Material taking control method and control system of gate-type bucket-wheel material taking machine and storage medium

Abstract

The invention provides a material taking control method and system of a gate-type bucket-wheel material taking machine and a storage medium. The method comprises the steps that a material pile is divided into a plurality of to-be-taken material layers in the height direction, and the contour line of the lower surface of the current to-be-taken material layer is projected to a two-dimensional plane to obtain a material taking area; the material taking range is confirmed according to the intersection point of a transverse material taking straight line where the bucket wheel is located and the material taking area, the total time for completing material taking in the material taking range is calculated according to the total material taking amount in the material taking range and the set material taking volume flow, and the running speed of the bucket wheel in the material taking stroke is calculated according to the total time and the material taking stroke of the bucket wheel in the X-axis direction; and then the bucket wheel is controlled to act to complete material taking within the current material taking range. According to the control method, it can be guaranteed that the material taking volume flow in the material taking range each time is constant, and the problem that the material taking volume flow is unstable is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of reclaiming equipment control, and in particular to a reclaiming control method, a control system and a storage medium of a portal bucket wheel reclaimer. Background Art

[0002] A raw material yard is a place where raw materials and fuels for iron and steel production are received, stored, processed, and mixed. The storage yards (raw material storage areas) of modern, large-scale raw material yards include ore yards, coal yards, auxiliary raw material yards, and mixing yards. These yards store not only imported iron ore, iron ore concentrate, pellets, manganese ore, limestone, dolomite, serpentine, silica, coking coal, and thermal coal, but also a portion of sintered ore, pellets, and recycled materials from the steel mill, such as iron oxide scale, blast furnace ash, crushed coke, sinter fines, and end-of-line ore. Portal-type bucket-wheel reclaimers are less complex to operate than bucket-wheel stackers and are therefore widely used in raw material yards.

[0003] Currently, most gantry bucket wheel reclaimers are operated manually, resulting in high labor intensity, long working hours, and dust pollution from bulk materials, which can significantly impact the operator's physical and mental health. During operation, operators manually control the machine's movement and reclaiming from the cab. Due to the irregular material piles and limited operator experience, manual reclaiming results in unstable volume flow rates, long periods of concentration, and high labor intensity.

[0004] In summary, there is an urgent need for a material reclaiming control method, a control system and a storage medium for a gantry bucket wheel reclaimer to solve the problems existing in the prior art. Summary of the Invention

[0005] The present invention aims to provide a reclaiming control method for a gantry bucket wheel reclaimer, aiming to solve the problems of unstable reclaiming volume flow and high labor intensity in manually operated gantry bucket wheel reclaimers. The specific technical solution is as follows:

[0006] A reclaiming control method for a gantry bucket wheel reclaimer, comprising:

[0007] S1. Construct a spatial coordinate system with the width of the pile as the X-axis, the height of the pile as the Z-axis, and the length of the pile as the Y-axis; divide the pile into multiple layers along the height direction, and number each layer from top to bottom as 1, 2, 3, ..., N, and set m = 1, where N is the total number of layers;

[0008] S2, obtaining the contour lines of the lower surface of the m-th material layer to be removed, and projecting the contour lines onto the XY plane to obtain the material removal area of ​​the material layer to be removed;

[0009] S3. Confirm the reclaiming range as [x1, x2] based on the intersection of the horizontal reclaiming line where the bucket wheel is located and the reclaiming area; where x1 and x2 are the horizontal coordinates of the intersection of the horizontal reclaiming line and the reclaiming area;

[0010] S4, based on the total amount of material V within the material range 总 and the set material volume flow V q Calculate the total time t to complete the material reclaiming within the reclaiming range, and calculate the bucket wheel's running speed within the reclaiming range based on the total time t and the bucket wheel's reclaiming range in the X-axis direction; align the bucket wheel's lower end with the contour line and control the bucket wheel's movement to complete the material reclaiming within the reclaiming range;

[0011] S5, determine whether the material removal of the current layer to be removed is completed. If it is completed, enter S6. If it is not completed, move the bucket wheel along the Y axis and re-enter S3;

[0012] S6. If the current m is less than N and the current total material taking amount is less than the target material taking amount, then m=m+1 and re-enter S2; otherwise, the material taking is terminated.

[0013] Preferably, the total amount of material taken within the material taking range V 总 The calculation method is:

[0014]

[0015] The total time t to complete the material taking within the material taking range is expressed as:

[0016]

[0017] Among them, h x is the height of the material point in the material range [x1, x2], H is the height of the contour line, is the cutting depth of the bucket wheel when retrieving materials, and k is the effective retrieving coefficient.

[0018] Preferably, k is less than 1 when the bucket wheel is taking materials in the boundary area, and k is equal to 1 when the bucket wheel is taking materials in the non-boundary area; the boundary area refers to the area in the material taking area that is less than or equal to D from the contour line, and the non-boundary area refers to the area of ​​the material taking area excluding the boundary area, where D is the width of the bucket wheel in the X-axis direction.

[0019] Preferably, the effective material extraction coefficient is expressed as k=1 / w, and the slip coefficient w is expressed as:

[0020]

[0021] Where: λ is the proportional coefficient, |xx1| is the distance from the horizontal coordinate x of the material point to the boundary point x1, |xx2| is the distance from the horizontal coordinate x of the material point to the boundary point x2, and α is the angle of repose.

[0022] Preferably, when the number of the bucket wheels is one, the running speed of the bucket wheel during the material taking stroke is expressed as:

[0023]

[0024] where h x is the height of the material point in the material taking range [x1, x2], H is the height value of the contour line, is the cutting depth when the bucket wheel takes the material, k is the effective material taking coefficient, and v is the running speed of the bucket wheel during the material taking stroke.

[0025] Preferably, when the number of the bucket wheels is two and the distance between the two bucket wheels is a fixed value L, the movement stroke when the two bucket wheels take the material synchronously is defined as the first material taking stroke segment, and the movement stroke when only the left bucket wheel or the right bucket wheel can take the material is defined as the second material taking stroke segment. The composition of the material taking stroke of the bucket wheel in the X-axis direction is:

[0026] If x2 - x1 = 2L, the material taking stroke of the bucket wheel in the X-axis direction only includes the first material taking stroke segment;

[0027] If x2 - x1 > 2L, the material taking stroke of the bucket wheel in the X-axis direction includes the first material taking stroke segment and the second material taking stroke segment;

[0028] If L ≤ x2 - x1 < 2L, the material taking stroke of the bucket wheel in the X-axis direction includes the first material taking stroke segment and the second material taking stroke segment;

[0029] If x2 - x1 < L, the material taking stroke of the bucket wheel in the X-axis direction only includes the second material taking stroke segment. <00001l8>Preferably, assume that the running speed of the bucket wheel along the X-axis direction in the first material taking stroke segment is v1, and the running speed of the bucket wheel along the X-axis direction in the second material taking stroke segment is v2, where v2 = nv1, n is a set value and greater than 1, then:

[0031] If x2 - x1 = 2L, the running speed v1 of the bucket wheel along the X-axis direction in the first material taking stroke segment is:

[0032]

[0033] If x2 - x1 > 2L, the running speed v1 of the bucket wheel along the X-axis direction in the first material taking stroke segment and the running speed v2 of the bucket wheel along the X-axis direction in the second material taking stroke segment are respectively:

[0034]

[0035] If L ≤ x2 - x1 < 2L, the running speed v1 of the bucket wheel along the X-axis direction in the first material taking stroke segment and the running speed v2 of the bucket wheel along the X-axis direction in the second material taking stroke segment are respectively:

[0036]

[0037]

[0038] When x2 - x1 < L, the running speed v2 of the bucket wheel along the X-axis in the second material-taking stroke segment is:

[0039]

[0040] Where, h x is the height of the material point in the material-taking range [x1, x2], H is the height value of the contour line, is the cutting depth when the bucket wheel takes materials, and k is the effective material-taking coefficient.

[0041] Preferably, when the number of the bucket wheels is two and the distance between the two bucket wheels is a fixed value L, the material-taking volume flow rate V q is composed of the real-time material-taking volume flow rates of the two bucket wheels and is expressed as:

[0042] V q = V l + V r

[0043] The real-time material-taking volume flow rates of the left bucket wheel and the right bucket wheel in the first material-taking stroke segment are expressed as:

[0044]

[0045] In the second material-taking stroke segment, when only the right bucket wheel takes materials, the real-time material-taking volume flow rates of the left bucket wheel and the right bucket wheel are expressed as:

[0046]

[0047] In the second material-taking stroke segment, when only the left bucket wheel takes materials, the real-time material-taking volume flow rates of the left bucket wheel and the right bucket wheel are expressed as:

[0048]

[0049] Where, V l is the real-time material-taking volume flow rate of the left bucket wheel, V r is the real-time material-taking volume flow rate of the right bucket wheel, h xl is the height of the material point when the left bucket wheel takes materials, and h xr is the height of the material point when the right bucket wheel takes materials.

[0050] The present invention also provides a storage medium, in which a computer program is stored, and when the computer program is run, the material-taking control method described above is executed.

[0051] The present invention also provides a material reclaiming control system for a portal bucket wheel reclaimer, comprising a processor and a memory, wherein a computer program is stored in the memory, and the processor executes the material reclaiming control method when running the computer program.

[0052] The application of the technical solution of the present invention has the following beneficial effects:

[0053] The present invention takes the total amount of material V 总 and the material volume flow rate V q The total time t for completing the material collection within the material collection range is calculated, and then the running speed of the bucket wheel within the material collection range is calculated based on the total time t and the material collection range of the bucket wheel in the X-axis direction. The lateral running speed of the bucket wheel within the material collection range can be obtained, and the bucket wheel is controlled to maintain a uniform speed within the material collection range, thereby avoiding the adverse effects caused by frequent adjustments to the lateral movement speed of the bucket wheel. At the same time, the control method of the present invention can ensure that the material collection volume flow rate within the material collection range each time is constant at V q , to avoid the problem of unstable material volume flow.

[0054] For the gantry double bucket wheel reclaimer, the present invention provides a matching control method based on the characteristics of the reclaimer itself. Whether it is a double bucket wheel reclaiming at the same time or a single bucket wheel reclaiming, the reclaiming volume flow rate is kept constant at V q , which avoids the problems of unstable material volume flow and high labor intensity in manual operation.

[0055] In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0057] Figure 1 This is a schematic diagram of the structure of a portal bucket wheel reclaimer with a single bucket wheel;

[0058] Figure 2 This is a schematic diagram of the structure of a gantry bucket wheel reclaimer with two bucket wheels;

[0059] Figure 3 This is a flow chart of the material reclaiming control method of the portal bucket wheel reclaimer of the present invention;

[0060] Figure 4 It is a schematic diagram of the contour lines projected onto the XY plane;

[0061] Among them, 1. gantry, 2. bucket wheel bridge slide rail, 3. bucket wheel transverse track, 4. bucket wheel bridge, 5. gantry slide rail, 6. bucket wheel. DETAILED DESCRIPTION

[0062] To facilitate understanding of the present invention, the present invention will be described more fully below, along with preferred embodiments thereof. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure of the present invention.

[0063] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0064] Example 1:

[0065] Figure 1 It is a structural diagram of a gantry bucket wheel reclaimer, comprising a gantry 1, a bucket wheel bridge 4 and a bucket wheel 6. A gantry sliding track 5 is provided at the bottom of the gantry 1. The bucket wheel bridge 4 is slidably set on the gantry 1 through a bucket wheel bridge slide rail 2. The bucket wheel 6 is set on the bucket wheel bridge 4 through a bucket wheel transverse track 3. The bucket wheel 6 can be adjusted in position in the X, Y and Z directions through the gantry sliding track 5, the bucket wheel bridge slide rail 2 and the bucket wheel transverse track 3. The gantry sliding track 5 can enable the gantry 1 and the components installed on the gantry 1 to move together along the Y direction. The bucket wheel bridge slide rail 2 can enable the bucket wheel bridge 4 and the components installed on the bucket wheel bridge 4 to move together along the Z direction. The bucket wheel transverse track 3 can enable the bucket wheel 6 to move along the X direction, wherein the X, Y and Z directions are perpendicular to each other.

[0066] The gantry bucket wheel reclaimer generally adopts a top-down layered reclaiming process. When reclaiming, the bucket wheel moves along the X direction from one side of the pile to the other side (from the left side of the pile to the right side of the pile, or from the right side of the pile to the left side of the pile), thereby completing the reclaiming operation of a cross section, and then the feeder moves along the Y direction until a layer of material is reclaimed.

[0067] In order to solve the problems of high labor intensity, low operating efficiency, improper operation that may affect the safe operation of the equipment, and unstable material volume flow rate due to irregular material piles when reclaiming materials with a gantry bucket wheel reclaimer, this embodiment provides a reclaiming control method for a gantry bucket wheel reclaimer, such as Figure 3 As shown, the details are as follows:

[0068] S1. Construct a spatial coordinate system with the width direction of the stockpile as the X-axis, the height direction of the stockpile as the Z-axis, and the length direction of the stockpile as the Y-axis; divide the stockpile into multiple layers to be reclaimed along the height direction, number the layers to be reclaimed from top to bottom as 1, 2, 3, …, N in sequence, and take m = 1, where N is the total number of layers to be reclaimed;

[0069] Preferably, the height of the layer to be reclaimed can be preset, and it is not required that the height of each layer to be reclaimed must be the same. For example: the height of the stockpile is 10 m, the preset height of the layer to be reclaimed is 3 m, and a total of 4 layers to be reclaimed are obtained, where the height of one layer to be reclaimed is 1 m, and the heights of the remaining layers to be reclaimed are all 3 m. The layer to be reclaimed with a height of 1 m can be located at the topmost layer or the bottommost layer; of course, the preset height of the layer to be reclaimed can also be 2.5 m, and a total of 4 layers to be reclaimed are obtained, and the height of each layer to be reclaimed is the same.

[0070] Preferably, a stockpile model is obtained by scanning the stockpile, and thus data information about the stockpile can be acquired, including the width, length, and height of the stockpile and the coordinates of each material point on the surface of the stockpile in the spatial coordinate system.

[0071] S2. Obtain the contour line of the lower surface of the mth layer to be reclaimed, and project the contour line onto the XY plane to obtain the reclaiming area of this layer to be reclaimed, as Figure 4 shown;

[0072] S3. Confirm the reclaiming range as [x1, x2] according to the intersection points of the transverse reclaiming straight line where the bucket wheel is located and the reclaiming area; where x1 and x2 are the abscissas of the intersection points of the transverse reclaiming straight line and the reclaiming area, x1 < x2, and the transverse reclaiming straight line is parallel to the X-axis;

[0073] S4. Based on the total reclaiming volume V 总 within the reclaiming range and the set reclaiming volume flow rate V q calculate the total time t for completing the reclaiming within the reclaiming range, and calculate the running speed of the bucket wheel during the reclaiming stroke according to the total time t and the reclaiming stroke of the bucket wheel in the X-axis direction; level the bottommost end of the bucket wheel with the contour line, and control the movement of the bucket wheel to complete the reclaiming within the reclaiming range (that is, control the bucket wheel to move along the X-axis direction to complete the reclaiming within the reclaiming range);

[0074] Preferably, since some materials will slide to the next layer during the reclaiming of the boundary materials, an effective reclaiming coefficient k is introduced in this embodiment to accurately calculate the total reclaiming volume V 总 within the reclaiming range, and the total reclaiming volume V 总 is expressed as:

[0075]

[0076] Where: h xis the height of a material point in the material sampling range [x1, x2], the material point is located on the line connecting x1 and x2, x is the horizontal coordinate of the material point, and the method of obtaining the material point on the line connecting x1 and x2 can be found in the prior art and will not be described in detail in this embodiment; H is the height value of the contour line; is the cutting depth of the bucket wheel when retrieving materials; k is the effective retrieving coefficient.

[0077] This embodiment provides two methods for determining the effective material extraction coefficient, wherein the first method is:

[0078] When the bucket wheel is drawing material in a boundary area, k is set to less than 1. When the bucket wheel is drawing material in a non-boundary area, k is set to 1. The boundary area refers to the area within the drawing area that is less than or equal to D from the contour line, and the non-boundary area refers to the area of ​​the drawing area excluding the boundary area, where D is the width of the bucket wheel in the X-axis direction. Furthermore, when drawing material in the boundary area, the effective drawing coefficient k can be calculated based on the calculated drawing volume flow rate and the actual drawing volume flow rate. In this embodiment, it is preferably 0.95.

[0079] The second method for determining the effective material extraction coefficient provided in this embodiment is:

[0080] The effective material extraction coefficient is expressed as k = 1 / w, where w is the slip coefficient. Specifically, the effective material extraction coefficient is the inverse of the slip coefficient, that is, the larger the slip coefficient, the less actual material can be extracted. The slip coefficient is positively correlated with the height of the material point, inversely correlated with the distance from the material point to the edge, and inversely correlated with the repose angle α. The slip coefficient w is expressed as:

[0081]

[0082] Where: λ is the proportional coefficient, |xx1| is the distance from the horizontal coordinate x of the material point to the boundary point x1, |xx2| is the distance from the horizontal coordinate x of the material point to the boundary point x2, and α is the angle of repose.

[0083] The second method of determining the effective material extraction coefficient in this embodiment is to calculate the effective material extraction coefficient based on the location information of each material point. This method can more accurately obtain the effective material extraction coefficient corresponding to different material points, and the calculated total material extraction amount V 总 will be more accurate.

[0084] In this embodiment, the effective material extraction coefficient k is introduced to accurately calculate the total material extraction amount V in the material extraction range [x1, x2] 总 , and then accurately calculate the total time t to complete the material collection within the material collection range. Specifically, when setting the material collection volume flow rate V q Under the premise of , the total time t to complete the material taking within the material taking range is expressed as:

[0085]

[0086] Furthermore, since there is only one bucket wheel in the gantry bucket wheel reclaimer in this embodiment, the reclaiming stroke is the difference between x1 and x2, that is, x2 - x1. Preferably, when controlling the movement of the bucket wheel on the X-axis, the bucket wheel can move from x1 to x2 or from x2 to x1. Before the bucket wheel reclaims the reclaiming range, adjust the position of the bucket wheel along the Z-axis so that the lowermost end of the bucket wheel is flush with the contour line. The bucket wheel moves to the boundary point of the reclaiming range (i.e., x1 or x2), and then starts to reclaim the reclaiming range. After completing the reclaiming within one reclaiming range, move the bucket wheel along the Y-axis, and then proceed to reclaim the next reclaiming range.

[0087] Specifically, the running speed v of the bucket wheel within the reclaiming stroke is expressed as:

[0088]

[0089] In this embodiment, controlling the bucket wheel to move at a constant speed v on the X-axis can avoid the adverse effects brought by frequent speed regulation (for example, frequent adjustment of the running speed of the bucket wheel on the X-axis reduces the service life of the device), and at the same time ensure that the reclaiming volume flow rate is constantly V. q .

[0090] S5. Determine whether the reclaiming of the current layer to be reclaimed is completed. If it is completed, enter S6; if it is not completed, move the bucket wheel along the Y-axis and then re-enter S3.

[0091] Preferably, in this embodiment, the bucket wheel can be set to move in one direction along the Y-axis, that is, the bucket wheel moves from one end to the other end in the length direction of the stockpile. After the bucket wheel moves along the Y-axis, the next reclaiming range can be confirmed, and so on to complete the reclaiming work of the entire layer to be reclaimed.

[0092] Furthermore, those skilled in the art can set the judgment condition for determining whether the reclaiming of the current layer to be reclaimed in S5 according to the actual situation. For example: count the interval range [y1, y2] of the reclaiming area in the Y-direction. If the bucket wheel has completed the reclaiming within the interval range [y1, y2], it is considered that the reclaiming of the current layer to be reclaimed has been completed; otherwise, it is considered not completed. Of course, in some embodiments, it may also be determined whether the reclaiming of the current layer to be reclaimed is completed according to the newly determined reclaiming range and the width D of the bucket wheel in the X-axis direction, that is, if x2 - x1 < D, it is considered that the reclaiming of the current layer to be reclaimed has been completed; otherwise, it is considered not completed.

[0093] S6. If the current m is less than N and the current total reclaiming amount is less than the target reclaiming amount, then set m = m + 1 and re-enter S2; otherwise, end the reclaiming.

[0094] Specifically, if the current m is less than N and the current total material reclaim volume is less than the target material reclaim volume, it means that the layered material reclaiming task of the pile is not completed. Set m = m + 1 to control the bucket wheel to reclaim the lower layer to be reclaimed (in this case, the layer to be reclaimed is also the topmost layer to be reclaimed). When m equals N, it means that the last material layer is being reclaimed at this time. After reclaiming this layer, the reclaimer should stop reclaiming. When the total material reclaim volume equals the target material reclaim volume, it means that the set reclaiming task has been completed, and the reclaimer should also stop reclaiming. The total material reclaim volume refers to the total accumulated material reclaimed by the reclaimer since the start of reclaiming, and the target material reclaim volume is the target amount set for the reclaiming task.

[0095] In the control method of the above steps S1-S6, the bucket wheel is moved at a constant speed within the material reclaiming stroke to reclaim the material. This can avoid frequent adjustment of the bucket wheel's movement speed in the X-axis direction and avoid the adverse effects caused by frequent speed adjustment. However, it is not ruled out that in some embodiments, the bucket wheel's movement speed in the X-axis direction may be adjusted in real time to achieve a constant material reclaiming volume flow rate of V. q The purpose of setting the material volume flow rate V q Based on this, we can reversely calculate to keep the material volume flow rate V q The required bucket wheel running speed, when the real-time adjustment method is used to control the bucket wheel movement speed, the step process of S4 should be as follows:

[0096] The bucket wheel is controlled to keep its lower end flush with the contour line, and moves along the X-axis (i.e., from one side of the pile to the other) to complete the material removal within the material removal range. The real-time running speed of the bucket wheel on the X-axis is calculated according to formula (1.4):

[0097]

[0098] Among them, h x is the height of the material point in the material range [x1, x2], H is the height of the contour line, is the cutting depth of the material, k is the effective material coefficient, when the bucket wheel is taking material in the boundary area, k is less than 1, and when the bucket wheel is taking material in the non-boundary area, k is equal to 1. According to formula (1.4), the real-time running speed of the bucket wheel on the X axis is calculated, so that the material volume flow rate can be kept constant at V q purpose.

[0099] Example 2:

[0100] Figure 2It is a structural schematic diagram of a gantry double-bucket wheel reclaimer, comprising a gantry 1, a bucket wheel bridge 4 and two bucket wheels 6. A gantry sliding track 5 is provided at the bottom of the gantry 1. The bucket wheel bridge 4 is slidably set on the gantry 1 through the bucket wheel bridge slide rail 2. The two bucket wheels 6 are set on the bucket wheel bridge 4 through the bucket wheel transverse track 3. The two bucket wheels 6 move synchronously on the bucket wheel bridge 4 and the distance between them is a fixed value L. The gantry sliding track 5, the bucket wheel bridge slide rail 2 and the bucket wheel transverse track 3 can realize the position adjustment of the two bucket wheels 6 in the X, Y and Z directions. The gantry sliding track 5 can realize the gantry 1 and the components installed on the gantry 1 to move together along the Y direction. The bucket wheel bridge slide rail 2 can realize the bucket wheel bridge 4 and the components installed on the bucket wheel bridge 4 to move together along the Z direction. The bucket wheel transverse track 3 can realize the synchronous movement of the two bucket wheels 6 along the X direction, wherein the X, Y and Z directions are perpendicular to each other.

[0101] The gantry double bucket wheel reclaimer generally adopts a top-down layered reclaiming process. When reclaiming, one of the bucket wheels is set at the boundary point on the same side as the bucket wheel, and the two bucket wheels move synchronously to the other boundary point (that is, the two bucket wheels may move synchronously from the left side of the material pile to the right side of the material pile, or from the right side of the material pile to the left side of the material pile), thereby completing the reclaiming operation of a cross section, and then the feeder (that is, the bucket wheel) moves along the Y direction until the reclaiming of a layer of material is completed.

[0102] In order to solve the problems of high labor intensity, low operating efficiency, improper operation that may affect the safe operation of the equipment, and unstable material volume flow rate due to irregular material piles when reclaiming materials with a gantry-type double-bucket wheel reclaimer, this embodiment provides a reclaiming control method for a gantry-type bucket wheel reclaimer, such as Figure 3 As shown, the details are as follows:

[0103] S1. Construct a spatial coordinate system with the width of the pile as the X-axis, the height of the pile as the Z-axis, and the length of the pile as the Y-axis; divide the pile into multiple layers along the height direction, and number each layer from top to bottom as 1, 2, 3, ..., N, and set m = 1, where N is the total number of layers;

[0104] Preferably, the height of the material layer to be removed can be preset, and there is no restriction that the height of each material layer must be consistent. For example: the height of the material pile is 10m, and the height of the material layer to be removed is preset to 3m, resulting in a total of 4 material layers to be removed, one of which is 1m high, and the other material layers are all 3m high. The material layer with a height of 1m can be located at the top or bottom layer. Of course, the height of the material layer to be removed can also be preset to 2.5m, resulting in a total of 4 material layers to be removed, and each material layer has a consistent height.

[0105] Preferably, a stockpile model is obtained by scanning the stockpile, from which data information about the stockpile can be acquired, including the width, length, height of the stockpile, and the coordinates of each material point on the stockpile surface in the space coordinate system.

[0106] S2. Obtain the contour line of the lower surface of the m-th layer of material to be taken, and project the contour line onto the XY plane to obtain the material-taking area of this layer of material to be taken, as Figure 4 shown;

[0107] S3. Confirm the material-taking range as [x1, x2] according to the intersection points of the transverse material-taking line where the bucket wheel is located and the material-taking area; where x1 and x2 are both the abscissas of the intersection points of the transverse material-taking line and the material-taking area, and x1 < x2, that is, x1 and x2 are two boundary points, and the transverse material-taking line is parallel to the X axis;

[0108] S4. Based on the total material-taking volume V 总 within the material-taking range and the set material-taking volume flow rate V q calculate the total time t for completing the material-taking within the material-taking range. Calculate the running speed of the bucket wheel during the material-taking stroke according to the total time t and the material-taking stroke of the bucket wheel in the X-axis direction; Align the lowest end of the bucket wheel with the contour line, and control the movement of the bucket wheel to complete the material-taking within the material-taking range (that is, control the bucket wheel to move along the X-axis direction to complete the material-taking of the material-taking range);

[0109] Preferably, since there will be some materials sliding down to the next layer when taking materials at the boundary, an effective material-taking coefficient k is introduced in this embodiment to accurately calculate the total material-taking volume V 总 within the material-taking range, and the total material-taking volume V 总 is expressed as:

[0110]

[0111] Where: h x is the height of the material point within the material-taking range [x1, x2], and the material point is located on the line connecting x1 and x2. For the method of obtaining the material points on the line connecting x1 and x2, please refer to the prior art and will not be elaborated in this embodiment; H is the height value of the contour line; is the cutting depth of the material-taking; k is the effective material-taking coefficient.

[0112] In this embodiment, the determination method of the effective material-taking coefficient is the same as that in Embodiment 1. Introducing the effective material-taking coefficient k can accurately calculate the total material-taking volume V 总 within the material-taking range [x1, x2], and further accurately calculate the total time t for completing the material-taking within the material-taking range. Specifically, on the premise of setting the material-taking volume flow rate V q , the total time t for completing the material-taking within the material-taking range is expressed as:

[0113]

[0114] Furthermore, since the gantry double-bucket wheel reclaimer in this embodiment has two bucket wheels, the material taking volume flow rate V q is composed of the real-time material taking volume flow rates of the two bucket wheels, and is expressed as:

[0115] V q = V l + V r (2.3),

[0116] where V l is the real-time material taking volume flow rate of the left bucket wheel, and V r is the real-time material taking volume flow rate of the right bucket wheel.

[0117] Since the two bucket wheels move synchronously in one direction during material taking, there are four situations in the whole material taking process:

[0118] 1) If x2 - x1 = 2L, then only the two bucket wheels need to take materials synchronously to complete the material taking within the whole material taking range.

[0119] 2) If x2 - x1 > 2L, then first the two bucket wheels take materials synchronously. When the material taking movement stroke of the two bucket wheels is greater than L, only the right bucket wheel or the left bucket wheel needs to continue working to complete the material taking; when the bucket wheels move from the left side to the right side of the stockpile (i.e., from x1 to x2), when the material taking movement stroke of the two bucket wheels is greater than L, only the right bucket wheel needs to continue working to complete the material taking; when the bucket wheels move from the right side to the left side of the stockpile (i.e., from x2 to x1), when the material taking movement stroke of the two bucket wheels is greater than L, only the left bucket wheel needs to continue working to complete the material taking.

[0120] 3) If L ≤ x2 - x1 < 2L, then first the two bucket wheels take materials synchronously. When the material taking movement stroke of the two bucket wheels is greater than x2 - x1 - L, only the left bucket wheel or the right bucket wheel needs to continue working to complete the material taking; when the bucket wheels move from the left side to the right side of the stockpile, when the material taking movement stroke of the two bucket wheels is greater than x2 - x1 - L, only the left bucket wheel needs to continue working to complete the material taking; when the bucket wheels move from the right side to the left side of the stockpile, when the material taking movement stroke of the two bucket wheels is greater than x2 - x1 - L, only the right bucket wheel needs to continue working to complete the material taking.

[0121] 4) If x2 - x1 < L, it means that only one bucket wheel is needed to complete the material taking within the material taking range, that is, only the right bucket wheel or the left bucket wheel needs to work to complete the material taking, and the situation at this time is the same as that of the single bucket wheel material taking in Embodiment 1.

[0122] In this embodiment, the movement stroke when the two bucket wheels take materials synchronously is defined as the first material taking stroke segment, and the movement stroke when only the left bucket wheel or the right bucket wheel can take materials is defined as the second material taking stroke segment.

[0123] In the first reclaiming stroke, the real-time reclaiming volume flow of the left bucket wheel and the right bucket wheel is expressed as:

[0124]

[0125] In the second reclaiming stroke, when only the right bucket wheel is reclaiming, the real-time reclaiming volume flow of the left and right bucket wheels is expressed as:

[0126]

[0127] In the second reclaiming stroke, when only the left bucket wheel is reclaiming, the real-time reclaiming volume flow of the left and right bucket wheels is expressed as:

[0128]

[0129] Among them, h xl The height of the material point when the left bucket wheel takes the material, h xr is the height of the material point when the bucket wheel on the right side takes the material, and H is the height value of the contour line. is the cutting depth of the material (the cutting depth of the two bucket wheels is the same), v is the movement speed of the bucket wheel along the X axis (the two bucket wheels move synchronously, so the movement speed along the X axis is v), and k is the effective material reclaiming coefficient.

[0130] Since the number of bucket wheels for reclaiming in reclaiming section 1 and reclaiming section 2 is different, in order to ensure that the reclaiming volume flow rate is constant at V q The speed of the bucket wheel along the X-axis in the first and second reclaiming stroke segments should also be set to be different. Assuming that the speed of the bucket wheel along the X-axis in the first reclaiming stroke segment is v1, and the speed of the bucket wheel along the X-axis in the second reclaiming stroke segment is v2, where v2 = nv1, n is a set value greater than 1, then the relationship between the total time t and the bucket wheel running speed in each case can be expressed as:

[0131] 1) If x2-x1=2L, the relationship between the total time t and v1 can be expressed as:

[0132]

[0133] After deformation, the running speed v1 of the bucket wheel along the X-axis in the first reclaiming stroke section is:

[0134]

[0135] 2) If x2-x1>2L, the relationship between the total time t and v1 and v2 can be expressed as:

[0136]

[0137] The running speed v1 of the bucket wheel along the X-axis in the first material fetching stroke segment is obtained as follows:

[0138]

[0139] The running speed v2 of the bucket wheel along the X-axis in the second material fetching stroke segment is obtained as follows:

[0140]

[0141] 3) If L ≤ x2 - x1 < 2L, the relationship between the total time t and v1, v2 can be expressed as:

[0142]

[0143] The running speed v1 of the bucket wheel along the X-axis in the first material fetching stroke segment is obtained as follows:

[0144]

[0145] The running speed v2 of the bucket wheel along the X-axis in the second material fetching stroke segment is obtained as follows:

[0146]

[0147] 4) If x2 - x1 < L, only one bucket wheel is needed for material fetching. Therefore, the relationship between the total time t and v2 can be expressed as:

[0148]

[0149] The running speed v2 of the bucket wheel along the X-axis in the second material fetching stroke segment is obtained as follows:

[0150]

[0151] In this embodiment, according to the relationship between the difference of x2 - x1 and L, it can be confirmed that the material fetching stroke of the bucket wheel within the material fetching range is either only the first material fetching stroke segment, or a combination of the first and second material fetching stroke segments, or only the second material fetching stroke segment. Thus, the running speed of the bucket wheel can be calculated in various cases, so as to ensure that the material fetching volume flow rate of the material fetching machine is always constant at V q .

[0152] S5. Determine whether the material fetching of the current layer to be fetched is completed. If it is completed, enter S6; if it is not completed, move the bucket wheel along the Y-axis and then re-enter S3;

[0153] Preferably, in this embodiment, the bucket wheel can be set to move along one direction of the Y-axis, that is, the bucket wheel moves from one end to the other end in the length direction of the material pile. After the bucket wheel moves along the Y-axis, the next material fetching range can be confirmed, and so on to complete the material fetching work of the entire layer to be fetched.

[0154] Furthermore, the judgment conditions for judging whether the material extraction of the current layer to be extracted is completed in S5 can be set by those skilled in the art according to actual conditions. For details, see the judgment method in Example 1.

[0155] S6. If the current m is less than N and the current total material taking amount is less than the target material taking amount, then m=m+1 and re-enter S2; otherwise, the material taking is terminated.

[0156] Specifically, if the current m is less than N and the current total material reclaim volume is less than the target material reclaim volume, it means that the layered material reclaiming task of the pile is not completed. Set m = m + 1 to control the bucket wheel to reclaim the lower layer to be reclaimed (in this case, the layer to be reclaimed is also the topmost layer to be reclaimed). When m equals N, it means that the last material layer is being reclaimed at this time. After reclaiming this layer, the reclaimer should stop reclaiming. When the total material reclaim volume equals the target material reclaim volume, it means that the set reclaiming task has been completed, and the reclaimer should also stop reclaiming. The total material reclaim volume refers to the total accumulated material reclaimed by the reclaimer since the start of reclaiming, and the target material reclaim volume is the target amount set for the reclaiming task.

[0157] Same as in Example 1, given the material volume flow rate V q Then, according to formulas (2.3)-(2.6) and the composition of the material taking stroke, the real-time running speed of the bucket wheel along the X-axis can also be calculated by reverse calculation. In this embodiment, the reverse calculation process is not described in detail, and the reverse calculation here is common sense in this field.

[0158] Example 3:

[0159] This embodiment provides a material reclaiming control system for a gantry bucket wheel reclaimer, which is used to control the material reclaiming of a gantry bucket wheel reclaimer with a single bucket wheel. The system includes a processor and a memory, wherein a computer program is stored in the memory, and when the processor runs the computer program, the material reclaiming control method in Example 1 is executed.

[0160] Example 4:

[0161] This embodiment provides a material reclaiming control system for a gantry bucket wheel reclaimer, which is used to control the material reclaiming of a gantry bucket wheel reclaimer with double bucket wheels. The system includes a processor and a memory, wherein a computer program is stored in the memory, and when the processor runs the computer program, the material reclaiming control method in Example 2 is executed.

[0162] Example 5:

[0163] This embodiment provides a storage medium storing a computer program. When the computer program is executed, the material taking control method in embodiment 1 or embodiment 2 is executed.

[0164] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A reclaiming control method for a gantry bucket wheel reclaimer, characterized in that: Including: S1. Construct a spatial coordinate system with the width direction of the stockpile as the X-axis, the height direction of the stockpile as the Z-axis, and the length direction of the stockpile as the Y-axis; Divide the stockpile into multiple layers to be reclaimed along the height direction, number each layer to be reclaimed from top to bottom as 1, 2, 3, …, N in sequence, and take m = 1, where N is the total number of layers to be reclaimed; S2. Obtain the contour line of the lower surface of the m-th layer to be reclaimed, and project the contour line onto the XY plane to obtain the reclaiming area of this layer to be reclaimed; S3. Confirm the reclaiming range as [x1, x2] according to the intersection points of the transverse reclaiming straight line where the bucket wheel is located and the reclaiming area; where x1 and x2 are the abscissas of the intersection points of the transverse reclaiming straight line and the reclaiming area; S4, based on the total amount of material V within the material range 总 and the set material volume flow V q Calculate the total time t to complete the material reclaiming within the reclaiming range, and calculate the bucket wheel's running speed within the reclaiming range based on the total time t and the bucket wheel's reclaiming range in the X-axis direction; align the bucket wheel's lower end with the contour line and control the bucket wheel's movement to complete the material reclaiming within the reclaiming range; S5. Judge whether the reclaiming of the current layer to be reclaimed is completed. If it is completed, enter S6; if it is not completed, move the bucket wheel along the Y-axis and then re-enter S3; S6. If the current m is less than N and the current total reclaiming amount is less than the target reclaiming amount, take m = m + 1 and then re-enter S2, otherwise end the reclaiming.

2. The reclaiming control method of a gantry bucket wheel reclaimer according to claim 1, characterized in that: The total amount of material taken within the material taking range V 总 The calculation method is: The total time t for completing the reclaiming within the reclaiming range is expressed as: Among them, h x is the height of the material point in the material range [x1, x2], H is the height of the contour line, is the cutting depth of the bucket wheel when retrieving materials, and k is the effective retrieving coefficient.

3. The reclaiming control method of a gantry bucket wheel reclaimer according to claim 2, characterized in that: When the bucket wheel reclaims in the boundary area, take k less than 1, and when the bucket wheel reclaims in the non-boundary area, take k equal to 1; the boundary area refers to the area within the reclaiming area where the distance from the contour line is less than or equal to D, and the non-boundary area refers to the area of the reclaiming area except the boundary area, where D is the width of the bucket wheel in the X-axis direction.

4. The reclaiming control method of a gantry bucket wheel reclaimer according to claim 2, characterized in that: The effective reclaiming coefficient is expressed as k = 1 / w, and the sliding coefficient w is expressed as: Where: λ is the proportionality coefficient, |xx1| is the distance from the abscissa x of the material point to the boundary point x1, |xx2| is the distance from the abscissa x of the material point to the boundary point x2, and α is the angle of repose.

5. The reclaiming control method of a gantry bucket wheel reclaimer according to any one of claims 1 to 4, characterized in that: When the number of the bucket wheels is one, the running speed of the bucket wheel within the reclaiming stroke is expressed as: Among them, h x is the height of the material point in the material range [x1, x2], H is the height of the contour line, is the cutting depth of the bucket wheel when retrieving materials, k is the effective retrieving coefficient, and v is the running speed of the bucket wheel within the retrieving stroke.

6. The reclaiming control method of a portal bucket wheel reclaimer according to any one of claims 1 to 4, characterized in that: When the number of the bucket wheels is two and the distance between the two bucket wheels is a fixed value L, define the movement stroke when the two bucket wheels reclaim synchronously as the first reclaiming stroke segment, and define the movement stroke when only the left bucket wheel or the right bucket wheel can reclaim as the second reclaiming stroke segment. The composition of the reclaiming stroke of the bucket wheel in the X-axis direction is: If x2 - x1 = 2L, the reclaiming stroke of the bucket wheel in the X-axis direction only includes the first reclaiming stroke segment; If x2 - x1 > 2L, the reclaiming stroke of the bucket wheel in the X-axis direction includes the first reclaiming stroke segment and the second reclaiming stroke segment; If L ≤ x2 - x1 < 2L, the reclaiming stroke of the bucket wheel in the X-axis direction includes the first reclaiming stroke segment and the second reclaiming stroke segment; If x2 - x1 < L, the reclaiming stroke of the bucket wheel in the X-axis direction only includes the second reclaiming stroke segment.

7. The reclaiming control method of a portal bucket wheel reclaimer according to claim 6, characterized in that: Assume that the running speed of the bucket wheel along the X-axis direction in the first reclaiming stroke segment is …1, and the running speed of the bucket wheel along the X-axis direction in the second reclaiming stroke segment is v2, where v2 = nv1, and n is a set value and greater than 1, then: If x2 - x1 = 2L, the running speed v1 of the bucket wheel along the X-axis direction in the first reclaiming stroke segment is: If x2 - x1 > 2L, the running speed v1 of the bucket wheel along the X-axis direction in the first reclaiming stroke segment and the running speed v2 of the bucket wheel along the X-axis direction in the second reclaiming stroke segment are respectively: When \(L\leq x_2 - x_1\lt2L\), the running speed \(v_1\) of the bucket wheel along the \(X\)-axis in the first section of the material taking stroke and the running speed \(v_2\) of the bucket wheel along the \(X\)-axis in the second section of the material taking stroke are respectively: When \(x_2 - x_1\lt L\), the running speed \(v_2\) of the bucket wheel along the \(X\)-axis in the second section of the material taking stroke is: Among them, h x is the height of the material point in the material range [x1, x2], H is the height of the contour line, is the cutting depth of the bucket wheel when retrieving materials, and k is the effective retrieving coefficient.

8. The reclaiming control method of a portal bucket wheel reclaimer according to claim 7, characterized in that: When the number of the bucket wheels is two and the distance between the two bucket wheels is a fixed value L, the material volume flow rate V q It is composed of the real-time material volume flow of the two bucket wheels and is expressed as: V q =V l +V r The real-time material taking volume flow rates of the left bucket wheel and the right bucket wheel in the first section of the material taking stroke are expressed as: In the second section of the material taking stroke, when only the right bucket wheel is taking material, the real-time material taking volume flow rates of the left bucket wheel and the right bucket wheel are expressed as: In the second section of the material taking stroke, when only the left bucket wheel is taking material, the real-time material taking volume flow rates of the left bucket wheel and the right bucket wheel are expressed as: Among them, V l is the real-time material volume flow of the left bucket wheel, V r is the real-time material volume flow rate of the right bucket wheel, h xl The height of the material point when the left bucket wheel takes the material, h xr It is the height of the material point when the right bucket wheel takes material.

9. A storage medium, characterized in that: The computer program is stored in the storage medium, and when the computer program is run, it executes the material taking control method according to any one of claims 1 - 8.

10. A reclaiming control system for a gantry bucket wheel reclaimer, characterized in that: It includes a processor and a memory. The computer program is stored in the memory, and when the processor runs the computer program, it executes the material taking control method according to any one of claims 1 - 8.

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