Bucket wheel machine control system and method based on PLC

Abstract

The invention relates to the technical field of bucket wheel machines, and particularly discloses a bucket wheel machine control system and method based on a PLC, and the system comprises a route determination module which is used for obtaining the coal storage information of a coal yard, and determining the coal taking route of a bucket wheel machine according to the coal storage information of the coal yard; the danger planning module is used for dividing a coal yard area grid chart of the coal yard and determining dangerous area grids in the coal yard area grid chart according to the bucket wheel machine coal taking route; and the speed control module is used for acquiring real-time route data of the bucket wheel machine and controlling the speed limit value of the bucket wheel machine in each dangerous area grid according to the real-time route data of the bucket wheel machine. According to the method, the coal taking route of the bucket wheel machine is formulated in advance, and the speed of the bucket wheel machine is controlled through the divided dangerous areas, so that the safety of the bucket wheel machine is improved while the coal storage utilization rate in the coal yard is improved.

Description

Technical Field

[0001] The present application relates to the technical field of bucket wheel stacker reclaimers, and more specifically, to a control system and method for a bucket wheel stacker reclaimer based on a PLC. Background Art

[0002] Coal-fired power generation units generate electricity using fossil fuels such as coal. However, there are many types of coal, including Class I coal, Class II coal, Class III coal, lignite, etc. Different types of coal have different parameters such as low calorific value and volatile matter. According to the requirements of the unit, some types of coal cannot enter the unit alone, or the parameters of some coal are uncertain when transported, so they cannot be directly supplied to the unit. They need to be stored in the coal yard first and then transferred to the unit as needed. A bucket wheel stacker reclaimer can transfer coal from the coal yard to the feeding system of the unit.

[0003] The existing bucket wheel stacker reclaimer has only a fixed coal-taking route, cannot adjust the route according to the coal storage situation in the coal yard, and is prone to collision with obstacle points in the coal yard during the coal-taking process, resulting in serious losses to the coal yard. Summary of the Invention

[0004] The present invention provides a control system and method for a bucket wheel stacker reclaimer based on a PLC to solve the problems of low coal storage utilization rate and low safety during coal-taking of the bucket wheel stacker reclaimer in the prior art, including: A route determination module, configured to obtain the coal storage information of the coal yard and determine the coal-taking route of the bucket wheel stacker reclaimer according to the coal storage information of the coal yard; A danger planning module, configured to divide a grid map of the coal yard area of the coal yard and determine the dangerous area grids in the grid map of the coal yard area according to the coal-taking route of the bucket wheel stacker reclaimer; A speed control module, configured to obtain the real-time route data of the bucket wheel stacker reclaimer and control the speed limit value of the bucket wheel stacker reclaimer in each dangerous area grid according to the real-time route data of the bucket wheel stacker reclaimer.

[0005] Further, the route determination module determines the coal-taking route of the bucket wheel stacker reclaimer according to the coal storage information of the coal yard, including: Determining the coal type information of the coal stored in the coal yard according to the coal storage information of the coal yard, and determining the flammability degree of each coal type according to the coal type information; Clustering the coal stored in the coal yard according to the flammability degree of the coal type, and dividing the coal yard into several coal storage sub-areas; Obtaining a coal blending and firing scheme, and determining the coal demand information of each sub-area according to the coal blending and firing scheme; Determining the coal storage storage time of the coal storage sub-area corresponding to the coal demand information according to the coal type information, calculating the priority value of the coal storage sub-area according to the coal storage storage time of the coal storage sub-area corresponding to the coal demand information, and determining the coal-taking route of the bucket wheel stacker reclaimer according to the priority values of each coal storage sub-area.

[0006] Further, clustering the stored coal in the coal yard according to the flammability degree of the coal type includes: Establish a sample data set based on the flammability degree of each stored coal type, and randomly select k initial clustering centers of the sample data set; Calculate the Manhattan distance from the sample data in the sample data set to the initial clustering centers, and divide each stored coal into the corresponding clustering partition according to the Manhattan distance from the sample data in the sample data set to the initial clustering centers; Calculate the average value of the sample data in each clustering partition, and recalculate the clustering centers according to the average value of the sample data in each clustering partition; Repeat the above steps iteratively until the clustering centers no longer change or the number of iterations reaches the preset maximum number of iterations, and obtain the clustering partitions of each stored coal.

[0007] Further, calculating the priority value of the coal storage partition according to the storage time of the stored coal corresponding to the coal demand information includes: Calculate the priority value of the coal storage partition according to the priority value calculation formula, and the priority value calculation formula is specifically

[0008] where is the priority value of the coal storage partition, is the clustering center value of the coal storage partition, is the preset standard center value, is the preset standard storage time, is the storage time of the stored coal, is the preset range coefficient, is the natural exponential function.

[0009] Further, the dangerous planning module divides the coal yard area grid map of the coal yard, and determines the dangerous area grids in the coal yard area grid map according to the coal fetching route of the bucket wheel stacker-reclaimer, including: Obtain the preset grid, divide the coal yard area according to the preset grid, and obtain several coal yard area grid maps; Determine the coordinate values of each important point of the bucket wheel stacker-reclaimer and the obstacle points in the coal yard area according to the coal yard area grid map, and determine the distance values between the important points and the obstacle points according to the coordinate values; Conduct coal fetching simulation on the bucket wheel stacker-reclaimer according to the coal fetching route of the bucket wheel stacker-reclaimer, and determine the minimum distance values between each important point and each obstacle point according to the coal fetching simulation results; Determine the dangerous area grids of the coal yard area grid map according to the minimum distance values between each important point and each obstacle point.

[0010] Further, determining the dangerous area grids of the coal yard area grid map according to the minimum distance values between each important point and each obstacle point includes: Obtain a preset allowable minimum distance, and count the number of minimum distance values between important points and each obstacle point in the coal yard area grid map that are less than the preset allowable minimum distance; Obtain a preset allowable quantity value, and calculate the ratio of the number of minimum distance values between important points and each obstacle point in the coal yard area grid map that are less than the preset allowable minimum distance to the preset allowable quantity value; Determine the corresponding danger weight of each coal yard area grid map according to the ratio of the number of minimum distance values between important points and each obstacle point in the coal yard area grid map that are less than the preset allowable minimum distance to the preset allowable quantity value, and set the coal yard area grid map with a danger weight greater than the first preset threshold as a dangerous area grid.

[0011] Further, the speed control module controls the speed limit value of the bucket wheel stacker-reclaimer in each dangerous area grid according to the real-time route data of the bucket wheel stacker-reclaimer, including: Determine the real-time distance value between each important point and the corresponding obstacle point of the bucket wheel stacker-reclaimer in the dangerous area grid according to the real-time route data, and draw a distance value change curve according to the real-time distance value between each important point and the corresponding obstacle point; Perform curve fitting on the distance value change curve to obtain a distance value prediction curve; Determine the time required for the distance value to reach the second preset threshold according to the distance value prediction curve to obtain a dangerous time, and determine the speed limit value of the bucket wheel stacker-reclaimer according to the dangerous time.

[0012] Further, the determining the speed limit value of the bucket wheel stacker-reclaimer according to the dangerous time includes: Obtain a preset allowable dangerous time, and calculate the difference between the dangerous time and the preset allowable dangerous time; Judge whether the difference between the dangerous time and the preset allowable dangerous time is less than a third preset threshold. If the difference between the dangerous time and the preset allowable dangerous time is less than the third preset threshold, set a preset first speed limit value as the speed limit value of the bucket wheel stacker-reclaimer; If the difference between the dangerous time and the preset allowable dangerous time is greater than or equal to the third preset threshold, judge whether the difference between the dangerous time and the preset allowable dangerous time is less than a fourth preset threshold; If the difference between the dangerous time and the preset allowable dangerous time is less than the fourth preset threshold, set a preset second speed limit value as the speed limit value of the bucket wheel stacker-reclaimer; If the difference between the dangerous time and the preset allowable dangerous time is greater than or equal to the fourth preset threshold, set a preset third speed limit value as the speed limit value of the bucket wheel stacker-reclaimer.

[0013] Further, it further includes an emergency braking module for: Obtain a preset sliding time window, and divide the distance value change curve according to the preset sliding time window to obtain a number of sub-distance value change curves; Statistically calculate the absolute value of the slope of the change curve of each sub-distance value, and calculate the difference between adjacent absolute values of the slope in the distance value change curve; If there is a difference between adjacent absolute values of the slope greater than the fifth preset threshold value in the distance value change curve, the bucket wheel stacker-reclaimer is emergently braked.

[0014] To achieve the above object, the present invention also provides a control method for a bucket wheel stacker-reclaimer based on a PLC, including: Obtain the coal storage information of the coal yard, and determine the coal fetching route of the bucket wheel stacker-reclaimer according to the coal storage information of the coal yard; Divide the coal yard area grid map of the coal yard, and determine the dangerous area grids in the coal yard area grid map according to the coal fetching route of the bucket wheel stacker-reclaimer; Obtain the real-time route data of the bucket wheel stacker-reclaimer, and control the speed limit value of the bucket wheel stacker-reclaimer in each dangerous area grid according to the real-time route data of the bucket wheel stacker-reclaimer.

[0015] The beneficial effects of the present invention are as follows: By applying the above technical solutions, the present invention includes a route determination module for obtaining the coal storage information of the coal yard and determining the coal fetching route of the bucket wheel stacker-reclaimer according to the coal storage information of the coal yard; a danger planning module for dividing the coal yard area grid map of the coal yard and determining the dangerous area grids in the coal yard area grid map according to the coal fetching route of the bucket wheel stacker-reclaimer; a speed control module for obtaining the real-time route data of the bucket wheel stacker-reclaimer and controlling the speed limit value of the bucket wheel stacker-reclaimer in each dangerous area grid according to the real-time route data of the bucket wheel stacker-reclaimer. The present invention controls the speed of the bucket wheel stacker-reclaimer through the pre-determined coal fetching route and the divided dangerous areas, improving the coal storage utilization rate in the coal yard and the safety of the bucket wheel stacker-reclaimer at the same time. Description of the Drawings

[0016] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative efforts.

[0017] Figure 1 Shows the overall structure diagram of a control system for a bucket wheel stacker-reclaimer based on a PLC proposed in an embodiment of the present invention; Figure 2 Shows the flow schematic diagram of a control method for a bucket wheel stacker-reclaimer based on a PLC proposed in an embodiment of the present invention. Detailed Embodiments

[0018] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts belong to the scope of protection of the present application.

[0019] An embodiment of the present application provides a bucket wheel stacker-reclaimer control system based on a PLC, as Figure 1 shown, including: A route determination module for obtaining the coal storage information of the coal yard and determining the coal-taking route of the bucket wheel stacker-reclaimer according to the coal storage information of the coal yard; a danger planning module for dividing the grid map of the coal yard area of the coal yard and determining the dangerous area grids in the grid map of the coal yard area according to the coal-taking route of the bucket wheel stacker-reclaimer; a speed control module for obtaining the real-time route data of the bucket wheel stacker-reclaimer and controlling the speed limit value of the bucket wheel stacker-reclaimer in each dangerous area grid according to the real-time route data of the bucket wheel stacker-reclaimer.

[0020] In this embodiment, the coal-taking route of the bucket wheel stacker-reclaimer is adaptively planned through the coal storage information of the coal yard to improve the utilization rate of the coal stored in the coal yard. By planning the dangerous area grids with a high danger coefficient, the bucket wheel stacker-reclaimer is speed-limited when the bucket wheel stacker-reclaimer takes coal through the dangerous area grids, greatly improving the safety of the bucket wheel stacker-reclaimer.

[0021] In some embodiments of the present application, the route determination module determines the coal-taking route of the bucket wheel stacker-reclaimer according to the coal storage information of the coal yard, including: determining the coal type information of the coal stored in the coal yard according to the coal storage information of the coal yard, and determining the flammability degree of each coal type according to the coal type information; clustering the coal stored in the coal yard according to the flammability degree of the coal type, and dividing the coal yard into several coal storage sub-areas; obtaining the coal blending and firing plan, and determining the coal demand information of each sub-area according to the coal blending and firing plan; determining the coal storage storage time of the coal storage sub-area corresponding to the coal demand information according to the coal type information, calculating the priority value of the coal storage sub-area according to the coal storage storage time of the coal storage sub-area corresponding to the coal demand information, and determining the coal-taking route of the bucket wheel stacker-reclaimer according to the priority values of each coal storage sub-area.

[0022] In this embodiment, the flammability degree index corresponding to the coal type is determined through the coal type information of the coal stored in each coal storage area in the coal yard. The higher the index, the more flammable the coal type. Each coal storage is assigned to the corresponding coal storage sub-area through the flammability degree index. The coal demand of each coal type in the coal yard is recorded in the coal blending and firing plan. The coal demand information of the coal storage sub-area corresponding to the coal type is obtained through the coal demand of each coal type in the coal yard, so as to set the priority value and plan the coal-taking route of the bucket wheel stacker-reclaimer according to the coal demand information of the coal storage sub-area.

[0023] In some embodiments of the present application, clustering the stored coal in the coal yard according to the flammability degree of the coal type includes: establishing a sample data set according to the flammability degree of each stored coal type, and randomly selecting k initial clustering centers of the sample data set; calculating the Manhattan distance from the sample data in the sample data set to the initial clustering centers, and dividing each stored coal into the corresponding clustering partition according to the Manhattan distance from the sample data in the sample data set to the initial clustering centers; calculating the average value of the sample data in each clustering partition, and recalculating the clustering centers according to the average value of the sample data in each clustering partition; repeating and iterating the above steps until the clustering centers no longer change or the number of iterations reaches the preset maximum number of iterations, so as to obtain the clustering partitions of each stored coal.

[0024] In some embodiments of the present application, calculating the priority value of the coal storage partition according to the storage time of the stored coal corresponding to the coal demand information in the coal storage partition includes: calculating the priority value of the coal storage partition according to the priority value calculation formula, and the specific priority value calculation formula is

[0025] where is the priority value of the coal storage partition, is the clustering center value of the coal storage partition, is the preset standard center value, is the preset standard storage time, is the storage time of the stored coal, is the preset range coefficient, is the natural exponential function.

[0026] In this embodiment, by calculating the priority values of each coal storage partition, the coal fetching route of the bucket wheel stacker-reclaimer is planned, and the bucket wheel stacker-reclaimer is controlled to preferentially fetch the stored coal in the coal storage partition with a high priority value, so as to reduce the spontaneous combustion risk of the stored coal and improve the safety.

[0027] In some embodiments of the present application, the dangerous planning module divides the coal yard area grid map of the coal yard, and determines the dangerous area grids in the coal yard area grid map according to the coal fetching route of the bucket wheel stacker-reclaimer, including: obtaining the preset grid, dividing the coal yard area according to the preset grid to obtain several coal yard area grid maps; determining the coordinate values of each important point of the bucket wheel stacker-reclaimer and the obstacle points in the coal yard area according to the coal yard area grid map, and determining the distance values between the important points and the obstacle points according to the coordinate values; performing coal fetching simulation on the bucket wheel stacker-reclaimer according to the coal fetching route of the bucket wheel stacker-reclaimer, and determining the minimum distance values between each important point and each obstacle point according to the coal fetching simulation result; determining the dangerous area grids in the coal yard area grid map according to the minimum distance values between each important point and each obstacle point.

[0028] In this embodiment, the key points of the bucket wheel stacker-reclaimer are the coordinate points of key parts such as the bucket wheel mechanism, the counterweight assembly, and the boom. The obstacle points in the coal yard area are the coordinate points of collision risk objects such as non-target coal piles, limit piles, and buildings in the coal yard. By simulating the coal-taking process of the bucket wheel stacker-reclaimer, the minimum distance values between each key point and each obstacle point are determined, and then the dangerous area grids are divided.

[0029] In some embodiments of the present application, determining the dangerous area grids of the coal yard area grid map according to the minimum distance values between each key point and each obstacle point includes: obtaining a preset allowable minimum distance, and counting the number of minimum distance values between the key points in the coal yard area grid map and each obstacle point that are less than the preset allowable minimum distance; obtaining a preset allowable number value, and calculating the ratio of the number of minimum distance values between the key points in the coal yard area grid map and each obstacle point that are less than the preset allowable minimum distance to the preset allowable number value; determining the corresponding dangerous weights of each coal yard area grid map according to the ratio of the number of minimum distance values between the key points in the coal yard area grid map and each obstacle point that are less than the preset allowable minimum distance to the preset allowable number value, and setting the coal yard area grid map with a dangerous weight greater than the first preset threshold as the dangerous area grid.

[0030] In this embodiment, the dangerous weight is calculated by the number of minimum distance values between the key points in the coal yard area grid map and each obstacle point that are less than the preset allowable minimum distance, and the dangerous area grid is set by the dangerous weight.

[0031] In some embodiments of the present application, the speed control module controls the speed limit value of the bucket wheel stacker-reclaimer in each dangerous area grid according to the real-time route data of the bucket wheel stacker-reclaimer, including: determining the real-time distance values between each key point and the corresponding obstacle point of the bucket wheel stacker-reclaimer in the dangerous area grid according to the real-time route data, and drawing a distance value change curve according to the real-time distance values between each key point and the corresponding obstacle point; performing curve fitting on the distance value change curve to obtain a distance value prediction curve; determining the time required for the distance value to reach the second preset threshold according to the distance value prediction curve to obtain a dangerous time, and determining the speed limit value of the bucket wheel stacker-reclaimer according to the dangerous time.

[0032] In this embodiment, when the bucket wheel stacker-reclaimer is officially taking coal, the route data of the bucket wheel stacker-reclaimer is detected in real time, so as to obtain the real-time distance values between each key point and the corresponding obstacle point and draw a distance value change curve, perform curve fitting on the distance value change curve based on the least square method to obtain a distance value prediction curve, predict the dangerous time when the distance value reaches the dangerous value through the distance value prediction curve, and control the traveling speed of the bucket wheel stacker-reclaimer according to the dangerous time.

[0033] In some embodiments of the present application, determining the speed limit value of the bucket wheel stacker-reclaimer according to the dangerous time includes: obtaining a preset allowable dangerous time, and calculating the difference between the dangerous time and the preset allowable dangerous time; determining whether the difference between the dangerous time and the preset allowable dangerous time is less than a third preset threshold. If the difference between the dangerous time and the preset allowable dangerous time is less than the third preset threshold, set the preset first speed limit value as the speed limit value of the bucket wheel stacker-reclaimer; if the difference between the dangerous time and the preset allowable dangerous time is greater than or equal to the third preset threshold, determine whether the difference between the dangerous time and the preset allowable dangerous time is less than a fourth preset threshold; if the difference between the dangerous time and the preset allowable dangerous time is less than the fourth preset threshold, set the preset second speed limit value as the speed limit value of the bucket wheel stacker-reclaimer; if the difference between the dangerous time and the preset allowable dangerous time is greater than or equal to the fourth preset threshold, set the preset third speed limit value as the speed limit value of the bucket wheel stacker-reclaimer.

[0034] In this embodiment, the speed limit value of the bucket wheel stacker-reclaimer is set by the difference between the dangerous time and the preset allowable dangerous time. The smaller the difference, the smaller the speed limit value of the bucket wheel stacker-reclaimer. Therefore, it is set that the preset first speed limit value > the preset second speed limit value > the preset third speed limit value.

[0035] In some embodiments of the present application, it further includes an emergency braking module for: obtaining a preset sliding time window, dividing the distance value change curve according to the preset sliding time window to obtain several sub-distance value change curves; counting the absolute values of the slopes of each sub-distance value change curve, and calculating the difference between the absolute values of adjacent slopes in the distance value change curve; if there is a difference between the absolute values of adjacent slopes in the distance value change curve that is greater than a fifth preset threshold, perform emergency braking on the bucket wheel stacker-reclaimer.

[0036] In this embodiment, to further prevent the bucket wheel stacker-reclaimer from colliding with the obstacle point, the speed change situation of the bucket wheel stacker-reclaimer is judged by the difference between the absolute values of adjacent slopes in the distance value change curve, and emergency braking is performed when the speed changes too fast, effectively improving the safety of the bucket wheel stacker-reclaimer.

[0037] Based on the same technical concept, as Figure 2 shown, the present invention also provides a control method for a bucket wheel stacker-reclaimer based on a PLC, including: obtaining the coal storage information of the coal yard, and determining the coal-taking route of the bucket wheel stacker-reclaimer according to the coal storage information of the coal yard; dividing the coal yard area grid map of the coal yard, and determining the dangerous area grids in the coal yard area grid map according to the coal-taking route of the bucket wheel stacker-reclaimer; obtaining the real-time route data of the bucket wheel stacker-reclaimer, and controlling the speed limit value of the bucket wheel stacker-reclaimer in each dangerous area grid according to the real-time route data of the bucket wheel stacker-reclaimer.

[0038] By applying the above technical solutions, the present invention includes a route determination module for obtaining the coal storage information of the coal yard and determining the coal retrieval route of the bucket wheel stacker-reclaimer according to the coal storage information of the coal yard; a danger planning module for dividing the grid map of the coal yard area and determining the dangerous area grids in the grid map of the coal yard area according to the coal retrieval route of the bucket wheel stacker-reclaimer; and a speed control module for obtaining the real-time route data of the bucket wheel stacker-reclaimer and controlling the speed limit value of the bucket wheel stacker-reclaimer in each dangerous area grid according to the real-time route data of the bucket wheel stacker-reclaimer. The present invention improves the safety of the bucket wheel stacker-reclaimer while enhancing the utilization rate of coal storage in the coal yard by formulating the coal retrieval route of the bucket wheel stacker-reclaimer in advance and controlling the speed of the bucket wheel stacker-reclaimer through the divided dangerous areas.

[0039] Through the description of the above embodiments, those skilled in the art can clearly understand that the present invention can be implemented by hardware or by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present invention can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, a USB flash drive, a mobile hard disk, etc.) and includes several instructions for causing a computer device (such as a personal computer, a server, or a network device, etc.) to execute the methods described in various implementation scenarios of the present invention.

[0040] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit them; although the present application 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 for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present application.

Claims

1. A bucket wheel stacker-reclaimer control system based on PLC, characterized in that, Including: A route determination module, which is used to obtain the coal storage information of the coal yard and determine the coal fetching route of the bucket wheel stacker-reclaimer according to the coal storage information of the coal yard; A danger planning module, which is used to divide the coal yard area grid map of the coal yard and determine the dangerous area grids in the coal yard area grid map according to the coal fetching route of the bucket wheel stacker-reclaimer; A speed control module, which is used to obtain the real-time route data of the bucket wheel stacker-reclaimer and control the speed limit value of the bucket wheel stacker-reclaimer in each dangerous area grid according to the real-time route data of the bucket wheel stacker-reclaimer.

2. The PLC-based bucket wheel stacker-reclaimer control system according to claim 1, wherein The route determination module determines the coal fetching route of the bucket wheel stacker-reclaimer according to the coal storage information of the coal yard, including: Determining the coal type information of the coal stored in the coal yard according to the coal storage information of the coal yard, and determining the flammability degree of each coal type according to the coal type information; Clustering the coal stored in the coal yard according to the flammability degree of the coal type, and dividing the coal yard into several coal storage sub-areas; Obtaining the coal blending and firing plan, and determining the coal demand information of each sub-area according to the coal blending and firing plan; Determining the coal storage storage time of the coal storage sub-area corresponding to the coal demand information according to the coal type information, calculating the priority value of the coal storage sub-area according to the coal storage storage time of the coal storage sub-area corresponding to the coal demand information, and determining the coal fetching route of the bucket wheel stacker-reclaimer according to the priority value of each coal storage sub-area.

3. The PLC-based bucket wheel stacker-reclaimer control system according to claim 2, wherein The clustering of the coal stored in the coal yard according to the flammability degree of the coal type includes: Establishing a sample data set according to the flammability degree of each coal storage coal type, and randomly selecting k initial clustering centers of the sample data set; Calculating the Manhattan distance from the sample data in the sample data set to the initial clustering center, and dividing each coal storage into the corresponding clustering sub-area according to the Manhattan distance from the sample data in the sample data set to the initial clustering center; Calculating the average value of the sample data in each clustering sub-area, and recalculating the clustering center according to the average value of the sample data in each clustering sub-area; Repeating and iterating the above steps until the clustering center no longer changes or the number of iterations reaches the preset maximum number of iterations, and obtaining the clustering sub-areas of each coal storage.

4. The PLC-based bucket wheel stacker-reclaimer control system according to claim 2, characterized in that, Calculating the priority value of the coal storage sub-area according to the coal storage storage time of the coal storage sub-area corresponding to the coal demand information includes: Calculating the priority value of the coal storage sub-area according to the priority value calculation formula, and the specific priority value calculation formula is Among them, is the priority value of the coal storage area, is the clustering center value of the coal storage area, is the preset standard center value, is the preset standard storage time, is the coal storage time, is the preset range coefficient, is the natural exponential function.

5. The control system of the bucket wheel stacker-reclaimer based on PLC according to claim 1, wherein The danger planning module divides the coal yard area grid map of the coal yard and determines the dangerous area grids in the coal yard area grid map according to the coal fetching route of the bucket wheel stacker-reclaimer, including: Obtaining the preset grid, dividing the coal yard area according to the preset grid, and obtaining several coal yard area grid maps; Determining the coordinate values of each important point of the bucket wheel stacker-reclaimer and the obstacle points in the coal yard area according to the coal yard area grid map, and determining the distance value between the important point and the obstacle point according to the coordinate values; Conducting coal fetching simulation on the bucket wheel stacker-reclaimer according to the coal fetching route of the bucket wheel stacker-reclaimer, and determining the minimum distance value between each important point and each obstacle point according to the coal fetching simulation result; Determining the dangerous area grids of the coal yard area grid map according to the minimum distance value between each important point and each obstacle point.

6. The PLC-based bucket wheel stacker-reclaimer control system according to claim 5, wherein, Determining the dangerous area grids of the coal yard area grid map according to the minimum distance value between each important point and each obstacle point includes: Obtaining the preset allowable minimum distance, and counting the number of minimum distance values between the important points and the obstacle points in the coal yard area grid map that are less than the preset allowable minimum distance; Obtain a preset allowable quantity value, and calculate the ratio of the number of minimum distance values between important points and each obstacle point in the coal yard area grid map that are less than the preset allowable minimum distance to the preset allowable quantity value; Determine the corresponding danger weights of each coal yard area grid map according to the ratio of the number of minimum distance values between important points and each obstacle point in the coal yard area grid map that are less than the preset allowable minimum distance to the preset allowable quantity value, and set the coal yard area grid maps with danger weights greater than the first preset threshold as dangerous area grids.

7. The PLC-based control system for a bucket wheel stacker-reclaimer according to claim 1, wherein, The speed control module controls the speed limit values of the bucket wheel stacker-reclaimer in each dangerous area grid according to the real-time route data of the bucket wheel stacker-reclaimer, including: Determine the real-time distance values between each important point and the corresponding obstacle point of the bucket wheel stacker-reclaimer in the dangerous area grid according to the real-time route data, and draw a distance value change curve according to the real-time distance values between each important point and the corresponding obstacle point; Perform curve fitting on the distance value change curve to obtain a distance value prediction curve; Determine the time required for the distance value to reach the second preset threshold according to the distance value prediction curve to obtain a dangerous time, and determine the speed limit value of the bucket wheel stacker-reclaimer according to the dangerous time.

8. The PLC-based control system for a bucket wheel stacker-reclaimer according to claim 7, wherein, The determining the speed limit value of the bucket wheel stacker-reclaimer according to the dangerous time includes: Obtain a preset allowable dangerous time, and calculate the difference between the dangerous time and the preset allowable dangerous time; Judge whether the difference between the dangerous time and the preset allowable dangerous time is less than the third preset threshold. If the difference between the dangerous time and the preset allowable dangerous time is less than the third preset threshold, set the preset first speed limit value as the speed limit value of the bucket wheel stacker-reclaimer; If the difference between the dangerous time and the preset allowable dangerous time is greater than or equal to the third preset threshold, judge whether the difference between the dangerous time and the preset allowable dangerous time is less than the fourth preset threshold; If the difference between the dangerous time and the preset allowable dangerous time is less than the fourth preset threshold, set the preset second speed limit value as the speed limit value of the bucket wheel stacker-reclaimer; If the difference between the dangerous time and the preset allowable dangerous time is greater than or equal to the fourth preset threshold, set the preset third speed limit value as the speed limit value of the bucket wheel stacker-reclaimer.

9. The PLC-based bucket wheel stacker-reclaimer control system according to claim 7, characterized in that, It also includes an emergency braking module for: Obtain a preset sliding time window, and divide the distance value change curve according to the preset sliding time window to obtain a number of sub-distance value change curves; Statistical absolute values of the slopes of each sub-distance value change curve, and calculate the difference between adjacent absolute values of the slopes in the distance value change curve; If there is a difference between adjacent absolute values of the slopes in the distance value change curve that is greater than the fifth preset threshold, perform emergency braking on the bucket wheel stacker-reclaimer.

10. A control method for a bucket wheel stacker-reclaimer based on a PLC, characterized in that, It includes: Obtain the coal storage information of the coal yard, and determine the coal fetching route of the bucket wheel stacker-reclaimer according to the coal storage information of the coal yard; Divide the coal yard area grid map of the coal yard, and determine the dangerous area grids in the coal yard area grid map according to the coal fetching route of the bucket wheel stacker-reclaimer; Obtain the real-time route data of the bucket wheel stacker-reclaimer, and control the speed limit values of the bucket wheel stacker-reclaimer in each dangerous area grid according to the real-time route data of the bucket wheel stacker-reclaimer.

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