Intelligent blending system and method for bucket-wheel reclaimer

Abstract

The invention provides an intelligent blending system of a bucket-wheel reclaimer. The intelligent blending system comprises a data acquisition module, a data management module, an intelligent blending algorithm module, a manual intervention module and an equipment execution module, the data acquisition module, the intelligent mixing algorithm module and the equipment execution module are respectively in communication connection with the data management module, and the manual intervention module is in communication connection with the intelligent mixing algorithm module. According to the system and the method, the reasonability of mixing decision making is effectively improved, and the decision making efficiency is improved; meanwhile, the batching and mixing efficiency and the control precision are effectively improved, the input cost is reduced, the working environment is improved, and the working intensity of workers is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of bulk material mixing, and particularly, to an intelligent mixing system and method for a bucket wheel reclaimer. Background Art

[0002] A bucket wheel reclaimer is a special raw material handling equipment in a bulk material yard and is widely used in various large-scale yards.

[0003] Bulk materials are one of the important delivery forms of commodities. More than one-third of the commodities globally are transported in bulk, such as ores, coal, grains, etc. In actual production, the sources of bulk raw materials are extensive, with a wide variety of varieties, and their various parameters vary greatly, including ore grade, particle size, impurity content, etc., and coal calorific value, etc. Therefore, some users usually require mixing different qualities of ores and coals with different calorific values to produce raw materials with uniform composition. However, for most users, due to limited scale, they do not have the conditions for mixing themselves, and the port mixing business has emerged as the times require. In recent years, with the rapid development of port logistics, the mixing operation at ports has become increasingly complex. Currently, the mixing methods for bulk materials (such as coal, ore, etc.) carried out at ports mainly rely on manual operation or mixing bins.

[0004] Usually, a mixing formula is given based on manual experience, and it is difficult to make an optimal decision under multi-dimensional factors. And mixing equipment such as reclaimers is mostly manually operated. Affected by the relatively poor on-site environment such as the inherent open storage yard, ore dust, and dock sand, as well as manual uncertainty, there is currently a shortage of skilled manual operators, and the professional capabilities and attentiveness of personnel vary. At the same time, affected by the inherent emotional fluctuations and decreased fatigue concentration of humans, it is difficult to ensure the consistency of personnel operation efficiency and operation quality, which also affects the mixing accuracy.

[0005] The mixing bin can achieve precise control of the mixing ratio, but it is necessary to increase the investment cost of the yard. And most port yards did not consider the problem of precise mixing at the beginning of their establishment. It is also relatively difficult to implement the mixing bin mixing formula under the influence of actual conditions. Summary of the Invention

[0006] In view of the technical problems in the above background art, an intelligent mixing system and method for a bucket wheel reclaimer are provided.

[0007] The technical means adopted by the present invention are as follows:

[0008] An intelligent mixing system for a bucket wheel reclaimer, comprising:

[0009] a data acquisition module, a data management module, an intelligent mixing algorithm module, an artificial intervention module, and a device execution module;

[0010] The data acquisition module, intelligent mixing algorithm module, and equipment execution module are respectively communicatively connected to the data management module, and the manual intervention module is communicatively connected to the intelligent mixing algorithm module;

[0011] The data acquisition module includes: a field detection unit for collecting data information of the equipment execution module and the stockyard, and a communication interface with the central control information management system; the data acquisition module real-time sends the collected data to the data management module for storage;

[0012] The data management module includes: stockyard basic information, equipment working / status information, stockpile basic information, and storage operation requirement information

[0013] The intelligent mixing algorithm module gives an operation recipe according to the operation status information of the equipment and the stockyard stored in the data management module, and issues a task instruction to the corresponding equipment execution module through the data management module. Through the data feedback of the data acquisition module, the mixing quality is recorded, and closed-loop feedback is performed to dynamically adjust the mixing plan;

[0014] The equipment execution module performs corresponding actions according to the received task instructions, and adjusts the actions according to the dynamic adjustment instructions of the intelligent mixing algorithm module;

[0015] The equipment execution module includes: one or more combinations of a bucket wheel reclaimer, a bucket wheel stacker-reclaimer, and a ground belt conveyor.

[0016] Further, the data acquisition module includes: a stockyard visual recognition system, a reclaimer position detection sensor, a belt flow detection sensor, a camera system, a drive device operation sensor, a safety protection sensor, a component detector, and a communication interface with the central control information management system.

[0017] Further, the intelligent mixing algorithm module is set on the server side of the central control room.

[0018] Further, the stockyard visual recognition system includes: a visual recognition sensor, an auxiliary fixing component, and a visual data processing system;

[0019] The visual recognition sensor is connected to the equipment through the auxiliary fixing component, and the auxiliary fixing component includes: a fixing bracket and a rotating pan-tilt; the visual data processing system preprocesses the data obtained by the visual recognition sensor, and transmits the obtained stockyard basic information to the data management module.

[0020] Further, the visual recognition sensor is one or several of a laser scanner and a 3D camera.

[0021] Further, the position detection sensors of the reclaimer include: traveling encoders, traveling RFID, GPS / Beidou differential systems, slewing encoders, and pitching inclinometers.

[0022] Further, the belt flow detection sensors include one or several combinations of belt scales and laser material flow detection systems.

[0023] Further, the operation sensors of the drive device include speed and current detection sensors for traveling motors, slewing motors, pitching motors, and ground belt motors of equipment such as reclaimers, stacker reclaimers, cantilever belt conveyors, and ground belt conveyors.

[0024] The present invention also includes an intelligent blending method for bucket wheel reclaimers, comprising the following steps:

[0025] S1. Through the data acquisition module, obtain the operation requirement information of the central control information management system and transmit it to the data management module; the operation requirement information includes: required material information M 目标(货主、物料种类)(具体成分、成分含量) , material quantity W 目标 , required operation time T, reclaiming flow rate Q 目标 and the blending end point P of the material 终点 ;

[0026] S2. The data management module transmits the operation requirement information to the intelligent blending algorithm module. The intelligent blending algorithm module retrieves the data in the data management module according to the operation requirement information, extracts the material information M 现存(货主、物料种类)(具体成分、成分含量) , W 现存 , equipment information related to the operation requirement information, selects the equipment that can participate in the operation according to the equipment working and status information, combines the operation capabilities of the equipment, and generates an executable blending operation recipe through an automatic recommended blending algorithm, including the reclaimers RL i participating in the blending, ground belt conveyor equipment BC i and the flow rate Q of each reclaimer during operation i and its specific operation content;

[0027] S3. The blending operation recipe is sent to the equipment execution module through the data management module, and the relevant equipment performs operations according to the tasks;

[0028] S4. The data acquisition module collects the reclaimer belt flow and ground belt flow and transmits them to the intelligent blending algorithm module through the data management module. The intelligent blending algorithm module adjusts the reclaiming speed following the reclaimer in real time according to the detected flow ratio error for closed-loop control to achieve stable reclaiming until the required amount of material is reclaimed, and then ends the blending and reclaiming work.

[0029] S5. Manually adjust the blending operation recipe and send it to the equipment execution module.

[0030] Further, in S2, the following steps are included:

[0031] S21. Solve the mixing ratio of the mixed materials \(x1, x2,\cdots,x\) n ; Establish a mathematical model to solve the optimal solution \(x1, x2,\cdots,x\) n , that is, to ensure that the owner, type of the materials after mixing are the same as those of the required materials, the specific components and component contents of the materials are closest to the requirements, and the target quantity requirement can be achieved after the material taking is completed;

[0032]

[0033] S22. Determine the position information \(P\) of the stockpile \(M\) for the material taking operation corresponding to the optimal solution 现存(货主、物料种类)(i、j) , select the reclaimers \(RL\) (料条i，料堆j) , \(RL\) i , \(\cdots, RL\) j , \(\cdots, RL\) n . According to the positions of the reclaimers \(RL\) i , \(RL\) j , \(RL\) n and the mixing end point \(P\) of the materials 终点 , determine the intermediate ground belt conveyor equipment \(BC\) i , \(BC\) j , \(\cdots, BC\) i ;

[0034] S23. According to the reclaiming flow rate \(Q\) 目标 and the mixing ratio of the mixed materials \(x1, x2,\cdots,x\) n , set the reclaiming flow rate \(Q\) i of each reclaimer \(RL\) i , \(Q\) j , \(\cdots, Q\) n , that is, \(Q\) i＝ \(Q\) 目标* \(x1\), to ensure that the instantaneous ratio of multiple reclaimers remains consistent; Take the reclaimer corresponding to the maximum value \(Q\) i of the reclaiming flow rate \(Q\) max as the main reclaimer, and the other reclaimers as following reclaimers; According to the formula \(Q\) i \(= n\) i \(* V\) i斗 \(* \rho * \eta\) 填充 ; \(v\) i斗轮 \(= \pi * D * n\) i , calculate the bucket wheel linear speed of each reclaimer;

[0035] Among them, \(n\) i represents the bucket wheel rotation speed of each reclaimer \(RL\) i , \(V\) i斗 represents the bucket wheel rotation speed of each reclaimer \(RL\) iThe volume of the bucket wheel, ρ represents the material density, η 填充 represents the filling rate of the bucket, v i斗轮 represents the linear velocity of the bucket wheel, D represents the diameter of the bucket wheel;

[0036] S24. According to the distance RL of each reclaimer i from the blending end point P 终点的 with different lengths L, calculate the time difference for starting the operation, and respectively control the starting time of the reclaiming to ensure that the materials arrive at the confluence point simultaneously;

[0037] S25. Generate the operation position, operation start time, linear velocity of the bucket wheel, operation end time of each reclaimer, and the operation start time and operation end time of each ground belt conveyor.

[0038] Compared with the prior art, the present invention has the following advantages:

[0039] The system and method of the present invention effectively improve the rationality of the mixing decision-making and the decision-making efficiency; at the same time, it effectively improves the efficiency and control accuracy of batching and mixing, reduces the input cost, improves the working environment, and reduces the working intensity of workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0041] Figure 1 It is a schematic diagram of the overall system structure of the present invention.

[0042] Figure 2 It is a schematic diagram of the method flow of the present invention.

[0043] Figure 3 It is a schematic diagram of the method step S2 process of the present invention.

[0044] Figure 4 It is a schematic diagram of the target storage yard in the embodiment.

[0045] Figure 5 It is a schematic diagram of the simple 3D model of the reclaimer of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0046] To enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0047] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0048] As Figures 1-5 shown, the present invention provides an intelligent mixing system for a bucket wheel reclaimer, including: a data acquisition module, a data management module, an intelligent mixing algorithm module, an artificial intervention module, and a device execution module.

[0049] As a preferred embodiment, in the present application, the data acquisition module, the intelligent mixing algorithm module, and the device execution module are respectively communicatively connected to the data management module, and the artificial intervention module is communicatively connected to the intelligent mixing algorithm module; the data acquisition module includes: a field detection unit for collecting data information of the device execution module and the stockyard, and a communication interface with the central control information management system; the data acquisition module sends the collected data to the data management module for storage in real time; the data management module includes: stockyard basic information, equipment working / status information, stockpile basic information, and storage operation requirement information.

[0050] In the present application, the intelligent mixing algorithm module gives an operation recipe according to the operation status information of the equipment and the stockyard stored in the data management module, and issues a task instruction to the corresponding device execution module through the data management module. Through the data feedback of the data acquisition module, the mixing quality is recorded, and a closed-loop feedback is performed to dynamically adjust the mixing plan; the device execution module performs corresponding actions according to the received task instruction, and adjusts the actions according to the dynamic adjustment instruction of the intelligent mixing algorithm module; the device execution module includes: one or more combinations of a bucket wheel reclaimer, a bucket wheel stacker-reclaimer, and a ground belt conveyor.

[0051] Preferably, the data acquisition module includes: a yard visual recognition system, a reclaimer position detection sensor, a belt flow detection sensor, a camera system, a drive device operation sensor, a safety protection sensor, a composition detector, and a communication interface for the central control information management system.

[0052] As a preferred embodiment, the intelligent mixing algorithm module is set on the server side of the central control room.

[0053] In this application, the yard visual recognition system includes: a visual recognition sensor, an auxiliary fixing component, and a visual data processing system;

[0054] The visual recognition sensor is connected to the device through the auxiliary fixing component, and the auxiliary fixing component includes: a fixing bracket and a rotary pan-tilt head; the visual data processing system preprocesses the data obtained by the visual recognition sensor, and transmits the obtained basic yard information to the data management module.

[0055] As a preferred embodiment, in this application, the visual recognition sensor is one or several of a laser scanner and a 3D camera. The reclaimer position detection sensor includes: a travel encoder, a travel RFID, a GPS / Beidou differential system, a slewing encoder, and a pitch inclinometer. The belt flow detection sensor includes one or several combinations of a belt scale and a laser material flow detection system. The drive device operation sensor includes speed and current detection sensors for the travel motors, slewing motors, pitch motors, and ground belt motors of equipment such as reclaimer, stacker-reclaimer, cantilever belt conveyor, and ground belt conveyor.

[0056] The present invention also includes an intelligent mixing method for a bucket wheel reclaimer, which includes the following steps:

[0057] S1. Through the data acquisition module, obtain the operation requirement information of the central control information management system and transmit it to the data management module; the operation requirement information includes: required material information M 目标(货主、物料种类)(具体成分、成分含量) , material quantity W 目标 , required operation time T, reclaiming flow Q 目标 and the mixing end point P of the material 终点 ;

[0058] S2. The data management module transmits the operation requirement information to the intelligent mixing algorithm module. The intelligent mixing algorithm module retrieves the data in the data management module according to the operation requirement information, extracts the material information M 现存(货主、物料种类)(具体成分、成分含量) , W 现存 , equipment information in the data management module related to the operation requirement information, selects the equipment that can participate in the operation according to the equipment working and status information, combines the operation capabilities of the equipment, and generates an executable mixing operation recipe through an automatic recommended mixing algorithm, including the reclaimer RL participating in the mixingi 1. Ground belt conveyor equipment BC i and the flow rate Q during the operation of each reclaimer i and its specific operation content;

[0059] S3. The mixing operation formula is sent to the equipment execution module through the data management module, and the relevant equipment operates according to the tasks;

[0060] S4. The data acquisition module collects the belt flow rate of the reclaimer and the ground belt flow rate, and transmits them to the intelligent mixing algorithm module through the data management module. The intelligent mixing algorithm module adjusts the reclaiming speed following the reclaimer in real time according to the detected flow rate ratio error, conducts closed-loop control, and realizes stable reclaiming until the required amount of material is reclaimed, and then ends the mixing and reclaiming work.

[0061] S5. Manually adjust the mixing operation formula and send it to the equipment execution module.

[0062] In a preferred embodiment, in the present application, in S2, the following steps are included:

[0063] S21. Solve the mixing material ratios x1, x2... x n ; Establish a mathematical model and solve the optimal solution x1, x2... x n that satisfies, that is, the owner and type of the material after mixing are the same as the required material, the specific composition and composition content of the material are the closest to the requirement, and the target quantity requirement can be achieved after the reclaiming is completed;

[0064]

[0065] S22. Determine the position information P of the stockpile M that needs to be reclaimed corresponding to the optimal solution 现存(货主、物料种类)(i、j) , select the reclaimer RL (料条i，料堆j) corresponding to the stockpile position, RL i 、RL j ……RL n , according to the positions of the reclaimer RL i 、RL j 、RL n and the mixing end point P of the material 终点 , determine the intermediate ground belt conveyor equipment BC i 、BC j ……BC i ;

[0066] S23. According to the reclaiming flow rate Q 目标 and the mixing material ratios x1, x2... x n , set the reclaiming flow rate Q i of each reclaimer RL i 、Q j ……Q n, that is, Q i＝ Q 目标* x1, to ensure that the instantaneous ratio of multiple reclaimers remains consistent; the reclaim flow rate Q i The maximum value Q max The corresponding reclaimer is the main reclaimer, and the other reclaimers are follower reclaimers; according to the formula Q i =n i *V i斗 *ρ*η 填充 ;v i斗轮 =π*D*n i Determine the linear speed of the bucket wheel of each reclaimer;

[0067] Among them, n i Indicates RL of each reclaimer i Bucket wheel speed, V i斗 Indicates RL of each reclaimer i The volume of the bucket wheel, ρ represents the material density, η 填充 Indicates the filling rate of the bucket, v i斗轮 represents the bucket wheel linear speed, and D represents the bucket wheel diameter;

[0068] S24, according to each reclaimer RL i Distance from mixing end point P 终点的 The lengths L are different, and the time difference of starting the operation is calculated to control the starting time of the material collection respectively to ensure that the materials arrive at the entry point at the same time;

[0069] S25. Generate the operation position, operation start time, bucket wheel linear speed, and operation end time of each reclaimer's reclaiming operation, and the operation start time and operation end time of each ground belt conveyor.

[0070] In this embodiment 1, a target material field is as follows Figure 4As shown in the figure, there are three tracks in the stockyard. There is a 511 reclaimer and a 515 ground belt conveyor on the first track. There are a 512 reclaimer, a 513 reclaimer and a 516 ground belt on the second track. There are a 514 reclaimer and a 517 ground belt on the third track. The 515 ground belt conveyor, the 516 ground belt conveyor and the 517 ground belt conveyor converge at the 524 blending end point, the 531 blending end point and the 532 blending end point respectively, and are transported to other places by the 518 ground belt, the 519 ground belt and the 520 ground belt. Between the first track and the second track are the first stock strip and the second stock strip. Between the second track and the third track are the third stock strip and the fourth stock strip. On the other side of the third track is the fifth stock strip. The three-dimensional data of the stockpiles in the stockyard can be scanned by the laser scanners and rotary pan-tilt heads installed on the 511 reclaimer, 512 reclaimer, 513 reclaimer and 514 reclaimer, and stored in the database of the data management module. Such as scanning the 525 stockpile and 526 stockpile located in the first stock strip, the 527 stockpile located in the second stock strip, the 528 stockpile located in the third stock strip, the 529 stockpile located in the fourth stock strip, and the 530 stockpile located in the fifth stock strip. The database fuses the three-dimensional data of multiple scanners, and finally fits the position information of the stockpiles in the entire stockyard (stockpile start point, stockpile end point, stockpile height), and matches it with the material information obtained through the communication interface of the central control information management system, and finally forms the stockpile information, as shown in Table 1 below:

[0071] Table 1 Stockpile Information Table

[0072]

[0073] S1. Obtain the operation requirement information M through the data acquisition module 目标(A、烟煤)(发热量≥23) , the material quantity W 目标 = 5000t, the required operation time T = YYYY - mm - dd hh:mm:ss, the reclaiming flow rate Q 目标 = 3200t / h, and the blending end point P of the material 终点 .

[0074] S2. In the intelligent blending algorithm module, the intelligent blending algorithm module retrieves the data in the data management module according to the operation requirement information, and matches the material information M 现存目标1(A、烟煤)(发热量＝25) , W 现存1 = 8531t, M 现存目标2(A、烟煤)(发热量＝22) , W 现存2 = 7742t, equipment information. Select the equipment that can participate in the operation according to the equipment working and status information, and combine the operation capabilities of the equipment. Through the automatic recommended blending algorithm, generate an executable blending operation recipe, including the 511 reclaimer, 512 reclaimer, 515 ground belt conveyor, 516 ground belt conveyor, 518 ground belt conveyor participating in the blending and the flow rate Q of each reclaimer during operation iand its specific operation content;

[0075] Specifically, in S21, solve the proportion x1, x2 of the mixed materials; establish a mathematical model and solve the optimal solution x1 = 0.333, x2 = 0.667 that satisfies, that is, the owner, type of the materials after mixing are the same as the required materials, the specific composition and content of the materials are closest to the requirements, and the target quantity requirements can be met after the material taking is completed;

[0076] {M 目标(A、烟煤)(发热量，≥23) = x1 * M 现存1(A、烟煤)(发热量、25) + x2 * M 现存2(A、烟煤)(发热量、22)

[0077] In S22, determine the stockpile M corresponding to the optimal solution 现存目标1(A、烟煤)(发热量＝25) corresponding position information P (料条1，料堆1) , M 现存目标2(A、烟煤)(发热量＝22) corresponding position information P (料条2，料堆1) , select the 511 reclaimer and 512 reclaimer corresponding to the stockpile position. According to the 524 mixing end position of the reclaimer 511 reclaimer, 512 reclaimer and the materials, determine the intermediate ground belt conveyor equipment 515 ground belt conveyor, 516 ground belt conveyor, 518 ground belt;

[0078] In S23, according to the reclaiming flow rate Q 目标 = 3200 t / h and the proportion of the mixed materials x 1＝ 0.333, x2 = 0.667, set the reclaiming flow rate Q 511 = 1065.6 t / h, Q 512 = 2134.4 t / h for each reclaimer 511 reclaimer, 512 reclaimer to ensure that the instantaneous ratio of multiple reclaimers remains consistent; take the maximum value Q i of the reclaiming flow rate Q max = 2134.4 t / h, the corresponding 512 reclaimer is the main reclaimer, and the 511 reclaimer is the following reclaimer; according to the formula Q i = n i * V i斗 * ρ * η 填充 ; v i斗轮 = π * D * n i , calculate the bucket wheel linear speed of each reclaimer;

[0079] Among them, n i represents the bucket wheel rotation speed of each reclaimer RL i , V i斗 represents the volume of the bucket wheel of each reclaimer RL i , D represents the bucket wheel diameter, which is an inherent parameter of the reclaimer, ρ represents the material density and can be found from the stockpile information table, η 填充 represents the filling rate of the bucket, generally 0.6, v i斗轮Indicates the bucket wheel linear velocity;

[0080] S24. According to the distances of the reclaimers 511 and 512 from the blending end point P 终点的 with different lengths L, calculate the time difference Δt for starting operations, and respectively control the starting times T and T + Δt of reclaiming to ensure that the materials arrive at the confluence point 524, the blending end point, simultaneously;

[0081] S25. Generate the working position, starting time of the reclaiming operation, bucket wheel linear velocity, and ending time of the reclaiming operation for each reclaimer, as well as the starting time and ending time of the operation for each ground belt conveyor.

[0082] S3. The blending operation recipe is sent to the equipment execution module through the data management module, and the relevant equipment performs operations according to the tasks;

[0083] Specifically, according to Figure 5 the simple 3D model of the reclaimer, the 3D coordinate expression of the upper point on the bucket wheel head of the reclaimer is obtained as:

[0084]

[0085] wherein, X, Y, and Z represent the 3D coordinates of the bucket wheel head point; Z1 represents the traveling position of the trolley; L represents the length of the boom; H represents the horizontal height of the boom; α represents the slewing angle of the slewing mechanism; β represents the pitching angle of the boom.

[0086] Substitute P (料条1，料堆1)(x,y,z) into the 3D coordinate expression of the upper point on the bucket wheel head of the reclaimer, obtain the corresponding traveling position Z1, pitching angle β, and slewing angle α of the reclaimer, and send them to the corresponding stacker-reclaimer;

[0087] S4. The data acquisition module collects the belt flow rate of the reclaimer and the ground belt flow rate, and transmits them to the intelligent blending algorithm module through the data management module. The intelligent blending algorithm module adjusts the reclaiming speed following the reclaimer in real time according to the detected flow rate ratio error, performs closed-loop control, and realizes stable reclaiming until the required amount of materials is reclaimed, ending the blending and reclaiming work.

[0088] A certain target stockyard in this Embodiment 2 is as Figure 4 shown. This embodiment is a closed stockyard. Six laser scanners are respectively installed on both sides and in the middle of the stockyard roof. The laser scanners are fixed on the roof through the pan-tilt and brackets. Compared with the solution in Embodiment 1 where the scanners are installed on the reclaimer, the stockyard data in this embodiment does not depend on the traveling movement of the reclaimer, can obtain the three-dimensional data of the stockpile in real time, and transmit and store it in the database of the data management module.

[0089] The serial numbers of the above embodiments of the present invention are only for description and do not represent the superiority or inferiority of the embodiments.

[0090] In the above embodiments of the present invention, the descriptions of the various embodiments each have their own emphases. For parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0091] In the several embodiments provided in the present application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are merely illustrative. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections between each other can be through some interfaces. The indirect couplings or communication connections of the units or modules can be in electrical or other forms.

[0092] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0093] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0094] If the above-mentioned integrated units are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The foregoing storage medium includes: USB flash drives, read-only memories (ROMs), random access memories (RAMs), mobile hard disks, magnetic disks, or optical discs and other various media that can store program codes.

[0095] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent mixing system for a bucket wheel reclaimer, characterized in that, Including: A data acquisition module, a data management module, an intelligent mixing algorithm module, an artificial intervention module, and a device execution module; The data acquisition module, the intelligent mixing algorithm module, and the device execution module are respectively communicatively connected to the data management module, and the artificial intervention module is communicatively connected to the intelligent mixing algorithm module; The data acquisition module includes: a field detection unit for collecting data information of the device execution module and the stockyard, and a communication interface with the central control information management system; the data acquisition module real-time sends the collected data to the data management module for storage; The data management module includes: stockyard basic information, equipment working / status information, stockpile basic information, and storage operation requirement information; The intelligent mixing algorithm module gives an operation recipe according to the operation status information of the equipment and the stockyard stored in the data management module, and issues a task instruction to the corresponding device execution module through the data management module. Through the data feedback of the data acquisition module, the mixing quality is recorded and a closed-loop feedback is performed to dynamically adjust the mixing scheme; The device execution module performs corresponding actions according to the received task instruction and adjusts the actions according to the dynamic adjustment instruction of the intelligent mixing algorithm module; The device execution module includes one or more combinations of a bucket wheel reclaimer, a bucket wheel stacker-reclaimer, and a ground belt conveyor.

2. The intelligent blending system for a bucket wheel reclaimer according to claim 1, characterized in that, The data acquisition module includes: a stockyard vision recognition system, a reclaimer position detection sensor, a belt flow detection sensor, a camera system, a driving device operation sensor, a safety protection sensor, a component detector, and a communication interface with the central control information management system.

3. The intelligent mixing system of a bucket wheel reclaimer according to claim 1, characterized in that The intelligent mixing algorithm module is set on the server side of the central control room.

4. The intelligent blending system of a bucket wheel reclaimer according to claim 2, characterized in that, The stockyard vision recognition system includes: a vision recognition sensor, an auxiliary fixing component, and a vision data processing system; The vision recognition sensor is connected to the device through the auxiliary fixing component. The auxiliary fixing component includes: a fixing bracket and a rotating pan-tilt. The vision data processing system preprocesses the data obtained by the vision recognition sensor, and transmits the obtained stockyard basic information to the data management module.

5. An intelligent mixing system for a bucket wheel reclaimer according to claim 4, characterized in that, The vision recognition sensor is one or several of a laser scanner and a 3D camera.

6. The intelligent mixing system of a bucket wheel reclaimer according to claim 2, wherein The reclaimer position detection sensor includes: a travel encoder, a travel RFID, a GPS / Beidou differential system, a slewing encoder, and a pitch inclinometer.

7. An intelligent mixing system for a bucket wheel reclaimer according to claim 2, characterized in that, The belt flow detection sensor includes one or several combinations of a belt scale and a laser material flow detection system.

8. An intelligent mixing system for a bucket wheel reclaimer according to claim 2, characterized in that, The driving device operation sensor includes speed and current detection sensors for the travel motors, slewing motors, pitch motors, and ground belt motors of equipment such as reclaimer, stacker-reclaimer, cantilever belt conveyor, and ground belt conveyor.

9. An intelligent mixing method for a bucket wheel reclaimer, characterized in that, Including the following steps: S1. Through the data acquisition module, obtain the operation requirement information of the central control information management system and transmit it to the data management module; The operation requirement information includes: required material information M 目标(货主、物料种类)(具体成分、成分含量) , material quantity W 目标 , required operation time T, material taking flow rate Q 目标 and the mixing end point P of the material 终点 ; S2. The data management module transmits the job requirement information to the intelligent mixing algorithm module. The intelligent mixing algorithm module retrieves the data in the data management module according to the job requirement information, and extracts the material information M 现存(货主、物料种类)(具体成分、成分含量) , W 现存 , equipment information, selects the equipment that can participate in the operation according to the equipment working and status information, combines the operation capabilities of the equipment, and generates an executable mixing operation recipe through the automatic recommendation mixing algorithm, including the reclaimer RL i participating in the mixing, the ground belt conveyor equipment BC i and the flow rate Q of each reclaimer during operation i and its specific operation content; S3. The mixing operation recipe is sent to the device execution module through the data management module, and the relevant devices perform operations according to the tasks; S4. The data acquisition module collects the belt flow rate of the reclaimer and the ground belt flow rate, and transmits them to the intelligent mixing algorithm module through the data management module. The intelligent mixing algorithm module adjusts the reclaiming speed following the reclaimer in real time according to the detected flow ratio error for closed-loop control, achieving stable reclaiming until the required amount of material is reclaimed, and then ending the mixing and reclaiming operation; S5. Manually adjust the mixing operation formula and send it to the equipment execution module.

10. A method for intelligent mixing of a bucket wheel reclaimer according to claim 9, characterized in that, In S2, the following steps are included: S21. Solve the proportion of the mixed materials \(x_1, x_2, \cdots, x\) n ; Establish a mathematical model and solve the optimal solution \(x_1, x_2, \cdots, x\) n , that is, the consignors and types of the materials after mixing are the same as those of the required materials, the specific components and component contents of the materials are closest to the requirements, and the target quantity requirements can be met after the material taking is completed; S22. Determine the stockpile M for the material handling operation corresponding to the optimal solution 现存(货主、物料种类)(i、j) The corresponding location information P (料条i，料堆j) , and select the reclaiming machine RL corresponding to this stockpile location i 、RL j ……RL n , according to the reclaiming machine RL i 、RL j 、RL n , and the blending end point P of the material 终点 , determine the intermediate ground belt conveyor equipment BC i 、BC j ……BC i ; S23. According to the material taking flow rate Q 目标 and the mixing ratio of mixed materials x1, x2... x n , set the material taking flow rate Q i of each material taking machine RL i , Q j ... Q n , that is, Q i = Q 目标 *x1, to ensure that the instantaneous ratio of multiple material taking machines remains consistent; take the maximum value Q i of the material taking flow rate Q max , and the corresponding material taking machine is the main material taking machine, and the rest are following material taking machines; according to the formula Q i = n i *V i斗 *ρ*η 填充 ; v i斗轮 = π*D*n i , calculate the bucket wheel linear velocity of each material taking machine; Among them, n i represents the bucket wheel rotation speed of each reclaimer RL i , V i斗 represents the volume of the bucket wheel of each reclaimer RL i , ρ represents the material density, η 填充 represents the filling rate of the bucket, v i斗轮 represents the bucket wheel linear velocity, D represents the bucket wheel diameter; S24. According to each reclaimer RL i The distance from the blending end point P 终点的 is different in length L. Calculate the time difference for starting operations, and respectively control the starting time of material retrieval to ensure that the materials arrive at the confluence point simultaneously; S25. Generate the operation position, operation start time, bucket wheel linear speed, and operation end time of each reclaimer's reclaiming operation, as well as the operation start time and operation end time of each ground belt conveyor.

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