Anti-collision device and method for bucket wheel type stacker-reclaimer

Abstract

The invention relates to a bucket wheel type stacker-reclaimer anti-collision device and method, and the device comprises a bucket wheel type stacker-reclaimer, a walking direction coding cable, a cantilever pitching angle sensor, a cantilever rotation angle sensor, an edge server, a wireless gateway, and a centralized control server. The method comprises the steps that the bucket-wheel stacker-reclaimer, the walking direction coding cable, the cantilever pitching angle sensor and the cantilever rotation angle sensor are used for detecting the walking position of the bucket-wheel stacker-reclaimer and the position state of a cantilever in a three-dimensional space, and real-time detection data are calculated through the onboard edge server and then are transmitted to the cantilever pitching angle sensor. And the running posture and position information is sent to a centralized control server through a wireless gateway, and an anti-collision judgment method for judging different-rail running, same-rail running and rail boundary conditions is formed according to a position calculation result.

Description

Technical Field

[0001] This patent application belongs to the technical field of production equipment control in the raw material yard area. More specifically, it relates to an anti-collision device and method for a bucket wheel stacker-reclaimer. Background Art

[0002] The bucket wheel stacker-reclaimer, also known as the cantilever stacker-reclaimer, is a special stacking and reclaiming equipment for bulk material yards and is widely used in ports, thermal power plants, and raw material yards of steel enterprises. The operation mode of the stacker-reclaimer has always been manual, with high labor intensity for operators, low automation level, and large fluctuations in operation efficiency depending on the driver's fatigue level, operation level, etc.

[0003] With the development of information technology, the fully automatic operation mode of the stacker-reclaimer based on intelligent sensing technology is of great significance in reducing the number of workers, lowering labor intensity, and improving operation efficiency and quality. However, in the automatic operation mode, it is difficult for remote operators in the main control room to intuitively feel the relative position of the stacker-reclaimer. If a collision occurs between equipment, it may cause damage to the equipment or loss of working ability, resulting in production interruption, increased maintenance costs, and shortened equipment life.

[0004] Therefore, developing an anti-collision device and method for a bucket wheel stacker-reclaimer is a key step in the application and research of the unmanned yard technology, which can calculate the real-time positions between stacker-reclaimers and between the stacker-reclaimer and the boundary of the storage yard in real time to prevent collisions. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide an anti-collision device and method for a bucket wheel stacker-reclaimer, which can calculate the real-time positions between bucket wheel stacker-reclaimers and between the stacker-reclaimer and the boundary of the storage yard in real time to prevent collisions.

[0006] To solve the above problems, the technical solution adopted by the present invention is as follows:

[0007] An anti-collision device for a bucket wheel stacker-reclaimer, the bucket wheel stacker-reclaimer runs on a track, and includes a traveling direction coding cable installed on the track of the bucket wheel stacker-reclaimer, a boom pitch angle sensor installed on the boom pitching mechanism of the bucket wheel stacker-reclaimer, a boom rotation angle sensor installed on the boom rotation mechanism of the bucket wheel stacker-reclaimer, an edge server installed in the control room of the bucket wheel stacker-reclaimer, wireless gateways respectively installed outside the bucket wheel stacker-reclaimer and the control room, and a centralized control server located in the main control room and connected to the wireless gateway. The edge server is connected to the bucket wheel stacker-reclaimer, the traveling direction coding cable, the boom pitch angle sensor, the boom rotation angle sensor, and the wireless gateway;

[0008] The traveling direction coding cable is used to detect the real-time position of the bucket wheel stacker-reclaimer;

[0009] The cantilever pitching angle sensor is used to detect the cantilever pitching angle;

[0010] The cantilever rotation angle sensor is used to detect the cantilever rotation angle;

[0011] The edge server is used to process the control signals sent by the traveling direction encoding cable, the cantilever pitching angle sensor, the cantilever rotation angle sensor and the centralized control server;

[0012] The wireless gateway is used for information interaction between the on-board control signal and the centralized control server in the main control room.

[0013] Furthermore, the position detection accuracy of the traveling direction encoding cable reaches 2 mm, the signal output mode is RS485, and the gap between the antenna box and the traveling direction encoding cable is within 50 - 300 mm.

[0014] Furthermore, both the cantilever pitching angle sensor and the cantilever rotation angle sensor adopt industrial-grade single-axis inclination sensors, with a measurement range of 0 to ±180° (0 - 360°), a maximum accuracy of 0.008°, a signal output mode of RS485, an IP68 protection level, a DC 24V power supply voltage, and an operating temperature range of -40 to +85°C.

[0015] Furthermore, the CPU of the edge server is an i7-7700, the memory is 16G, the storage space is a 256G solid-state drive, with 4 network ports, 4 serial COM communication ports, 8 USB ports, and 2 PCIE slots;

[0016] The wireless gateway is a dual-band gateway of 2.4Ghz and 5Ghz, with a transmission distance of 10 kilometers.

[0017] In addition, the present invention also discloses a collision prevention method for a bucket wheel stacker-reclaimer, which utilizes the above device and includes the following steps:

[0018] S1. Obtain the coordinates of the cantilever end point of the bucket wheel stacker-reclaimer;

[0019] S2. There are three collision prevention methods for the bucket wheel stacker-reclaimer, namely running on different tracks, running on the same track, and track boundary. For the corresponding collision prevention methods, formulate collision prevention warning categories;

[0020] S3. According to the formulated collision prevention warning categories, calculate the corresponding collision prevention operation parameters.

[0021] Furthermore, in S1, "obtain the coordinates of the cantilever end point of the bucket wheel stacker-reclaimer" specifically refers to:

[0022] Assume that one corner of the stockyard is taken as the origin, the traveling direction is the X-axis, the direction of the stockpile is the Y-axis, and the vertical direction is the Z-axis. The boom length of a bucket-wheel stacker-reclaimer is L1, the distance measured in the traveling direction is x1, the boom pitching angle is α1, and the boom rotation angle is β1. Then the coordinates (x d1 , y d1 , z d1 ) of the boom tip of the bucket-wheel stacker-reclaimer are:

[0023] (x1 + L1×cos(α1)×cos(β1), L1×cos(α1)×sin(β1), L1×sin(α1));

[0024] When there is a second bucket-wheel stacker-reclaimer on the adjacent stock strip in the same stockyard and the interval between the two stacker-reclaimers is D, the boom length of the other bucket-wheel stacker-reclaimer is L2, the distance measured in the traveling direction is x2, the boom pitching angle is α2, and the boom rotation angle is β2. Then the coordinates (x d2 , y d2 , z d2 ) of the boom tip of the second bucket-wheel stacker-reclaimer are:

[0025] (x2 + L2×cos(α2)×cos(β2), D + L2×cos(α2)×sin(β2), L2×sin(α2));

[0026] Furthermore, in S2, "formulating anti-collision warning categories for the corresponding anti-collision methods" specifically refers to:

[0027] In the case of off-track operation, for anti-collision between the booms of two bucket-wheel stacker-reclaimers, in this case, the anti-collision warning is divided into three categories.

[0028] The first category is a light warning, which means that when the two stacker-reclaimers are in the horizontal boom situation and the closest distance between the booms reaches the safety distance A1, the system issues a warning message; the second category is a heavy warning, which means that when the two bucket-wheel stacker-reclaimers are in the horizontal boom situation and the closest distance between the booms reaches the safety distance A1 / 2, the system issues an audible and visual alarm to remind the operator to intervene in the control of the bucket-wheel stacker-reclaimer; the third situation is an emergency stop alarm, which means that in the projection of the two bucket-wheel stacker-reclaimers in three-dimensional space, if there are intersections in any two plane projections, the system will make an emergency stop;

[0029] In the case of on-track operation, if the projection of the coordinates of the boom tips of the two bucket-wheel stacker-reclaimers on the x-axis reaches the safety distance A2, the system issues a warning message; when the projection distance of the coordinates of the boom tips of the two bucket-wheel stacker-reclaimers on the x-axis is A2 / 2, the system makes an emergency stop alarm;

[0030] In the case of the track boundary, to prevent collisions between the bucket-wheel stacker-reclaimer and the storage bin or to protect the bucket-wheel stacker-reclaimer from derailing. Regarding the anti-collision between the bucket-wheel stacker-reclaimer and the storage bin, when the boom of the bucket-wheel stacker-reclaimer is placed horizontally parallel to the guide rail, and the distance between the boom and the storage bin reaches the safe distance A3, the system issues a warning message. When the distance between the boom and the storage bin is A3 / 2, the system issues an emergency stop alarm. For the derailment condition, limit limit switches are installed at the extreme positions. If the limit limit switches are actuated, the bucket-wheel stacker-reclaimer system shuts down.

[0031] Furthermore, in S3, "calculating the corresponding anti-collision operation parameters according to the formulated anti-collision warning categories" specifically refers to:

[0032] In the case of different-rail operation, the anti-collision between the booms of two bucket-wheel stacker-reclaimers is as follows:

[0033] The first category is a light warning, which means that when the booms of two bucket-wheel stacker-reclaimers are horizontal, and the closest distance between the cantilevers reaches the safe distance A1, the system issues a warning message. At this time, the judgment condition is the distance between the two vehicles:

[0034]

[0035] The second category is a heavy warning, which means that when the booms of two bucket-wheel stacker-reclaimers are horizontal, and the closest distance between the cantilevers reaches the safe distance A1 / 2, the system issues an audible and visual alarm. At this time, the judgment condition is:

[0036]

[0037] The third category is an emergency stop alarm, which means that in the three-dimensional space projection of two bucket-wheel stacker-reclaimers, there is an intersection point in any two plane projections. In this case, the system makes an emergency stop and calculates in the XOY plane, YOZ plane, and XOZ plane respectively.

[0038] Furthermore, "calculating in the XOY plane, YOZ plane, and XOZ plane respectively" refers to:

[0039] In the XOY plane, fitting L1 into a straight line, the equation of the straight line is:

[0040] y L1 = x L1 ×tan(β1) + y d1 - x d1 ×tan(α1)

[0041] where the value range of x L1 is (x1, x1 + L1×cos(α1)×cos(β1));

[0042] Similarly, fitting L2 into a straight line, the equation of this straight line is:

[0043] y L2 = x L2 ×tan(β2) + y d2 - x d2 ×tan(α2)

[0044] where the value range of x L2 is (x d2 , x2 + L2×cos(α2)×cos(β2));

[0045] If the two straight lines L1 and L2 have an intersection point x jd in the XOY plane, then:

[0046] x jd ×tan(β1) + y d1 - x d1 ×tan(α1) = x jd ×tan(β2) + y d2 - x d2 ×tan(α2)

[0047] The x jd value of the intersection point is:

[0048]

[0049] If the value of x at this time is within the range of (x d1 , x1 + L1×cos(α1)×cos(β1)), it proves that there is an intersection in the projection of the two bucket-wheel stacker-reclaimers on the XOY plane;

[0050] In the YOZ plane, fitting L1 into a straight line, where y0 is the vertical distance between the running track of the bucket-wheel stacker-reclaimer and the Y-axis, the equation of this straight line is:

[0051]

[0052] where the value range of y L1 is (y0, y d1 );

[0053] Similarly, fitting L2 into a straight line, the equation of this straight line is:

[0054]

[0055] where the value range of y L2 is (y0 + D, y d2 );

[0056] If the two straight lines L1 and L2 have an intersection point y in the YOZ planejd , then:

[0057]

[0058] Then the y value of the intersection point is: jd Value is:

[0059]

[0060] If at this time the y jd value is within the range of (y0, L1×cos(α1)×sin(β1)), it proves that there is an intersection in the projection of the two bucket-wheel stacker-reclaimers on the YOZ plane;

[0061] In the XOZ plane, fitting L1 into a straight line, then the equation of this straight line is:

[0062]

[0063] where the value range of z L1 is (0, L1×sin(α1)×cos(β1));

[0064] Similarly, fitting L2 into a straight line, then the equation of this straight line is:

[0065]

[0066] where the value range of z L2 is (0, L2×sin(α2)×cos(β2));

[0067] If the two straight lines L1 and L2 have an intersection point in the XOZ plane, then:

[0068]

[0069] The value of the intersection point z jd is:

[0070]

[0071] If at this time the x value is within the range of (L1×sin(α1)×cos(β1), L2×sin(α2)×cos(β2)); it proves that there is an intersection in the projection of the two bucket-wheel stacker-reclaimers on the XOZ plane.

[0072] Furthermore, the safety distance A1 for light early warning is 10m, the boom lengths of the bucket-wheel stacker-reclaimers L1 = L2 = 35m, and the interval D between the two stacker-reclaimers is 60m.

[0073] Due to the adoption of the above technical solution, the beneficial effects obtained by the present invention are:

[0074] This device can accurately position each moving part of the bucket-wheel stacker-reclaimer, effectively preventing collisions and motion interference between bucket-wheel stacker-reclaimers on the same track and different tracks. The present invention detects the traveling position of the bucket-wheel stacker-reclaimer and the position of the boom in three-dimensional space through a traveling direction coding cable, a boom pitch angle sensor, and a boom rotation angle sensor, calculates the real-time positions between the stacker-reclaimers and between the stacker-reclaimer and the boundary of the storage yard in real time, and creates a model to prevent collisions from occurring. Description of the Drawings

[0075] Figure 1 is a schematic diagram of the installation position of the detection components of the present invention;

[0076] Figure 2 is a schematic diagram of the coordinates of two stacker-reclaimers of the present invention in three-dimensional space;

[0077] Figure 3 is a schematic diagram of the projected coordinates of two stacker-reclaimers of the present invention on the XOY plane;

[0078] Figure 4 is a schematic diagram of the relative positions between two stacker-reclaimers on the same track of the present invention.

[0079] Figure 5 is a schematic diagram of the network connection of each device related to the present invention.

[0080] Among them: 1. Bucket-wheel stacker-reclaimer, 2. Traveling direction coding cable, 3. Boom pitch angle sensor, 4. Boom rotation angle sensor, 5. Edge server, 6. Wireless gateway, 7. Centralized control server. Detailed Description of the Invention

[0081] The present invention will be further described in detail below with reference to the embodiments.

[0082] An anti-collision device for a bucket-wheel stacker-reclaimer, as Figure 1, including a bucket-wheel stacker-reclaimer 1, a traveling direction coding cable 2, a boom pitching angle sensor 3, a boom rotation angle sensor 4, an edge server 5, a wireless gateway 6, and a centralized control server 7. The bucket-wheel stacker-reclaimer 1 runs on a track. The traveling direction coding cable 2 is installed on the track of the bucket-wheel stacker-reclaimer 1 and is used to detect the real-time position of the bucket-wheel stacker-reclaimer 1. The boom pitching angle sensor 3 is installed on the pitching mechanism of the boom of the bucket-wheel stacker-reclaimer 1 and is used to detect the boom pitching angle. The boom rotation angle sensor 4 is installed on the rotation mechanism of the boom of the bucket-wheel stacker-reclaimer 1 and is used to detect the boom rotation angle. The edge server 5 is installed in the control room of the bucket-wheel stacker-reclaimer 1 and is used to process the control signals sent by the traveling direction coding cable 2, the boom pitching angle sensor 3, the boom rotation angle sensor 4, and the centralized control server 7. The wireless gateway 6 is installed on the bucket-wheel stacker-reclaimer 1 and outside the main control room respectively and is used for information interaction between the on-board control signals and the centralized control server 7 in the main control room.

[0083] The edge server 5 is connected to the bucket-wheel stacker-reclaimer 1, the traveling direction coding cable 2, the boom pitching angle sensor 3, the boom rotation angle sensor 4, and the wireless gateway 6.

[0084] The anti-collision control method uses the above components and includes the following steps:

[0085] S1. Obtain the coordinates of the boom end point of the bucket-wheel stacker-reclaimer;

[0086] S2. There are three anti-collision modes for the bucket-wheel stacker-reclaimer, namely running on different tracks, running on the same track, and track boundary. For the corresponding anti-collision modes, formulate anti-collision warning categories;

[0087] S3. According to the formulated anti-collision warning categories, calculate the corresponding anti-collision operation parameters.

[0088] In S1, "obtain the coordinates of the boom end point of the bucket-wheel stacker-reclaimer" specifically means:

[0089] Assume that one corner of the stockyard is taken as the origin, the traveling direction is the X-axis, the stockpile direction is the Y-axis, and the vertical direction is the Z-axis. The boom length of a bucket-wheel stacker-reclaimer is L1, the distance measured in the traveling direction is x1, the boom pitching angle is α1, and the boom rotation angle is β1. Then the coordinates (x d1 , y d1 , z d1 ) of the boom end point of the bucket-wheel stacker-reclaimer are:

[0090] (x1 + L1 × cos(α1) × cos(β1), L1 × cos(α1) × sin(β1), L1 × sin(α1));

[0091] When there is a second bucket-wheel stacker-reclaimer on the adjacent strip in the same material yard, and the distance between the two stacker-reclaimers is D, the boom length of the other bucket-wheel stacker-reclaimer is L2, the distance measured in the traveling direction is x2, the boom pitching angle is α2, and the boom rotation angle is β2, then the coordinates (x d2 , y d2 , z d2 ) of the boom tip of the second bucket-wheel stacker-reclaimer are:

[0092] (x2 + L2×cos(α2)×cos(β2), D + L2×cos(α2)×sin(β2), L2×sin(α2)).

[0093] In S2, "formulating anti-collision warning categories for corresponding anti-collision methods" specifically refers to:

[0094] In the case of off-track operation, the anti-collision between the booms of the two bucket-wheel stacker-reclaimers. In this case, the anti-collision warning includes three situations: off-track operation, on-track operation, and track boundary.

[0095] In the case of off-track operation, the anti-collision between the booms of the two bucket-wheel stacker-reclaimers 1. The anti-collision warning in this off-track operation is divided into three categories:

[0096] The first category is a light warning, which means that when the two stacker-reclaimers are in the horizontal boom situation and the closest distance between the booms reaches the safety distance A1, the system issues a warning message;

[0097] The second category is a heavy warning, which means that when the two stacker-reclaimers are in the horizontal boom situation and the closest distance between the booms reaches the safety distance A1 / 2, the system issues an audible and visual alarm to remind the operator to intervene in the control of the bucket-wheel stacker-reclaimer 1;

[0098] The third category is an emergency stop alarm, which means that in the three-dimensional space projection of the two stacker-reclaimers, if there are intersections in any two plane projections, the system will make an emergency stop.

[0099] In the case of on-track operation, if the projection of the coordinates of the boom tips of the two bucket-wheel stacker-reclaimers on the x-axis reaches the safety distance A2, the system issues a warning message; when the projection distance of the coordinates of the boom tips of the two bucket-wheel stacker-reclaimers on the x-axis is A2 / 2, the system makes an emergency stop alarm;

[0100] In the case of the track boundary, to prevent collision between the bucket-wheel stacker-reclaimer and the storage bin or to protect the bucket-wheel stacker-reclaimer from derailing. For the anti-collision between the bucket-wheel stacker-reclaimer and the storage bin, when the boom of the bucket-wheel stacker-reclaimer is placed horizontally parallel to the guide rail, and the distance between the boom and the storage bin reaches the safety distance A3, the system issues a warning message. When the distance between the boom and the storage bin is A3 / 2, the system issues an emergency stop alarm. For the derailment condition, limit limit switches are installed at the extreme positions. If the limit limit switches are actuated, the bucket-wheel stacker-reclaimer system stops.

[0101] The second anti-collision method is in the case of running on the same track. For the projections of the cantilever endpoints of two bucket-wheel stacker-reclaimers on the x-axis, if the distance reaches the safety distance A2 (A2 can be taken as 72 m), the system issues a warning message. When the projected distance between the cantilever endpoints of two bucket-wheel stacker-reclaimers on the x-axis is A2 / 2, the system issues an emergency stop alarm.

[0102] The third anti-collision method described is for the anti-collision between the stacker-reclaimer and the storage bin or to protect the bucket-wheel stacker-reclaimer 1 from derailing. Limit limit switches are installed at the extreme positions. If the switches are actuated, the stacker-reclaimer system stops.

[0103] In S3, "calculating the corresponding anti-collision operation parameters according to the formulated anti-collision warning categories" specifically means:

[0104] In the case of running on different tracks, the anti-collision between the booms of two bucket-wheel stacker-reclaimers is as follows:

[0105] The first category is a light warning, which means that when the two bucket-wheel stacker-reclaimers are in the horizontal boom condition and the closest distance between the cantilevers reaches the safety distance A1, the system issues a warning message. At this time, the judgment condition is the distance between the two vehicles:

[0106]

[0107] The second category is a heavy warning, which means that when the two bucket-wheel stacker-reclaimers are in the horizontal boom condition and the closest distance between the cantilevers reaches the safety distance A1 / 2, the system issues an audible and visual alarm. At this time, the judgment condition is:

[0108]

[0109] The third category is an emergency stop alarm, which means that in the projection of the two bucket-wheel stacker-reclaimers in three-dimensional space, if there are intersections in any two plane projections, the system will make an emergency stop, and it is calculated in the XOY plane, YOZ plane, and XOZ plane respectively.

[0110] Specifically, "calculating in the XOY plane, YOZ plane, and XOZ plane respectively" means:

[0111] In the XOY plane, fitting L1 into a straight line, the equation of this straight line is:

[0112] y L1 = x L1 ×tan(β1) + y d1 - x d1 ×tan(α1)

[0113] where the value range of x L1 is (x1, x1 + L1×cos(α1)×cos(β1));

[0114] Similarly, fitting L2 into a straight line, the equation of this straight line is:

[0115] y L2 = x L2 ×tan(β2) + y d2 - x d2 ×tan(α2)

[0116] where the value range of x L2 is (x d2 , x2 + L2×cos(α2)×cos(β2));

[0117] If the two straight lines L1 and L2 have an intersection point x jd in the XOY plane, then:

[0118] x jd ×tan(β1) + y d1 - x d1 ×tan(α1) = x jd ×tan(β2) + y d2 - x d2 ×tan(α2)

[0119] The x jd value of the intersection point is:

[0120]

[0121] If the value of x at this time is within the range of (x d1 , x1 + L1×cos(α1)×cos(β1)), it proves that there is an intersection in the projection of the two bucket-wheel stacker reclaimers on the XOY plane;

[0122] In the YOZ plane, fitting L1 into a straight line, where y0 is the vertical distance between the running track of the bucket-wheel stacker reclaimer and the Y-axis, the equation of this straight line is:

[0123]

[0124] where y L1The value range of is (y0, y d1 );

[0125] Similarly, fitting L2 into a straight line, the equation of this straight line is:

[0126]

[0127] where y L2 The value range of is (y0 + D, y d2 );

[0128] If the two straight lines L1 and L2 have an intersection point y jd in the YOZ plane, then:

[0129]

[0130] Then the y jd value of the intersection point is:

[0131]

[0132] If the value of y jd at this time is within the range of (y0, L1×cos(α1)×sin(β1)), it proves that there is an intersection in the projection of the two bucket-wheel stacker-reclaimers on the YOZ plane;

[0133] In the XOZ plane, fitting L1 into a straight line, the equation of this straight line is:

[0134]

[0135] where z L1 The value range of is (0, L1×sin(α1)×cos(β1));

[0136] Similarly, fitting L2 into a straight line, the equation of this straight line is:

[0137]

[0138] where z L2 The value range of is (0, L2×sin(α2)×cos(β2));

[0139] If the two straight lines L1 and L2 have an intersection point in the XOZ plane, then:

[0140]

[0141] The z jd value of the intersection point is:

[0142]

[0143] If the value of x is within the range of (L1×sin(α1)×cos(β1), L2×sin(α2)×cos(β2)) at this time, it proves that there is an intersection in the projection of the two bucket-wheel stacker-reclaimers on the XOZ plane.

[0144] For example:

[0145] The safety distance A1 for light warning is 10m, the boom lengths of the two bucket-wheel stacker-reclaimers are L1 = L2 = 35m, and the interval D between the two stacker-reclaimers is 60m.

[0146] To meet the above light warning requirements, the distance between the two stacker-reclaimers is:

[0147]

[0148] To meet the above heavy warning requirements, the distance between the two stacker-reclaimers is:

[0149]

[0150] When reaching the emergency stop alarm situation, the measured distance in the traveling direction is x1 = 50, the boom pitching angle is α1 = 60°, and the boom rotation angle is β1 = 30°. Then the coordinates (x d1 , y d1 , z d1 ) of the boom tip of the bucket-wheel stacker-reclaimer are:

[0151] (x1 + L1×cos(α1)×cos(β1), L1×cos(α1)×sin(β1), L1×sin(α1));

[0152] That is, (65.155, 8.75, 30.31);

[0153] When there is a second bucket-wheel stacker-reclaimer on the adjacent material strip in the same storage yard and the interval D between the two stacker-reclaimers is 60m, the boom length of the other bucket-wheel stacker-reclaimer is L2 = 35m, the measured distance in the traveling direction is x2 = 75m, the boom pitching angle is α2 = 30°, and the boom rotation angle is β2 = 240°. Then the coordinates (x d2 , y d2 , z d2 ) of the boom tip of the second bucket-wheel stacker-reclaimer are:

[0154] (x2 + L2×cos(α2)×cos(β2), D + L2×cos(α2)×sin(β2), L2×sin(α2));

[0155] That is, (59.845, 33.75, 17.5)

[0156] Taking the XOY plane as an example, if L1 is fitted to a straight line, the equation of this straight line is:

[0157] y L1 = x L1 × tan(β1) + y d1 - x d1 × tan(α1)

[0158] That is: y L1 = x L1 × 0.577 + 8.75 - 65.155 × 1.732 = 0.577x L1 - 104.1

[0159] where the value range of x L1 is (x1, x1 + L1 × cos(α1) × cos(β1));

[0160] That is (50, 65.155)

[0161] Similarly, if L2 is fitted to a straight line, the equation of this straight line is:

[0162] y L2 = x L2 × tan(β2) + y d2 - x d2 × tan(α2)

[0163] That is: y L2 = x L2 × 1.732 + 33.75 - 59.845 × 0.577 = 1.732x L2 - 0.78

[0164] where the value range of x L2 is (22.5, 59.845);

[0165] If the two straight lines L1 and L2 have an intersection point x jd in the XOY plane, then:

[0166] x jd × tan(β1) + y d1 - x d1 × tan(α1) = x jd × tan(β2) + y d2 - x d2 × tan(α2)

[0167] The x jd value of the intersection point is:

[0168]

[0169] That is, the intersection coordinates are (-89.45, -155.71).

[0170] If the value of x is not within the range at this time, it proves that there is no intersection in the projection of the two bucket-wheel stacker-reclaimers on the XOY plane.

[0171] Other situations are the same.

[0172] Component selection of an anti-collision device for a bucket-wheel stacker-reclaimer of the present invention:

[0173] The traveling direction coding cable 2 is suitable for harsh industrial environments such as high dust and high temperature, resistant to acid and alkali corrosion, with an IP65 protection level, using a non-contact working method, a position detection accuracy of 2 mm, an RS485 signal output method, and the gap between the antenna box and the coding cable is within 50 - 300 mm.

[0174] The described boom pitching angle sensor 3 and boom rotation angle sensor 4 use industrial-grade single-axis inclinometers, with a measurement range of 0 to ±180° (0 - 360°), a maximum accuracy of 0.008°, an RS485 signal output method, an IP68 protection level, a DC 24V power supply voltage, and a working temperature range of -40 to +85°C.

[0175] The CPU of the described edge server 5 is an i7-7700, with a memory of 16G, a 256G solid-state drive for storage space, 4 network ports, 4 serial COM communication ports, 8 USB ports, and 2 PCIE slots.

[0176] The described wireless gateway 6 is a dual-band of 2.4 and 5Ghz, with a transmission distance of 10 kilometers.

[0177] The following components are used in this implementation case:

[0178] The traveling direction coding cable 2 uses a coding cable of Yueyang Qianmeng QM-CBPF model, the boom pitching angle sensor 3 and the boom rotation angle sensor 4 use the Wuxi Maike Sensing HMS718T single-axis current-type inclinometer, and the edge server 5 uses the EIS-S230 Advantech embedded AI edge intelligent industrial computer.

Claims

1. A bucket wheel stacker and reclaimer anti-collision device, the bucket wheel stacker and reclaimer (1) running on a track, characterized in that: The invention comprises a running direction coding cable (2) installed on a track of a bucket wheel stacker and reclaimer (1), a cantilever pitch angle sensor (3) installed on a pitch mechanism of a cantilever of the bucket wheel stacker and reclaimer (1), a cantilever rotation angle sensor (4) installed on a rotation mechanism of the cantilever of the bucket wheel stacker and reclaimer (1), an edge server (5) installed in a control room of the bucket wheel stacker and reclaimer (1), a wireless gateway (6) installed in the bucket wheel stacker and reclaimer (1) and outside the control room respectively, and a centralized control server (7) located in a main control room and connected to the wireless gateway (6); the edge server (5) is connected to the bucket wheel stacker and reclaimer (1), the running direction coding cable (2), the cantilever pitch angle sensor (3), the cantilever rotation angle sensor (4), and the wireless gateway (6); The running direction encoding cable (2) is used to detect the real-time position of the bucket wheel stacker and reclaimer (1); The cantilever pitch angle sensor (3) is used to detect the cantilever pitch angle; The cantilever rotation angle sensor (4) is used to detect the cantilever rotation angle; The edge server (5) is used to process the control signals sent by the running direction coding cable (2), the cantilever pitch angle sensor (3), the cantilever rotation angle sensor (4) and the centralized control server (7); The wireless gateway (6) is used for information exchange between the onboard control signal and the central control server (7) in the main control room.

2. The anti-collision device for a bucket wheel stacker and reclaimer according to claim 1, characterized in that: The position detection accuracy of the running direction coding cable (2) reaches 2mm, the signal output mode is RS485, and the gap between the antenna box and the running direction coding cable (2) is within 50 to 300mm.

3. The anti-collision device for a bucket wheel stacker and reclaimer according to claim 1, characterized in that: The cantilever pitch angle sensor (3) and the cantilever rotation angle sensor (4) both adopt industrial-grade single-axis inclination sensors with a measurement range of 0 to ±180°, a maximum accuracy of 0.008°, a signal output mode of RS485, a protection level of IP68, a power supply voltage of DC 24V, and an operating temperature range of -40 to +85°C.

4. The anti-collision device for a bucket wheel stacker and reclaimer according to claim 1, characterized in that: The edge server (5) has an i7-7700 CPU, 16G memory, a 256G solid-state hard drive, 4 network ports, 4 serial COM communication ports, 8 USB ports, and 2 PCIE slots; The wireless gateway (6) is a 2.4Ghz and 5Ghz dual-band gateway with a transmission distance of 10 kilometers.

5. A method for preventing a bucket wheel stacker and reclaimer from collision, using the device according to any one of claims 1 to 4, characterized in that The steps include: S1, obtaining the cantilever end point coordinates of the bucket wheel stacker and reclaimer; S2. Bucket-wheel stacker-reclaimers have three anti-collision modes, namely, running on different tracks, running on the same track, and running on track boundaries. Anti-collision warning categories are formulated for the corresponding anti-collision modes; S3. Calculate corresponding anti-collision operation parameters according to the established anti-collision warning category.

6. The method for preventing a bucket wheel stacker and reclaimer from collision according to claim 5, characterized in that: In S1, "obtaining the cantilever end point coordinates of the bucket wheel stacker reclaimer" specifically means: Assume that a corner of the material field is taken as the origin, the travel direction is the X-axis, the material pile direction is the Y-axis, and the vertical direction is the Z-axis. The boom length of a bucket wheel stacker is L1, the distance measured in the travel direction is x1, the boom pitch angle is α1, and the boom rotation angle is β1. Then the boom end point coordinates (x d1 ,y d1 , z d1 )for: (x1+L1×cos(α1)×cos(β1), L1×cos(α1)×sin(β1), L1×sin(α1)); When there is a second bucket-wheel stacker-reclaimer on the adjacent strip in the same material yard, and the interval between the two stackers is D, the boom length of the other bucket-wheel stacker-reclaimer is L2, the distance measured in the travel direction is x2, the boom pitch angle is α2, and the boom rotation angle is β2, then the boom end point coordinates (x d2 ,y d2 , z d2 )for: (x2+L2×cos(α2)×cos(β2), D+L2×cos(α2)×sin(β2), L2×sin(α2)).

7. The method for preventing a bucket wheel stacker and reclaimer from collision according to claim 5, characterized in that: In S2, "formulate anti-collision warning categories for corresponding anti-collision methods" specifically refers to: In the case of different track operation, the collision prevention between the material arms of two bucket wheel stacker and reclaimer can be divided into three categories: The first type is a light warning, which refers to the situation where the closest distance between the cantilevers of the two stackers reaches the safe distance A1 when the material arms are horizontal, and the system issues a warning message; the second type is a heavy warning, which refers to the situation where the closest distance between the cantilevers of the two bucket-wheel stackers reaches the safe distance A1 / 2 when the material arms are horizontal, and the system issues an audible and visual alarm to remind the operator to intervene in the control of the bucket-wheel stackers; the third situation is an emergency stop alarm, which refers to the situation where any two plane projections of the two bucket-wheel stackers have an intersection in the three-dimensional space projection, and the system stops urgently in this situation; When running on the same track, if the projection distance of the two bucket wheel stacker reclaimers’ cantilever end coordinates on the x-axis reaches the safety distance A2, the system will issue an early warning message; if the projection distance of the two bucket wheel stacker reclaimers’ cantilever end coordinates on the x-axis is A2 / 2, the system will issue an emergency stop alarm; In the case of track boundary, the bucket wheel stacker and reclaimer can prevent collision or protect the bucket wheel stacker and reclaimer from derailment. For the anti-collision between the bucket wheel stacker and reclaimer and the material bin, when the material arm of the bucket wheel stacker and reclaimer is placed horizontally parallel to the guide rail, the distance between the material arm and the material bin reaches the safety distance A3, and the system issues a warning message. When the distance between the material arm and the material bin is A3 / 2, the system emergency stop alarm; for derailment conditions, an extreme limit switch is installed at the extreme position. If the extreme limit switch is activated, the bucket wheel stacker and reclaimer system will shut down.

8. The method for preventing a bucket wheel stacker and reclaimer from collision according to claim 7, characterized in that: In S3, "calculating corresponding anti-collision operation parameters according to the established anti-collision warning category" specifically refers to: In the case of different track operation, the anti-collision between the material arms of the two bucket wheel stacker-reclaimers are as follows: The first type is a light warning, which refers to the situation where the shortest distance between the booms of two bucket wheel stackers reaches the safe distance A1 when the booms are horizontal. The system issues a warning message. At this time, the judgment condition is that the distance between the two vehicles is: The second type is a severe warning, which means that when the two bucket wheel stackers are horizontal and the shortest distance between the booms reaches the safety distance A1 / 2, the system will send out an audible and visual alarm. The judgment conditions are: The third type of situation is the emergency stop alarm, which refers to the situation where any two plane projections of the two bucket wheel stackers in the three-dimensional space have an intersection. In this case, the system stops urgently and calculates in the XOY plane, YOZ plane, and XOZ plane respectively.

9. The method for preventing collision of a bucket wheel stacker and reclaimer according to claim 8, characterized in that: "Calculate in XOY plane, YOZ plane, and XOZ plane respectively" means: In the XOY plane, L1 is fitted as a straight line, and the equation of the straight line is: y L1 =x L1 ×tan(β1)+y d1 -x d1 ×tan(α1) where x L1 The value range of is (x1, x1+L1×cos(α1)×cos(β1)); Similarly, if L2 is fitted into a straight line, the equation of the straight line is: y L2 =x L2 ×tan(β2)+y d2 -x d2 ×tan(α2) where x L2 The value range is (x d2 ,x2+L2×cos(α2)×cos(β2)); If the two lines L1 and L2 have an intersection point x in the XOY plane jd ,but: x jd ×tan(β1)+y d1 -x d1 ×tan(α1)=x jd ×tan(β2)+y d2 -x d2 ×tan(α2) The x of the intersection jd The values ​​are: If the value of x is in (x d1 , x1+L1×cos(α1)×cos(β1)), it proves that the projections of the two bucket wheel stackers on the XOY plane intersect; In the YOZ plane, L1 is fitted as a straight line, y0 is the vertical distance between the bucket wheel stacker reclaimer running track and the Y axis, and the equation of the straight line is: where y L1 The value range is (y0, y d1 ); Similarly, if L2 is fitted into a straight line, the equation of the straight line is: where y L2 The value range is (y0+D, y d2 ); If the two lines L1 and L2 have an intersection point y in the YOZ plane jd ,but: Then the y of the intersection point jd The values ​​are: If at this time y jd If the value of is within the range of (y0, L1×cos(α1)×sin(β1)), it proves that the projections of the two bucket wheel stackers on the YOZ plane intersect; In the XOZ plane, L1 is fitted as a straight line, and the equation of the straight line is: where z L1 The value range of is (0, L1×sin(α1)×cos(β1)); Similarly, if L2 is fitted into a straight line, the equation of the straight line is: where z L2 The value range of is (0, L2×sin(α2)×cos(β2)); If the two lines L1 and L2 intersect in the XOZ plane, then: Intersection point z jd The values ​​are: If the value of x is within the range of (L1×sin(α1)×cos(β1), L2×sin(α2)×cos(β2)) at this time, it proves that the projections of the two bucket wheel stackers on the XOZ plane intersect.

10. The method for preventing collision of a bucket wheel stacker and reclaimer according to claim 8, characterized in that: The safety distance A1 for light warning is 10m, the cantilever length of the bucket wheel stacker and reclaimer is L1=L2=35m, and the distance between the two stackers and reclaimers is D=60m.

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