invention;

[0050] Figure 4 It is a schematic diagram of the communication network connection of the precise positioning and deviation correction system of the present invention.

[0051] Explanation of the serial numbers in the figure: JTZ is the head station, PD is the belt conveyor, SL is the receiving vehicle, ZZ is the transfer machine, LD is the bucket wheel excavator, 10 is the bucket wheel excavator, T1-T8 are positioning receiving units, ZJ1 is the base station positioning unit, T is the coordinate of the center point of the material drop of the receiving vehicle equipment, D is the coordinate of the center point of the material drop of the lower arm (unloading arm) of the transfer machine equipment, U is the coordinate of the center point of the material drop of the upper arm (receiving arm) of the transfer machine equipment, G is the coordinate of the center point of the material drop of the bucket wheel excavator equipment, θ is the azimuth of the axis of the material drop center of the receiving vehicle, Xoffset is the lateral offset of the material drop center, Yoffset is the longitudinal offset of the material drop center, NET101PLUS is a high-precision Beidou positioning base station unit, IGV101-IGV104 is a high-precision Beidou positioning mobile station unit, P1-P3 is a high-precision integrated positioning and timing receiver display unit, DC24 is a power supply unit, HUB is a controller network unit, DR is an equipment operation room, and B1-B8 are lightning arrester units. DETAILED DESCRIPTION

[0052] The above objects, features and advantages of the present invention can be more clearly understood by referring to the following attached drawings. Figure 1 to Figure 4 The present invention is further described in detail with reference to the accompanying drawings and specific embodiments.

[0053] The present invention discloses a multi-machine coordinated positioning and deviation correction system for bucket wheel continuous equipment, wherein the bucket wheel continuous equipment comprises a bucket wheel excavator LD, a transfer machine ZZ, a receiving vehicle SL, and a working surface belt conveyor GZ; a discharging unit and a receiving unit that cooperate with each other are respectively arranged at the tail of the bucket wheel excavator and the head of the transfer machine, as well as at the tail of the transfer machine and the head of the receiving vehicle; an operating platform unit is arranged on the receiving vehicle, and a head station unit JTZ is arranged at the head of the working surface belt conveyor; and a driver's cab unit DR is arranged on the bucket wheel continuous equipment.

[0054] The precise positioning system of this embodiment includes a positioning receiving unit arranged on the unloading unit and the receiving unit and a reference station positioning unit arranged on the head station unit;

[0055] The positioning receiving units T1-T8 of this embodiment include an adjustment bracket and a full-frequency special positioning receiving antenna arranged on the adjustment bracket; the adjustment bracket includes a base fixed on the receiving unit and the unloading unit, connected to the switch mounting plate through a support frame, and the full-frequency special positioning receiving antenna is fixed on the mounting plate. Two sets of the positioning receiving units are respectively arranged on each receiving unit or unloading unit, and the operating platform, for use in coordination with positioning.

[0056] The base station positioning unit ZJ1 of this embodiment includes an adjustment bracket and a full-frequency measurement type positioning receiving antenna arranged on the adjustment bracket; the adjustment bracket includes a base fixed to the working surface head station unit, which is connected to the switch mounting plate through a support frame, and the full-frequency measurement type positioning receiving antenna is fixed on the mounting plate.

[0057] The system also includes a data processing host unit and a high-precision integrated positioning and timing receiver display unit, and the data processing host unit includes a high-precision Beidou positioning base station host unit and a high-precision Beidou positioning mobile station host unit. The high-precision integrated positioning and timing receiver display unit includes a display touch screen module and an interface supporting data transmission. The data processing host unit and the high-precision integrated positioning and timing receiver display unit are connected to the on-site Beidou positioning receiving unit and the base station unit through the high-precision integrated positioning and timing receiver network port cable, radio frequency cable, and high-precision positioning and timing receiver power cable, and all Beidou positioning systems of the wheel bucket continuous equipment are formed into a network through optical fiber or wireless network modules to complete the collaborative positioning data exchange of multiple machines of the wheel bucket continuous equipment.

[0058] This embodiment also includes a data processing host unit and a high-precision integrated positioning and timing receiver display unit P1-P3 arranged in the driver's cab DR. The data processing host unit includes a high-precision Beidou positioning base station host unit NET101PLUS and a high-precision Beidou positioning mobile station host unit IGV101-IGV104. The high-precision integrated positioning and timing receiver display unit includes a 10-inch touch screen module and an interface that supports data transmission. The IGV101-IGV104 and NET101PLUS data acquisition units and data display units are connected to the on-site full-frequency special positioning receiving unit and the full-frequency measurement positioning receiving unit through the high-precision integrated positioning and timing receiver network port cable, radio frequency cable, and high-precision positioning and timing receiver power cable, and all Beidou positioning systems of the wheel bucket continuous equipment are formed into a network through optical fiber or wireless network modules to complete the collaborative positioning data exchange of multiple machines of the wheel bucket continuous equipment.

[0059] This embodiment takes the domestic bucket wheel continuous process equipment of a certain open-pit coal mine as an example to illustrate the system and method for collaborative positioning and correction of multiple machines of bucket wheel continuous equipment. In this embodiment, the bucket wheel continuous equipment includes a bucket wheel excavator LD, a transfer machine ZZ, a receiving vehicle SL, and a working surface belt conveyor GZ; due to the continuous production process of the bucket wheel excavator, the discharge port of the bucket wheel excavator LD is docked with the receiving port of the transfer machine, and the discharge port of the transfer machine ZZ is docked with the receiving port of the receiving vehicle, which requires the discharge port and the receiving port of the material center point to be connected in series, and requires full-time real-time monitoring and full-time automatic correction and alignment to complete the material collection work. Since the lap joint arms of the bucket wheel excavator LD, the transfer machine ZZ, and the receiving vehicle SL equipped in series have the functions of rotation and whole-machine movement, the center point of the material drop is very likely to deviate during the collaborative material collection process of multiple machines, resulting in safety accidents such as shutdown failures; therefore, the deflection needs to be corrected in time to avoid affecting production. In order to accurately judge the deflection direction and offset, the accuracy of the initial installation position is required.

[0060] The precise positioning and deviation correction method for the bucket wheel continuous equipment multi-machine system adopted in this embodiment has the following specific steps:

[0061] Step A. Install the bucket wheel excavator, transfer machine, and receiving vehicle for the first time and overlap them. According to the unloading position of the discharge port, the position of the transfer machine discharge port is adjusted based on the optimal receiving position of the receiving vehicle receiving port; then adjust the position of the bucket wheel excavator discharge port according to the position of the transfer machine receiving port, and calibrate the diagonal with a measuring tool to complete the first alignment overlap of the continuous equipment;

[0062] Step B. After completing the first continuous equipment alignment and overlap, adjust the positioning receiving unit; install two sets of positioning receiving units at the right side of the drop-off platform of the tail of the bucket wheel excavator, the head of the transfer machine, the tail of the transfer machine, and the head of the receiving vehicle, respectively, represented by T1, T2, T3, T4, T5, T6, T7, and T8; install a set of base station positioning units at the head station of the belt conveyor on the working face, represented by JZ1.

[0063] Step C. Adjust the positioning receiving unit so that two sets of antennas at each position of T1 and T2, T3 and T4, T5 and T6, T7 and T8 are installed on the right side of the blanking port;

[0064] Step D: Adjust the positioning receiving unit so that the height of the two sets of antenna brackets at each position of T1 and T2, T3 and T4, T5 and T6, T7 and T8 is not less than 2 meters, vertical to the ground and there are no obstructions around the antenna device;

[0065] Step E: Adjust the positioning receiving unit so that the vertical distance L between the two sets of antennas at each position of T1 and T2, T3 and T4, T5 and T6, T7 and T8 and the center line of the blanking port is equal;

[0066] Step F: Adjust the positioning receiving unit so that the horizontal distance between the two sets of antennas at each position of T1 and T2, T3 and T4, T5 and T6, T7 and T8 and the center line of the blanking port is not less than 4 meters;

[0067] Step G: Adjust the positioning receiving unit so that the distance between the two sets of antennas at each position of T1 and T2, T3 and T4, T5 and T6, T7 and T8 is not less than 10 meters, so as to improve the positioning accuracy;

[0068] Step H. Adjust the reference station positioning unit JZ1 so that the reference station antenna device is installed at a fixed position of the head station; 4 meters away from the center of the working surface belt and there are no obstructions around;

[0069] Step I. Continuously observe Beidou satellite signals through the base station positioning unit JZ1 receiver, and transmit the observed data to each mobile station through the network;

[0070] Step J. The dual antennas of each of the T1 and T2, T3 and T4, T5 and T6, T7 and T8 of the positioning receiving unit receive satellite signals while receiving the precise calibration data of the base station positioning unit;

[0071] Step K. Calculate the coordinates and accuracy of the drop point of the mobile station in real time according to the relative positioning principle, i.e., the drop point coordinate T of the drop port center of the receiving vehicle SL equipment, the drop point coordinate D of the drop port center of the receiving arm of the transfer machine ZZ equipment, the drop point coordinate U of the drop port center of the discharge arm of the transfer machine ZZ equipment, and the drop point coordinate G of the drop port center of the discharge arm of the bucket wheel excavator LD equipment;

[0072] Step L. Obtain the axial extension azimuth of the track according to the positioning antennas of the receiving vehicles T1 and T2, and set it as θ, and use it as the reference azimuth of the base station;

[0073] Step M. Based on the original initial reference coordinates T and the target real-time coordinates D, obtain the vector from T to D

[0074] Step N. Based on the direction angle and the vector of step M Obtain the lateral offset Xofset of the docking point between the material drop opening of the transfer machine and the material drop opening of the receiving vehicle;

[0075] Step O. Based on the direction angle and the vector from step M Obtain the longitudinal offset Yofset of the docking point between the material drop opening of the transfer machine and the receiving vehicle;

[0076] Step P. Similarly, according to steps L, M, N, and O, the real-time lateral coordinates and offset of the docking point between the center drop point of the bucket wheel excavator and the drop port of the transfer machine are obtained;

[0077] Step Q. Similarly, according to Steps L, M, N, and O, obtain the real-time longitudinal coordinates and offsets of the center material dropping points of the transfer machine and the bucket-wheel excavator and the docking point of the transfer machine's material dropping opening;

[0078] Step R. According to the lateral offset and longitudinal offset, automatically control the material dropping opening to automatically adjust the docking position. Until the coordinates are within the allowable deviation range, the automatic docking is completed and the deviation correction ends;

[0079] The process of obtaining the real-time lateral coordinates and offsets of the center material dropping points of the transfer machine and the bucket-wheel excavator described in Step P includes the following steps:

[0080] Step P1. First, judge the lateral offset value of the receiving wagon. According to the continuous system production process, the receiving wagon reciprocates on the fixed traveling mechanism. It is set that there is no lateral offset at the center coordinate point of the receiving wagon's material receiving opening, and the best docking position is when the center coordinate of the transfer machine's unloading arm's material dropping opening coincides with the center coordinate point of the receiving wagon's material receiving opening, that is, the coordinates are the same. At this time, the center coordinate point of the receiving wagon's material receiving opening is used as the reference point for the lateral offset of the transfer machine's unloading arm;

[0081] Step P2. When there is a lateral offset between the center coordinate point of the transfer machine's unloading arm's material dropping opening and the center coordinate point of the receiving wagon's material receiving opening, when the lateral offset is 0 < Xofset < & or -& < Xofset < 0, where & is the allowable deflection amount, it is judged that the material dropping point of the transfer machine's unloading arm is in the centered state, and the system does not perform deviation correction interference and works normally, and adjusts itself during operation;

[0082] Step P3. When there is a lateral offset between the center coordinate point of the transfer machine's unloading arm's material dropping opening and the center coordinate point of the receiving wagon's material receiving opening, when the lateral offset is & < Xofset < §, where § is the micro-deflection amount, it is judged that the material dropping point of the transfer machine's unloading arm is in a slightly right-offset state, and the system immediately controls the left rotation of the transfer machine's unloading arm until the coordinate point returns to 0 < Xofset < &, and it is judged that the material dropping point of the transfer machine's unloading arm and the receiving point of the receiving wagon are in the centered state, and the deviation correction stops;

[0083] Step P4. When there is a lateral offset between the center coordinate point of the transfer machine's unloading arm's material dropping opening and the center coordinate point of the receiving wagon's material receiving opening, when the lateral offset is -§ < Xofset < -&, it is judged that the material dropping point of the transfer machine's unloading arm is in a slightly left-offset state, and the system immediately controls the right rotation of the transfer machine's unloading arm until the coordinate point returns to -& < Xofset < 0, and it is judged that the material dropping point of the transfer machine's unloading arm and the receiving point of the receiving wagon are in the centered state, and the deviation correction stops;

[0084] Step P5. When there is a lateral offset between the center coordinate point of the discharge opening of the transfer machine's discharge arm and the center coordinate point of the receiving opening of the receiving wagon, and when the lateral offset Xofset > §, it is determined that the discharge point of the transfer machine's discharge arm is in the right limit state of skew. The system immediately stops the linkage automatic alignment and deviation correction mode and switches to the single-action mode. Manual intervention is used to adjust the docking position of the transfer point until the coordinate point returns to 0 < Xofset < &. When it is determined that the discharge point of the transfer machine's discharge arm and the receiving point of the receiving wagon are in the centered state, the deviation correction is stopped.

[0085] Step P6. When there is a lateral offset between the center coordinate point of the discharge opening of the transfer machine's discharge arm and the center coordinate point of the receiving opening of the receiving wagon, and when the lateral offset Xofset < -§, it is determined that the discharge point of the transfer machine's discharge arm is in the left limit state of skew. The system immediately stops the linkage automatic alignment and deviation correction mode and switches to the single-action mode. Manual intervention is used to adjust the docking position of the transfer point until the coordinate point returns to -& < Xofset < 0. When it is determined that the discharge point of the transfer machine's discharge arm and the receiving point of the receiving wagon are in the centered state, the deviation correction is stopped.

[0086] Step P7. Since the discharge arm and the discharge chute of the transfer machine are a slewing arm, that is, when the center point of the discharge opening of the transfer machine's discharge arm has an offset for automatic adjustment and deviation correction, according to Steps P3 - P6, the center coordinate point of the discharge opening of the receiving arm of the transfer machine also changes;

[0087] Step P8. Similarly, the center coordinate point of the discharge opening of the receiving arm of the transfer machine is the reference point for the center point of the discharge opening of the bucket-wheel excavator's discharge arm. Determine the coordinate position of the center point of the discharge opening of the bucket-wheel excavator's discharge arm and the center point of the discharge opening of the receiving arm of the transfer machine. The determination method is the same as P1 - P6. When the center point of the discharge opening of the bucket-wheel excavator's discharge arm and the center point of the discharge opening of the receiving arm of the transfer machine are centered, the automatic lateral skew correction during the continuous system linkage operation is completed.

[0088] The process of obtaining the real-time longitudinal coordinates and offset of the center discharge points of the transfer machine and the bucket-wheel excavator described in Step Q includes the following steps:

[0089] Step Q1. First, judge the longitudinal offset value of the receiving wagon. According to the continuous system production process, the receiving wagon travels following the transfer machine on the fixed traveling mechanism. The positioning and deviation correction system sets the center coordinate point of the receiving opening of the receiving wagon as the reference point for the longitudinal offset of the transfer machine's discharge arm;

[0090] Step Q2. When there is a longitudinal offset between the center coordinate point of the discharge opening of the transfer machine's discharge arm and the center coordinate point of the receiving opening of the receiving wagon, and when the longitudinal offset is 0 < Yofset < α or -α < Yofset < 0, where & value is the allowable skew amount, it is determined that the discharge point of the transfer machine's discharge arm is in the centered state. The system does not perform deviation correction interference, and the system operates normally and adjusts itself during operation;

[0091] Step Q3. When there is a longitudinal offset between the center coordinate point of the discharge opening of the transfer machine's discharge arm and the center coordinate point of the receiving opening of the receiving wagon, and when the longitudinal offset α < Yofset < β, where the value of β is the micro-deviation amount, it is determined that the discharge point of the transfer machine's discharge arm is in a slightly forward-offset state. When the main system PLC receives the forward offset of the discharge point of the transfer machine's discharge arm, the system immediately controls the transfer machine's discharge arm to move forward until the coordinate point returns to 0 < Yofset < α, and it is determined that the discharge point of the transfer machine's discharge arm and the receiving point of the receiving wagon are in a centered state, and the deviation correction is stopped;

[0092] Step Q4. When there is a lateral offset between the center coordinate point of the discharge opening of the transfer machine's discharge arm and the center coordinate point of the receiving opening of the receiving wagon, and when the lateral offset -β < Yofset < -α, it is determined that the discharge point of the transfer machine's discharge arm is in a slightly backward-offset state. When the main system PLC receives the backward offset of the discharge point of the transfer machine's discharge arm, the system immediately controls the discharge arm to move backward until the coordinate point returns to -α < Yofset < 0, and it is determined that the discharge point of the transfer machine's discharge arm and the receiving point of the receiving wagon are in a centered state, and the deviation correction is stopped;

[0093] Step Q5. When there is a longitudinal offset between the center coordinate point of the discharge opening of the transfer machine's discharge arm and the center coordinate point of the receiving opening of the receiving wagon, and when the longitudinal offset Yofset > β, it is determined that the discharge point of the transfer machine's discharge arm is in the extreme forward-offset state. The system immediately stops the linked automatic deviation correction and centering mode and switches to the single-action mode. Manual intervention is used to adjust the docking position of the transfer point until the coordinate point returns to 0 < Xofset < α, and it is determined that the discharge point of the transfer machine's discharge arm and the receiving point of the receiving wagon are in a centered state, and the deviation correction is stopped.

[0094] Step Q6. When there is a longitudinal offset between the center coordinate point of the discharge opening of the transfer machine's discharge arm and the center coordinate point of the receiving opening of the receiving wagon, and when the longitudinal offset Yofset < -β, it is determined that the discharge point of the transfer machine's discharge arm is in the extreme backward-offset state. The system immediately stops the linked automatic deviation correction and centering mode and switches to the single-action mode. Manual intervention is used to adjust the docking position of the transfer point until the coordinate point returns to -α < Xofset < 0, and it is determined that the discharge point of the transfer machine's discharge arm and the receiving point of the receiving wagon are in a centered state, and the deviation correction is stopped.

[0095] Step Q7. Since the discharge arm and the discharge chute of the transfer machine are a rotating arm, that is, when the center point of the discharge opening of the transfer machine's discharge arm has a longitudinal offset for automatic adjustment and deviation correction, according to Steps Q3 - Q6, the coordinate of the center point of the discharge opening of the receiving arm of the transfer machine also changes;

[0096] Step Q8. Similarly, the coordinates of the center point of the feeding port of the receiving arm of the transfer machine are used as the reference point of the center point of the feeding port of the unloading arm of the bucket wheel excavator. The coordinate positions of the center point of the feeding port of the unloading arm of the bucket wheel excavator and the center point of the feeding port of the receiving arm of the transfer machine are determined. The determination method is the same as Q1-Q6. When the coordinates of the center point of the feeding port of the unloading arm of the bucket wheel excavator and the center point of the feeding port of the receiving arm of the transfer machine are aligned, the automatic correction of the lateral deviation during the continuous system linkage operation is completed.

[0097] Step R. According to the lateral offset and the longitudinal offset, the blanking port is automatically controlled to automatically adjust the docking position until the coordinates are within the allowable deviation range and the automatic docking is completed, and the deviation correction is completed.

[0098] The precise positioning and correction system of this embodiment is also equipped with four sets of laser radar positioning sensors at the blanking port for deflection limit redundancy protection to avoid accidents caused by inaccurate positioning system due to Beidou positioning network disconnection in extreme weather. When the system receives the deflection limit signal detected by the laser sensor, the system immediately issues a shutdown command to ensure the safety of the correction system.

[0099] The precise positioning and correction system of this embodiment is also combined with the posture sensor configured on the equipment, and the Beidou positioning angle data is rechecked through an algorithm, and redundant detection improves the accuracy of the system.

[0100] The precise positioning and correction system of this embodiment needs to allow positioning error, and the error value is less than 50cm.

[0101] The real-time deflection data of the Beidou precise positioning system is uploaded to the equipment control system through the network, analyzed and judged by the host data processor, and automatically controls the host mechanism to rotate and move, thereby automatically completing the deflection correction.

[0102] The advantage of this embodiment is that the positioning and correction technology of the continuous system's multi-machine collaborative material collection incorporates the Beidou positioning technology, the positioning data reaches the centimeter level, and can monitor the offset data of the center point of the material drop port in real time and accurately, so that when the continuous system is running in multi-machine linkage, it can accurately locate the deflection amount and deflection direction of the series equipment in real time. At the same time, the system is also equipped with a secondary detection system for radar sensor detection, which makes the positioning more accurate through redundant deflection data comparison, thereby improving production efficiency.

[0103] In the description of this specification, specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. The above description is only a specific implementation of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A wheel bucket continuous equipment multi-machine system precise positioning and correction system, characterized in that: The precise positioning system comprises a positioning receiving unit arranged on the unloading unit, the receiving unit, and the operating platform unit, and a reference station positioning unit arranged on the head station unit; The positioning receiving unit includes an adjustment bracket and a Beidou full-frequency special antenna arranged on the adjustment bracket; the adjustment bracket includes a base fixed on the receiving unit and the unloading unit, the base is connected to the switch mounting plate through a support frame, and the Beidou full-frequency special antenna is fixed on the mounting plate. The positioning receiving unit is respectively provided with two sets on each receiving unit or unloading unit, and the operating platform, for use in coordination with positioning; The base station positioning unit includes an adjustment bracket and a Beidou full-frequency measurement antenna arranged on the adjustment bracket; the adjustment bracket includes a base fixed to the working surface head station unit, the base is connected to the switch mounting plate through a support frame, and the Beidou full-frequency measurement antenna is fixed on the mounting plate.

2. The multi-machine coordinated precise positioning and deviation correction system for bucket wheels continuously equipped as claimed in claim 1, characterized in that: It also includes a data processing host unit and a high-precision integrated positioning and timing receiver display unit arranged in the driver's cab, the data processing host unit includes a high-precision Beidou positioning base station host unit and a high-precision Beidou positioning mobile station host unit; the high-precision integrated positioning and timing receiver display unit includes a display touch screen module and an interface supporting data transmission, the data processing host unit and the high-precision integrated positioning and timing receiver display unit are connected to the on-site Beidou positioning receiving unit and the base station unit through the high-precision integrated positioning and timing receiver network port cable, radio frequency cable, and high-precision positioning and timing receiver power cable, and the wheel bucket is continuously equipped with all Beidou positioning systems to form a network through optical fiber or wireless network modules.

3. A method for accurately positioning and correcting the continuous equipment of a bucket wheel by multiple machines in a coordinated manner, which is implemented by the accurate positioning and correcting system for the continuous equipment of a bucket wheel by multiple machines as claimed in claim 1, characterized in that: The steps include: Step A. Install the bucket wheel excavator, transfer machine, and receiving vehicle for the first time and overlap them. According to the unloading position of the discharge port, the position of the transfer machine discharge port is adjusted based on the optimal receiving position of the receiving vehicle receiving port; then adjust the position of the bucket wheel excavator discharge port according to the position of the transfer machine receiving port, and calibrate the diagonal with a measuring tool to complete the first alignment overlap of the continuous equipment; Step B. After the first continuous equipment alignment and overlap is completed, adjust the positioning receiving unit; install two sets of positioning receiving units at the right side of the drop-off platform of the rear end of the bucket wheel excavator, the head of the transfer machine, the rear end of the transfer machine, and the head of the receiving vehicle, respectively, represented by T1, T2, T3, T4, T5, T6, T7, and T8; install a set of reference station positioning units at the head station of the belt conveyor on the working face, respectively represented by JZ1; Step C. Adjust the positioning receiving unit so that two sets of antennas at each position of T1 and T2, T3 and T4, T5 and T6, T7 and T8 are installed on the right side of the blanking port; Step D: Adjust the positioning receiving unit so that the height of the two sets of antenna brackets at each position of T1 and T2, T3 and T4, T5 and T6, T7 and T8 is not less than 2 meters, vertical to the ground and there are no obstructions around the antenna device; Step E: Adjust the positioning receiving unit so that the vertical distance L between the two sets of antennas at each position of T1 and T2, T3 and T4, T5 and T6, T7 and T8 and the center line of the blanking port is equal; Step F: Adjust the positioning receiving unit so that the horizontal distance between the two sets of antennas at each position of T1 and T2, T3 and T4, T5 and T6, T7 and T8 and the center line of the blanking port is not less than 4 meters; Step G: Adjust the positioning receiving unit so that the distance between the two sets of antennas at each position of T1 and T2, T3 and T4, T5 and T6, T7 and T8 is not less than 10 meters, so as to improve the positioning accuracy; Step H. Adjust the reference station positioning unit JZ1 so that the reference station antenna device is installed at a fixed position of the head station; 4 meters away from the center of the working surface belt and there are no obstructions around; Step I. Continuously observe Beidou satellite signals through the base station positioning unit JZ1 receiver, and transmit the observed data to each mobile station through the network; Step J. The dual antennas of each of the T1 and T2, T3 and T4, T5 and T6, T7 and T8 of the positioning receiving unit receive satellite signals while receiving the precise calibration data of the base station positioning unit; Step K. Calculate the coordinates and accuracy of the drop point of the mobile station in real time according to the relative positioning principle, i.e., the drop point coordinate T of the drop port center of the receiving vehicle SL equipment, the drop point coordinate D of the drop port center of the receiving arm of the transfer machine ZZ equipment, the drop point coordinate U of the drop port center of the discharge arm of the transfer machine ZZ equipment, and the drop point coordinate G of the drop port center of the discharge arm of the bucket wheel excavator LD equipment; Step L. Obtain the axial extension azimuth of the track according to the positioning antennas of the receiving vehicles T1 and T2, and set it as θ, and use it as the reference azimuth of the base station; Step M. Based on the original initial reference coordinates T and the target real-time coordinates D, obtain the vector from T to D Step N. Based on the direction angle and the vector of step M Obtain the lateral offset Xofset of the docking point between the material drop opening of the transfer machine and the material drop opening of the receiving vehicle; Step O. Based on the direction angle and the vector from step M Obtain the longitudinal offset Yofset of the docking point between the material drop opening of the transfer machine and the receiving vehicle; Step P. Similarly, according to steps L, M, N, and O, the real-time lateral coordinates and offset of the docking point between the center drop point of the bucket wheel excavator and the drop port of the transfer machine are obtained; Step Q. Similarly, according to steps L, M, N, and O, obtain the real-time longitudinal coordinates and offset of the docking point between the center drop point of the transfer machine and the bucket wheel excavator and the drop port of the transfer machine. Step R. According to the lateral offset and the longitudinal offset, the blanking opening is automatically controlled to automatically adjust the docking position until the coordinates are within the allowable deviation range and the automatic docking is completed, and the deviation correction is completed.

4. A method for accurately positioning and correcting the deviation of multiple buckets in continuous equipment according to claim 3, characterized in that: The process of obtaining the real-time lateral coordinates and offset of the center drop point of the loader and bucket wheel excavator described in step P includes the following steps: Step P1. First, determine the lateral offset value of the receiving vehicle. According to the continuous system production process, the receiving vehicle reciprocates on the fixed walking mechanism. It is assumed that the center coordinate point of the receiving port of the receiving vehicle has no lateral offset. The center coordinate point of the material port of the transfer machine unloading arm coincides with the center coordinate point of the material port of the receiving vehicle, which is the best docking position. That is, the coordinates are the same. At this time, the center coordinate point of the receiving port of the receiving vehicle is used as the reference point for the lateral offset of the unloading arm of the transfer machine. Step P2. When there is a lateral offset between the center coordinate point of the discharge opening of the transfer machine's discharge arm and the center coordinate point of the receiving opening of the receiving wagon, and when the lateral offset is 0 < Xofset < & or -& < Xofset < 0, where & is the allowable deviation, it is determined that the discharge point of the transfer machine's discharge arm is in the centered state. The system does not perform deviation correction interference and operates normally, and adjusts itself during operation. Step P3. When there is a lateral offset between the center coordinate point of the discharge opening of the transfer machine's discharge arm and the center coordinate point of the receiving opening of the receiving wagon, and when the lateral offset is & < Xofset < §, where § is the minor deviation, it is determined that the discharge point of the transfer machine's discharge arm is in a slightly right-offset state. The system immediately controls the left rotation of the transfer machine's discharge arm until the coordinate point returns to 0 < Xofset < &, and then it is determined that the discharge point of the transfer machine's discharge arm and the receiving point of the receiving wagon are in the centered state, and the deviation correction is stopped. Step P4. When there is a lateral offset between the center coordinate point of the discharge opening of the transfer machine's discharge arm and the center coordinate point of the receiving opening of the receiving wagon, and when the lateral offset is -§ < Xofset < -&, it is determined that the discharge point of the transfer machine's discharge arm is in a slightly left-offset state. The system immediately controls the right rotation of the transfer machine's discharge arm until the coordinate point returns to -& < Xofset < 0, and then it is determined that the discharge point of the transfer machine's discharge arm and the receiving point of the receiving wagon are in the centered state, and the deviation correction is stopped. Step P5. When there is a lateral offset between the center coordinate point of the discharge opening of the transfer machine's discharge arm and the center coordinate point of the receiving opening of the receiving wagon, and when the lateral offset is Xofset > §, it is determined that the discharge point of the transfer machine's discharge arm is in the right extreme deviation state. The system immediately stops the linked automatic deviation correction and centering mode and switches to the single-action mode. Manual intervention is used to adjust the docking position of the transfer point until the coordinate point returns to 0 < Xofset < &, and then it is determined that the discharge point of the transfer machine's discharge arm and the receiving point of the receiving wagon are in the centered state, and the deviation correction is stopped. Step P6. When there is a lateral offset between the center coordinate point of the discharge opening of the transfer machine's discharge arm and the center coordinate point of the receiving opening of the receiving wagon, and when the lateral offset is Xofset < -§, it is determined that the discharge point of the transfer machine's discharge arm is in the left extreme deviation state. The system immediately stops the linked automatic deviation correction and centering mode and switches to the single-action mode. Manual intervention is used to adjust the docking position of the transfer point until the coordinate point returns to -& < Xofset < 0, and then it is determined that the discharge point of the transfer machine's discharge arm and the receiving point of the receiving wagon are in the centered state, and the deviation correction is stopped. Step P7. Since the transfer machine's discharge arm and the discharge arm are a rotating arm, that is, when the center point of the discharge opening of the transfer machine's discharge arm has an offset for automatic adjustment and deviation correction, according to steps P3 - P6, the center point coordinate of the discharge opening of the transfer machine's receiving arm also changes. Step P8. Similarly, the center point coordinate of the discharge opening of the transfer machine's receiving arm is the reference point for the center point of the discharge opening of the bucket-wheel excavator's discharge arm. Determine the position of the center point of the discharge opening of the bucket-wheel excavator's discharge arm and the center point coordinate of the discharge opening of the transfer machine's receiving arm. The determination method is the same as P1 - P6. When the center point of the discharge opening of the bucket-wheel excavator's discharge arm and the center point coordinate of the discharge opening of the transfer machine's receiving arm are centered, the automatic deviation correction for lateral deviation during continuous system linkage operation is completed.

5. The method for precise positioning and deviation correction of multiple machines coordinated by bucket wheels for continuous equipment according to claim 3, characterized in that: The process of obtaining the real-time longitudinal coordinates and offset of the center dropping points of the transfer machine and the bucket-wheel excavator described in step Q includes the following steps: Step Q1. First, judge the longitudinal offset value of the receiving wagon. According to the continuous system production process, the receiving wagon travels following the transfer machine on the fixed traveling mechanism, and the positioning and deviation correction system sets the center coordinate point of the receiving opening of the receiving wagon as the reference point for the longitudinal offset of the discharging arm of the transfer machine; Step Q2. When there is a longitudinal offset between the center coordinate point of the dropping opening of the discharging arm of the transfer machine and the center coordinate point of the receiving opening of the receiving wagon, when the longitudinal offset is 0 < Yofset < α or -α < Yofset < 0, where the value of & is the allowable deflection, it is judged that the dropping point of the discharging arm of the transfer machine is in the centered state, and the system does not perform deviation correction interference, and the system works normally and adjusts itself during operation; Step Q3. When there is a longitudinal offset between the center coordinate point of the dropping opening of the discharging arm of the transfer machine and the center coordinate point of the receiving opening of the receiving wagon, when the longitudinal offset is α < Yofset < β, where the value of β is the slight deflection, it is judged that the dropping point of the discharging arm of the transfer machine is in the slightly forward deflection state. When the main system PLC receives the forward deflection of the dropping point of the discharging arm of the transfer machine, the system immediately controls the discharging arm of the transfer machine to move forward until the coordinate point returns to 0 < Yofset < α, and it is judged that the dropping point of the discharging arm of the transfer machine and the receiving point of the receiving wagon are in the centered state, and the deviation correction is stopped; Step Q4. When there is a lateral offset between the center coordinate point of the dropping opening of the discharging arm of the transfer machine and the center coordinate point of the receiving opening of the receiving wagon, when the lateral offset is -β < Yofset < -α, it is judged that the dropping point of the discharging arm of the transfer machine is in the slightly backward deflection state. When the main system PLC receives the backward deflection of the dropping point of the discharging arm of the transfer machine, the system immediately controls the discharging arm to move backward until the coordinate point returns to -α < Yofset < 0, and it is judged that the dropping point of the discharging arm of the transfer machine and the receiving point of the receiving wagon are in the centered state, and the deviation correction is stopped; Step Q5. When there is a longitudinal offset between the center coordinate point of the dropping opening of the discharging arm of the transfer machine and the center coordinate point of the receiving opening of the receiving wagon, when the longitudinal offset is Yofset > β, it is judged that the dropping point of the discharging arm of the transfer machine is in the limit state of forward deflection. The system immediately stops the linkage automatic deviation correction and centering mode and switches to the single-action mode. Manual intervention is used to adjust the docking position of the transfer point until the coordinate point returns to 0 < Xofset < α, and it is judged that the dropping point of the discharging arm of the transfer machine and the receiving point of the receiving wagon are in the centered state, and the deviation correction is stopped; Step Q6. When there is a longitudinal offset between the center coordinate point of the dropping opening of the discharging arm of the transfer machine and the center coordinate point of the receiving opening of the receiving wagon, when the longitudinal offset is Yofset < -β, it is judged that the dropping point of the discharging arm of the transfer machine is in the limit state of backward deflection. The system immediately stops the linkage automatic deviation correction and centering mode and switches to the single-action mode. Manual intervention is used to adjust the docking position of the transfer point until the coordinate point returns to -α < Xofset < 0, and it is judged that the dropping point of the discharging arm of the transfer machine and the receiving point of the receiving wagon are in the centered state, and the deviation correction is stopped; Step Q7. Since the discharging arm and the discharging arm of the transfer machine are a slewing arm, that is, when the center point of the dropping opening of the discharging arm of the transfer machine has a longitudinal offset for automatic adjustment and deviation correction, according to steps Q3 - Q6, the center point coordinates of the dropping opening of the receiving arm of the transfer machine also change; Step Q8. Similarly, the coordinates of the center point of the material opening of the loading arm of the transfer machine are the reference point of the center point of the material opening of the unloading arm of the bucket wheel excavator. The coordinates of the center point of the material opening of the unloading arm of the bucket wheel excavator and the center point of the material opening of the loading arm of the transfer machine are determined. The method is the same as Q1-Q6; when the center point of the discharge port of the bucket wheel excavator is aligned with the center point of the discharge port of the loading arm of the transfer machine, Then the automatic correction of lateral deflection during the continuous system linkage operation is completed.

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