Crawler crane traction method for film covering of open-air coal yard

Abstract

The invention discloses a crawler crane traction method for film covering of an open-air coal yard, and belongs to the technical field of traction of film covering of the open-air coal yard. The crawler crane traction method comprises the steps that film covering operation is conducted through crawler crane equipment, and the crawler crane equipment moves to a target position in a coal yard area; a lifting arm of the crawler crane equipment is adjusted to a preset position so as to achieve lifting of the covering film; a lifting hook of the crawler crane equipment is assisted to be positioned to a film covering lifting point through a traction rope; hoisting the covering film and covering the covering film on the coal pile; the direction of the lifting hook is adjusted through the traction rope so as to complete film laying; according to the invention, intelligentization and precision of film covering operation of the open-air coal yard are realized, and the operation efficiency and the covering quality are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of traction of open-air coal yard film covering, and in particular relates to a crawler crane traction method for open-air coal yard film covering. Background Art

[0002] Covering operations in open-pit coal yards face a series of complex technical challenges, mainly in terms of how to achieve precise positioning and automated covering.

[0003] First, the coal pile has an irregular shape and large height variations, which makes it difficult to accurately locate the covering lifting point.

[0004] Secondly, wrinkles or gaps are easily generated during the lamination process, affecting the covering effect.

[0005] Furthermore, traditional manual operation is inefficient and poses safety risks. More importantly, the coating operation requires customized adjustments based on the characteristics of each coal pile, placing higher demands on the equipment's flexibility and intelligence. Furthermore, factors such as wind and rainfall in open-air environments can interfere with the coating process, increasing operational complexity. Furthermore, how to monitor and adjust the coating process in real time to ensure quality is a pressing issue.

[0006] These technical difficulties are interrelated and together constitute the core challenge faced by the intelligent covering system of open-pit coal yards, namely how to achieve precise positioning, automated operation, full coverage and real-time monitoring of coal pile covering in a complex and changeable open-pit environment, thereby improving the efficiency and quality of covering operations. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide a crawler crane traction method for covering open-air coal yards in response to the shortcomings of the background technology, which realizes the intelligence and precision of the covering operation in the open-air coal yard, and improves the operation efficiency and covering quality.

[0008] The present invention adopts the following technical solutions to solve the above technical problems: Step 1: Using a crawler crane to perform a coating operation, the crawler crane is moved to a target location within the coal yard area; Step 2, adjusting the boom of the crawler crane to a predetermined position to lift the film; Step 3, using a traction rope to assist the hook of the crawler crane to be positioned at the film lifting point; Step 4, lifting the film and covering it on the coal pile; Step 5: Adjust the direction of the hook by using the traction rope to complete the film laying.

[0009] Furthermore, the use of a crawler crane for laminating operations includes: obtaining an initial position of the crawler crane in the coal yard area; determining a target moving path of the crawler crane based on the position of the coal pile; gradually moving the crawler crane along the target moving path to the opposite side of the coal pile; monitoring the relative position of the crawler crane and the coal pile in real time based on the movement state of the crawler crane; if the crawler crane reaches a predetermined position, it stops moving and records current position data; adjusts the posture of the crawler crane according to the current position data to adapt to the requirements of the laminating operation; obtains environmental information during the movement of the crawler crane to avoid interference from obstacles; and dynamically adjusts the movement speed according to the environmental information to ensure smooth operation.

[0010] Furthermore, the adjustment of the boom of the crawler crane to a predetermined position to achieve lifting of the coating includes: obtaining current angle and length data of the boom; calculating the target angle and extension length of the boom according to the height and slope of the coal pile; adjusting the boom to the target angle and extension length through a control system; collecting posture change data of the boom in real time during the adjustment process; locking the boom position if the boom posture meets predetermined requirements; obtaining relative position information of the hook and the opposite side of the coal pile through the monitoring equipment at the front end of the boom; and fine-tuning the boom according to the relative position information to ensure the accuracy of the lifting point.

[0011] Furthermore, the method of assisting the hook of the crawler crane to be positioned to the film lifting point by using a traction rope includes: obtaining the initial state and length data of the traction rope; determining the slackness of the traction rope according to the distance between the hook and the film lifting point; connecting the hook through the traction rope and extending it to the location of the film; monitoring the tension change of the traction rope in real time according to the connection state of the traction rope; adjusting the tightness of the traction rope if the tension of the traction rope exceeds a preset threshold; guiding the hook to slowly descend to the film lifting point through the traction rope; and dynamically adjusting the direction of the traction rope according to the descending trajectory of the hook to ensure accurate positioning.

[0012] Furthermore, the method of lifting the film and covering it on the coal pile includes: obtaining the connection status of the lifting point of the film and the hook; lifting the hook by the crawler crane to drive the film off the ground; determining the covering path of the film according to the shape and size of the coal pile; monitoring the stress conditions of the film in real time during the lifting process; adjusting the lifting speed and angle of the hook if the film is unevenly stressed; moving along the covering path by the crawler crane to gradually unfold the film; and dynamically adjusting the height of the hook according to the unfolding status of the film to adapt to the slope of the coal pile.

[0013] Furthermore, the direction of the hook is adjusted by the traction rope to complete the film laying, including: obtaining the current position data of the hook during the film covering process; determining the target adjustment angle of the hook according to the laying direction of the film; applying lateral force by the traction rope to change the moving direction of the hook; collecting the force data of the traction rope in real time for the adjustment operation; if the force on the traction rope exceeds a preset range, adjusting the force to avoid damage; moving the hook along a predetermined trajectory through the continuous guidance of the traction rope; and dynamically adjusting the traction angle of the traction rope according to the laying progress of the film to complete the covering.

[0014] Furthermore, the direction of the hook is adjusted by the traction rope to complete the film laying, including: obtaining the edge position data of the film after covering the coal pile; determining the final adjustment direction of the hook according to the edge position data; slightly displacing the hook by the traction rope to align the edge of the film; monitoring the tension state of the traction rope in real time during the fine-tuning process of the hook; if the tension of the traction rope is abnormal, adjusting the traction force of the traction rope; stabilizing the hook in the final position with the assistance of the traction rope; and finally positioning the hook according to the covering effect of the film to ensure complete laying.

[0015] The technical solution provided by the embodiment of the present invention may have the following beneficial effects: The present invention discloses an intelligent film covering system for an open-air coal yard. By acquiring task information such as the position of the coal pile and the size of the film covering, automatic film covering is achieved using a crawler crane equipped with a telescopic arm and a camera. The present invention first determines the initial position of the crawler crane, adjusts the length and angle of the telescopic arm so that the hook can see the opposite traction point, and then controls the traction rope to move to the inside of the coal pile in a relaxed state. Through camera monitoring, the hook is accurately positioned to reach the film covering lifting point, and the hook is connected to the film covering. During the film covering process, the present invention controls the automatic release of the reel so that the film covers along the surface of the coal pile under a low-stress state. Finally, according to the camera monitoring results, the direction of the traction rope is adjusted to ensure that the film covering completely covers the target area, and a task completion report is generated. The present invention realizes the intelligence and precision of film covering operations in open-air coal yards, and improves operating efficiency and covering quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The present invention is a flow chart of a crawler crane traction method for coating an open-air coal yard. DETAILED DESCRIPTION

[0017] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0018] like Figure 1As shown, the crawler crane traction method for coating an open-air coal yard in this embodiment may specifically include: S101. Obtaining film covering task information of an open-pit coal yard, wherein the task information includes coal pile location, film covering size, and coverage target area.

[0019] The basic data related to the film covering task is obtained from the open-pit coal yard management database. The basic data includes the geographical coordinates of the coal pile, the stacking shape information of the coal pile, and the boundary range of the target coverage area. These basic data are preliminarily sorted out to form an initial task list containing the location and area range. Based on the geographical coordinates of the coal pile and the boundary range of the target coverage area in the initial task list, combined with the coal yard terrain feature data, the specific film covering size requirements of each coal pile are determined, and a film covering task list containing size information is generated. The film covering size and corresponding target coverage area of ​​each coal pile are extracted from the film covering task list. Combined with the operating radius range of the crawler crane in the coal yard, the priority sequence of the film covering tasks is planned to form a final open-pit coal yard film covering task information list. For the final open-pit coal yard film covering task information list, the specific content of the coal pile location, film covering size and coverage target area are integrated to form a complete task information data set to guide the implementation of subsequent crawler crane traction film covering operations.

[0020] Specifically, the process of obtaining basic data related to the coating task from the open-pit coal yard management database can be understood as digitally recording the geographical coordinates, stacking shape information, and boundary range of the target coverage area of ​​each coal pile in the coal yard through a pre-established data collection mechanism.

[0021] For example, in a large open-pit coal yard, there may be multiple coal piles scattered across different areas. High-precision positioning equipment is used to obtain the coordinates of the center point of each coal pile. Combined with mapping tools, the boundaries of the coverage area are determined, creating an initial task list that includes the location and scope. This provides an accurate basis for subsequent task allocation, ensuring that no overlapping or duplication of film coating is done.

[0022] In one embodiment, the process of determining the film size requirement based on the initial task list can be refined by combining the coal yard terrain feature data.

[0023] For example, a coal pile might be located in a low-lying area with large undulating terrain. Therefore, the actual area to be covered by the film and its edge extension must be calculated based on the pile shape and terrain characteristics, creating a detailed filming task list with dimensional information. This approach allows for precise matching of filming materials, avoiding waste or shortages.

[0024] Specifically, the process of extracting the size and coverage area information from the laminating task list and planning the priority sequence in combination with the crawler crane operation radius can be achieved by reasonably arranging the operation sequence.

[0025] For example, in a coal yard, crawler cranes have a limited operating radius, so priority is given to coating coal piles that are closer or have easier terrain to access, which results in a final task list. This approach optimizes equipment movement paths and improves operational efficiency.

[0026] In one embodiment, the process of integrating the final task information list to form a complete task information data set can uniformly archive the contents such as the coal pile location, film covering size, and coverage target area.

[0027] For example, all information is consolidated into a structured data table for quick access and recall during operations, guiding the implementation of crawler crane-driven film covering operations. This approach ensures accurate and consistent information transmission, providing reliable support for actual operations. Through these multi-faceted, detailed processes, from data acquisition to task integration, each link is seamlessly integrated, contributing to the efficient execution of film covering tasks in open-pit coal yards.

[0028] S102: Using a crawler crane equipped with a telescopic arm and a camera at the front end of the arm to determine an initial position of the crawler crane.

[0029] The crawler crane is equipped with a telescopic arm and a camera at the front end of the arm. The telescopic arm is adjusted to a preset length and angle to capture real-time image data from the camera. The image data is transmitted to the control terminal via the camera, showing the relative position of the hook opposite the coal pile. The initial position of the crawler crane is adjusted based on the relative position of the hook and the slope opposite the coal pile in the image data. The crawler crane slowly moves to the target area, ensuring that the hook is directly above the slope opposite the coal pile. After the crawler crane reaches the target area, the distance between the hook and the film lifting point above the slope is determined based on the image data. The angle and length of the telescopic arm are fine-tuned to ensure that the hook is precisely aligned with the film lifting point. The alignment of the hook and the film lifting point is confirmed through the control terminal, and the initial position of the crawler crane is fixed. Determination of the initial position ensures that the hook can accurately reach the film lifting point in subsequent operations.

[0030] For example.

[0031] In one possible implementation, a crawler crane is equipped with a telescopic boom and a camera at the front end of the boom. When the boom is adjusted to a preset length and angle, the camera captures a panoramic image of the slope opposite the coal pile. The camera, mounted at the front end of the boom with a downward viewing angle, transmits images in real time to the control terminal's display screen. On the control terminal, the operator observes the relative position of the hook and the slope of the coal pile in the image to determine whether the initial angle of the telescopic boom is appropriate. This method provides a visual representation of the hook's spatial position, ensuring that the hook does not deviate from the target area during subsequent movements. The acquisition of real-time image data provides a reliable basis for precise positioning.

[0032] Specifically, based on the image data transmitted by the camera, the operator can determine the relative position of the hook and the slope opposite the coal pile and adjust the crawler crane's initial position accordingly. The crawler crane slowly moves on its tracks and adjusts to the target area, ensuring that the hook is directly above the slope. The image data clearly shows the contours of the slope and the projection of the hook. The operator controls the crawler crane's direction and speed by comparing the horizontal distance and height difference between the two. This adjustment process utilizes the spatial information in the image data, reducing positioning errors caused by the complex topography of the coal pile and improving the accuracy of the initial position.

[0033] In one embodiment, after the crawler crane reaches the target area, it determines the distance between the hook and the mulch lifting point above the slope based on image data. This mulch lifting point is typically located at the top of the slope and is represented by a fixed marker in the image. The operator zooms in on the image to observe the distance between the hook and the marker and fine-tune the angle and length of the telescopic boom, gradually bringing the hook closer to the marker. This fine-tuning, relying on the detailed image data, ensures the hook can be precisely aligned with the lifting point without contacting the coal pile, thereby preventing damage to the mulch during lifting.

[0034] For example, after confirming the alignment of the hook with the film lifting point on the control terminal display, the operator secures the crawler crane's initial position. The control terminal displays real-time image data showing the alignment of the hook and the lifting point. After confirming the stable hook alignment through the image, the operator locks the crawler crane's chassis. This securing process leverages the high precision of the image data to ensure the stability of the initial position, providing reliable support for subsequent hook lowering and film covering operations. The resulting initial position ensures the hook's precise arrival at the film lifting point.

[0035] S103, adjusting the length and angle of the telescopic arm so that the length and angle of the telescopic arm are sufficient for the hook to be able to see the traction point opposite the coal pile, thereby obtaining an adjusted state of the boom.

[0036] Perform initial adjustments to the crawler crane's telescopic arm, obtaining a basic state from the preset arm length and angle range to ensure that the telescopic arm can cover the visible area opposite the coal pile. The adjusted telescopic arm state is recorded as the first arm state. On the basis of the first arm state, combined with the position of the traction point opposite the coal pile, the length and angle of the telescopic arm are adjusted so that the hook can be clearly aligned with the area where the traction point is located, thereby obtaining the adjusted second arm state. For the second arm state, the relative position between the hook and the traction point is monitored in real time. If a deviation is found, the angle and length of the telescopic arm are fine-tuned to ensure that the hook always remains within the visible range of the traction point, generating the final third arm state. In the third arm state, the telescopic arm is maintained in a stable state, and the hook is assisted in movement by the traction rope to ensure that the hook can accurately reach the position of the traction point opposite the coal pile, providing accurate lifting point positioning for subsequent coating operations.

[0037] Specifically, the generation steps are as follows: 1. Perform initial adjustments to the crawler crane's telescopic boom, obtaining a baseline state within the preset boom length and angle range to ensure the boom can cover the visible area opposite the coal pile. The adjusted boom state is recorded as the first boom state.

[0038] 2. Based on the first arm position, combined with the position of the traction point opposite the coal pile, the length and angle of the telescopic arm are adjusted so that the hook can be clearly aligned with the area where the traction point is located, resulting in the adjusted second arm position.

[0039] 3. For the second arm state, the relative position between the hook and the towing point is monitored in real time. If any deviation is found, the angle and length of the telescopic arm are fine-tuned to ensure that the hook always remains within the visual range of the towing point, generating the final third arm state.

[0040] 4. In the third arm state, maintain the stability of the telescopic arm and use the traction rope to assist the movement of the hook to ensure that the hook can accurately reach the traction point opposite the coal pile, providing accurate lifting point positioning for subsequent coating operations.

[0041] For example.

[0042] In one possible implementation, the crawler crane's telescopic boom uses a hydraulic system to control its arm length and angle for the initial boom position. Based on the height and width of the coal pile, the operator selects an initial boom length and angle combination from the equipment's built-in preset parameters to ensure the hook's camera can capture the entire outline of the opposite side of the coal pile. This adjustment method quickly establishes a stable initial position, laying the foundation for subsequent precise positioning.

[0043] It should be noted that the preset parameters are usually based on the typical geometry of the coal pile, such as a trapezoid with a base width of 50 meters and a height of 11 meters, to ensure that the coverage of the telescopic arm is sufficient to include the traction point.

[0044] In one embodiment, based on the first arm state, the second step is to capture the image of the traction point in real time through a camera, and adjust the length and angle of the telescopic arm in combination with the control system of the crawler crane.

[0045] For example, by observing camera feedback, the operator can gradually extend the arm length or change the angle to bring the hook projection closer to the towing point. This method, which utilizes visual feedback, can effectively address positioning errors caused by the irregular shape of the coal pile surface, thereby improving the accuracy of hook alignment with the towing point.

[0046] Specifically, for real-time monitoring of the second arm state, the relative position of the hook and the towing point is continuously detected through camera images. If the hook deviates from the towing point, the control system will fine-tune the angle or length of the telescopic arm based on the deviation direction.

[0047] For example, if the system detects that the hook has deviated to the left, it can slightly raise the arm end angle to correct the position. This real-time adjustment significantly reduces the risk of the hook deviating and ensures that the hook is always within the visual range.

[0048] Preferably, in the third arm state, the auxiliary effect of the traction rope further optimizes the moving path of the hook.

[0049] For example, by applying appropriate tension to the hauling rope, the hook can be guided to the film lifting point opposite the coal pile, preventing swaying caused by wind or uneven coal surface. This method not only improves the stability of the hook positioning but also provides a reliable guarantee for smooth film application, directly supporting the technical goal of ensuring the hook can see the hauling point after the telescopic arm is adjusted.

[0050] S104. When the crawler crane moves toward the inside of the coal pile, the traction rope is controlled to remain in a relaxed state, and the length of the traction rope is synchronized with the moving distance of the crawler crane to obtain an initial configuration of the traction rope.

[0051] As the crawler crane moves toward the interior of the coal pile, the crawler crane's movement speed and direction are acquired. The tension of the traction rope is monitored in real time using a pre-established criterion for determining the slack state of the traction rope. If the tension exceeds a preset threshold, the release rate of the traction rope is adjusted to ensure that the traction rope remains in a slack state, thereby obtaining the initial slack configuration of the traction rope. For the initial slack configuration of the traction rope, the crawler crane's movement distance data is recorded, and the crawler crane's displacement change characteristics are extracted from the movement distance data. Combined with the length parameters of the traction rope, the release length of the traction rope is synchronously adjusted to ensure that the traction rope length is consistent with the crawler crane's movement distance, thereby achieving dynamic length matching of the traction rope. Based on the dynamic length matching of the traction rope, the displacement change characteristics of the crawler crane during movement are continuously monitored. The release rate and angle of the traction rope are adjusted based on the displacement change characteristics to ensure that the traction rope remains in a slack state when the crawler crane moves to the target position, thereby completing stable control of the initial configuration of the traction rope.

[0052] Specifically, for the control of the slack state of the traction rope when the crawler crane moves towards the inside of the coal pile, it is necessary to first obtain the moving speed and direction of the crawler crane in real time, and monitor the tension state of the traction rope through pre-set judgment criteria. Assuming that the crawler crane advances at a constant speed towards the inside of the coal pile in a coal yard environment, if it is found that the traction rope is tightened due to terrain undulations or uneven movement rhythm, the traction rope can be restored to a slack state by adjusting the release rate. The advantage of this approach is that it can avoid the impact of excessive tension on the flexibility of the hook, while ensuring smooth subsequent operation.

[0053] In one embodiment, based on the above slack configuration of the traction rope, it is particularly important to record the moving distance data of the crawler crane and extract the displacement change characteristics. Assuming that the terrain may have slope changes during the movement of the crawler crane from the edge to the inside of the coal pile, by recording the distance of each movement and analyzing its trend, the release length of the traction rope can be more accurately adjusted to match the moving distance of the crawler crane. The benefit of this is that the traction rope will not be tangled or too tight due to the length, thereby ensuring the stable positioning of the hook above the coal pile.

[0054] For example, on the basis of ensuring dynamic matching of the length of the traction rope, continuously monitoring the displacement change characteristics of the crawler crane and adjusting the release rate and angle of the traction rope is a key step to achieve stable control. Imagine that under complex terrain inside the coal pile, the crawler crane may need to adjust the direction frequently, at which time if the angle of the traction rope is not adjusted in time, it may cause the hook to deviate from the target position. By monitoring the displacement change in real time and adjusting the release rate and angle of the traction rope accordingly, the traction rope can always be kept in a slack state, thereby allowing the hook to accurately reach the specified position. The advantage of this method is that it improves the accuracy of the operation and reduces the deviation caused by improper state of the traction rope.

[0055] It should be noted that each of the above steps is closely linked, from the initial slack configuration to the dynamic length matching, and finally to the stable control, each step provides protection for the state optimization of the traction rope during the movement of the crawler crane. Especially in the complex environment of the open coal yard, the above-mentioned method can effectively improve the smoothness and safety of the operation of the crawler crane, and lay a solid foundation for subsequent tasks such as membrane covering.

[0056] S105, adjust the boom so that the hook point is above the slope opposite the coal pile, monitor the hook position through the camera, and determine the target arrival position of the hook.

[0057] A camera is installed at the front end of the crawler crane's boom to ensure that the camera can clearly capture the position of the hook and its surroundings. The boom's angle and telescopic length are adjusted so that the hook is located above the slope opposite the coal pile. At the same time, the camera captures real-time image data of the hook's current position. From the image data captured by the camera, the relative positional relationship between the hook and the target position above the slope opposite the coal pile is extracted. Based on the deviation between the hook position and the target position in the image data, the boom's telescopic length and angle are adjusted to gradually bring the hook closer to the target position. As the hook approaches the target position, the camera continuously monitors subtle position changes of the hook. If there is still a deviation between the hook position and the target position, the boom's angle is further fine-tuned to ensure that the hook accurately reaches the designated point above the slope opposite the coal pile. After the hook reaches the target position, the camera image data is used to confirm whether the hook is stably located above the slope opposite the coal pile, so that subsequent film-covering hoisting operations can be accurately carried out.

[0058] Specifically, the solution of installing a camera at the front end of the crawler crane boom to capture the hook position can be understood from multiple perspectives. Its implementation and importance can be understood from multiple angles. First of all, during the installation of the camera, it is necessary to ensure that its field of view covers the hook and the surrounding environment, so that the dynamic position of the hook in the air can be monitored in real time. For example, in an open-air coal yard, the slope of the coal pile is irregular. If the hook cannot be accurately positioned, it may lead to operational errors. The visual feedback provided by the camera can effectively assist in adjustments to ensure that the hook is stable above the target area. The advantage of this method is that it improves the accuracy of the operation and reduces the deviation caused by limited vision.

[0059] Next, in the process of acquiring image data from the camera and extracting the relative relationship between the hook and the target position, the position deviation can be judged by the change in the distance between the hook and the slope edge of the coal pile in the image.

[0060] For example, if the image shows the hook deviating to the left of the target area in one scenario, the boom will be adjusted slightly to the right, and the position will be gradually corrected by repeatedly comparing the image data. This approach allows the hook to gradually approach the target point, significantly improving positioning accuracy while avoiding repeated operations caused by blind adjustments.

[0061] Furthermore, as the hook approaches its target position, continuous monitoring of subtle changes in its position is particularly critical. For example, above the slope of a coal pile, the hook may deviate slightly due to wind or boom vibration. The camera image clearly shows these changes, allowing the boom angle to be adjusted promptly to stabilize the hook. The benefit of this real-time monitoring is that it ensures the hook ultimately lands precisely in the designated position, laying the foundation for subsequent operations.

[0062] Finally, after confirming that the hook is stably located at the target position, the role of final verification combined with image data cannot be ignored.

[0063] For example, during an actual operation, if the image shows that the hook is aligned with a point above the slope of a coal pile, reference objects in the image can be used to further confirm its stability, ensuring that positional deviations will not affect subsequent film coating installation. The benefit of this approach is that visual confirmation improves operational reliability and ensures the smooth progress of the entire process. Each of the above steps is closely linked, from camera installation to final position confirmation, forming a complete positioning process, which together ensures that the hook accurately reaches the slope opposite the coal pile.

[0064] S106, slowly lowering the hook, and the hook reaches the film lifting point with the assistance of the traction rope, and the connection state between the hook and the film is obtained.

[0065] During the descent of the crawler crane's hook, the hook is guided by a pre-connected traction rope, and the tension signal of the traction rope is obtained from the opposite side of the coal pile to ensure that the hook slowly descends along the preset path to the vicinity of the film lifting point and maintains a stable state. When the hook approaches the film lifting point, the tension signal of the traction rope is adjusted in real time, and the descent speed and angle of the hook are fine-tuned through the operating mechanism of the crawler crane so that the hook is precisely aligned with the film lifting point to form an initial contact state. After the hook and the film lifting point are initially in contact, the auxiliary tension of the traction rope is used to further adjust the position of the hook to ensure that the connection point between the hook and the film lifting point is completely consistent, and a stable connection between the two is established. After the stable connection is established, the hook is slightly lifted by the boom mechanism of the crawler crane to test whether the connection is reliable, to ensure that the connection between the hook and the film lifting point meets the subsequent lifting requirements, and to complete the connection preparation.

[0066] Specifically, during the crawler crane's hook lowering process, directional guidance via a pre-attached traction rope is crucial. When the traction rope is tightened from the opposite side of the coal pile, it provides a stable guiding force for the hook, ensuring it doesn't deviate from its intended path due to uneven coal pile terrain or wind disturbances.

[0067] For example, in a scenario where the coal pile is uneven in height and has a loose surface, the traction rope can help the hook avoid protruding coal blocks and maintain stability during the descent. The benefit of this method is that it reduces the risk of hook swing, thereby improving the accuracy and safety of the operation.

[0068] Specifically, as the hook approaches the film lifting point, the tension signal from the traction rope becomes the key basis for adjustment. By fine-tuning the descent speed and angle through the crawler crane's operating mechanism, the hook can be aligned with the target position with minimal deviation.

[0069] For example, in a scenario where the film placement area is relatively narrow, the operator can determine whether the hook is deviating from the target by observing the tension of the traction rope. If deviation is found, the operator slowly adjusts the boom angle through the operating mechanism to realign the hook with the lifting point. This fine-tuning method can significantly improve the success rate of docking and reduce the time and cost of repeated adjustments.

[0070] Specifically, after the hook makes initial contact with the membrane lifting point, the auxiliary pulling force of the traction rope plays a further role in helping the final calibration of the hook position.

[0071] For example, when the membrane lifting point is located on a steep slope in a coal pile, the traction rope can provide additional lateral tension to prevent the hook from being misaligned due to slope sliding, ensuring that the connection point is completely aligned. The advantage of this method is that it can maintain the stability of the connection even in complex terrain, laying a solid foundation for subsequent lifting.

[0072] Specifically, after establishing a secure connection, it is necessary to perform a slight lift test using the crawler crane's boom mechanism. This process verifies whether the connection between the hook and the membrane lifting point is reliable.

[0073] For example, in a scenario where the weight of a film is unevenly distributed, a slight lift can help determine whether the connection point can withstand the initial tension. If the connection is found to be unstable, the hook position can be adjusted promptly using the traction rope to ensure that the connection is in a state that meets the lifting requirements. This testing method effectively avoids the risk of unhooking during the lifting process, significantly improving the safety and efficiency of the operation.

[0074] S107, lifting the film by a crawler crane, and the film covering along the surface of the coal pile under the fine adjustment of the traction rope to obtain a film covering state.

[0075] First, the membrane is lifted above the coal pile using the boom of a crawler crane. A camera mounted on the front of the boom monitors the hook's position in real time, ensuring it's aligned with the target coverage area on the coal pile. The hook is connected to the hook via a traction rope, which is kept slack to facilitate subsequent adjustments. Once the hook is aligned with the target area on the coal pile, it is slowly lowered until it approaches the membrane's lifting point. The traction rope is then gently pulled manually or mechanically to guide the hook to the precise lifting point, ensuring a smooth connection. Once the membrane is attached to the hook, the boom of the crawler crane is gradually moved to deploy the membrane along the coal pile's surface. The traction rope maintains a slight tension to fine-tune the membrane's direction and position during deployment, preventing any deviation or wrinkles on the surface. Once the membrane has been deployed to the desired location on the coal pile, the boom angle and traction rope tension are adjusted to ensure a smooth, even coverage of the coal pile. The camera continuously monitors the membrane's coverage until the entire process is complete.

[0076] For example, in actual operation, when the boom of the caterpillar crane lifts the film above the coal pile, the position of the hook can be observed in real time through the camera at the front end of the boom. This way can help the operator to clearly judge whether the hook is aligned with the target area on the surface of the coal pile.

[0077] It should be noted that the role of the camera is to provide visual feedback to avoid the hook deviating from the predetermined position, thereby improving the accuracy of film placement. This can effectively reduce the workload of subsequent adjustments and ensure the initial position of the film covering is accurate.

[0078] For example, when the hook approaches the lifting point of the film, the hook is guided to the correct position by slightly pulling the traction rope. This process is particularly critical. The traction rope plays an auxiliary positioning role here, especially in the case of uneven or sloping coal pile surface, which can prevent the hook from being misaligned due to inertia or external interference. Such design makes the connection between the film and the hook more stable, laying the foundation for subsequent deployment work. In this way, the risk of damage to the film during connection can be significantly reduced.

[0079] For example, after the film is connected to the hook, the boom moves gradually to deploy the film, and the traction rope continues to maintain a slight tension to adjust the direction and position. The focus of this link is to avoid the film from being offset or wrinkled on the surface of the coal pile. The fine-tuning function of the traction rope can cope with the subtle undulations on the surface of the coal pile, ensuring that the film is flat and adheres. Such an operating method not only improves the quality of film covering, but also prolongs the service life of the film and reduces wear caused by improper operation.

[0080] For example, after the film is deployed to the designated position, the boom angle and traction rope tension are adjusted to ensure that the film is evenly covered, and the camera continues to monitor the coverage status. This process can discover problems that may occur during film covering in real time, such as local wrinkles or non-adhesion areas, so that adjustments can be made in a timely manner. The use of cameras and traction ropes makes the entire covering process more controllable and the covering effect more ideal. This way effectively improves the delicacy of operation, ensuring that the film can closely adhere to the surface of the coal pile to achieve the best protection effect.

[0081] S108, during the film covering process, the control reel is in an automatic release mode, the release speed of the reel matches the movement speed of the film, and a low-stress film covering result is obtained.

[0082] During the film covering process, the reel is controlled to be in automatic payout mode. By monitoring the film movement speed in real time, the reel payout rate is matched with the film movement rate to ensure that the rate at which the reel pays out the traction rope is consistent with the progress of the film laying, generating initial rate matching data. Based on the initial rate matching data, the reel payout mechanism is adjusted, and the reel payout rate is fine-tuned using a preset threshold. If a change in the film movement speed is detected, the reel payout rate is synchronously updated to form a dynamically adjusted rate matching result. From the dynamically adjusted rate matching result, the real-time tension data of the reel payout traction rope is obtained to determine whether the tension data is within the preset range. If it is outside the range, the reel payout rate is adjusted to further reduce the pulling force of the traction rope on the film, obtaining optimized tension control data. Using the optimized tension control data, the stress state of the film during the covering process is continuously monitored to ensure that the tension of the traction rope is always maintained at a low level, achieving the goal of low-stress film covering.

[0083] For example, during the film covering process, the control reel is in automatic pay-out mode, and the moving speed of the film needs to be monitored in real time to ensure that the rate at which the reel pays out the traction rope is consistent with the progress of the film laying.

[0084] In one embodiment, a speed sensor can be installed near the crawler crane's hook to continuously collect data on the speed of the film as it moves across the coal pile. This data is wirelessly transmitted to the reel's control unit, which adjusts the reel's motor speed based on the received speed signal, synchronizing the traction rope's payout rate with the film's movement speed. This approach effectively avoids uneven force on the film caused by excessively fast or slow traction rope movement, thereby extending the film's service life.

[0085] Specifically, for the initial rate matching data, adjusting the roll payout mechanism needs to dynamically respond to changes in the film movement speed.

[0086] In a possible implementation, the control unit has a preset rate threshold interval built in. When the sensor detects a fluctuation in the laminating speed, the control unit adjusts the roll-out rate according to the deviation.

[0087] For example, if the mulch slows down due to an uneven coal pile surface, the drum will reduce its payout rate accordingly to prevent over-tensioning of the traction rope. This dynamic adjustment mechanism ensures smooth mulch laying on complex terrain and reduces stretching or relaxation caused by speed mismatch.

[0088] It should be noted that obtaining the real-time tension data of the traction rope from the dynamically adjusted rate matching results is a key step in further optimizing the coating stress.

[0089] In one embodiment, a tension sensor can be installed at the connection between the traction rope and the hook to monitor changes in rope tension in real time. If the tension exceeds a preset range, the control unit reduces the tension by slowing the reel payout rate or briefly pausing the payout. This tension control method significantly reduces the stress on the film during installation, preventing tearing or deformation caused by excessive tension.

[0090] For example, using optimized tension control data to continuously monitor the stress state of the coating can ensure the stability of the entire coating process.

[0091] In one possible implementation, the control unit combines tension data with the film laying progress and displays it to the operator through a visual interface, providing real-time information on the film's stress level. If abnormal tension is detected, the system automatically fine-tunes the reel speed to maintain a low stress level. This combination of continuous monitoring and automatic adjustment ensures low-stress coverage under varying coal pile terrain and environmental conditions, improving laying efficiency and film durability.

[0092] S109: Monitor the film coverage position through the camera to determine whether the film completely covers the target area. If not, adjust the direction of the traction rope to obtain the final film coverage state.

[0093] A camera mounted on the crawler crane hook captures a first image of the film-covered area in real time, extracts pixel coordinates of the film edge from the first image, and generates a first coordinate set of the film edge. The first coordinate set is compared with a pre-established second coordinate set of the target coal pile area to determine whether the pixel coordinates of the film edge are completely contained within the second coordinate set, generating a first determination of the coverage status. If the first determination indicates that the film does not completely cover the target area, the adjustment angle of the traction rope is calculated based on the deviation direction between the first and second coordinate sets, generating a first adjustment instruction. The pulling direction of the traction rope is controlled according to the first adjustment instruction, the hook position is changed, and the second image of the film-covered area is reacquired. The third coordinate set of the film edge is extracted, and the comparison and adjustment are repeated until the film completely covers the target area.

[0094] Specifically, a camera mounted on the crawler crane hook can be used to monitor and process the film-covered area in real time. The camera captures the film's placement on the coal pile, generating an image that includes the film's location. This approach offers the advantage of intuitively reflecting the film's actual location, providing foundational data for subsequent edge extraction.

[0095] For example, in an open-air coal yard, a camera can look down at the coal pile from a high angle, clearly recording whether the film adheres to the surface of the coal pile, thereby helping to determine whether there are any uncovered areas. This has the benefit of enabling timely detection of problems and reducing the burden of manual inspections.

[0096] Specifically, to extract the coordinates of pixel points at the edge of the film, image processing tools can analyze the camera image to identify the color or texture differences between the film and the coal pile background, thereby determining the film's boundary. This processing method can convert complex image information into quantifiable coordinate data, providing a basis for subsequent comparison.

[0097] For example, in an actual operation, if the film is dark and the coal pile surface is light, the tool can quickly outline the edge of the film through color contrast, forming a set of coordinate points. The advantage of this method is its high accuracy, which can provide reliable data support for subsequent coverage judgment.

[0098] Specifically, when comparing the edge coordinates of the film with the target area coordinates of the coal pile, the completeness of the coverage can be determined by calculating the inclusion relationship between the two sets of coordinates. If some coordinate points of the edge of the film are found to exceed the boundaries of the target area, it indicates that there is an uncovered area and further adjustment is required.

[0099] For example, when applying film to a coal pile, if one side of the film fails to reach the edge of the coal pile, comparing the two sets of coordinates can pinpoint the direction of the deviation, providing directional guidance for adjustments. This approach allows for precise location of the problem area and improves adjustment efficiency.

[0100] Specifically, for the adjustment of the traction rope direction, the pulling angle can be determined according to the direction of the coordinate deviation, and then the position of the hook can be changed so that the coating gradually covers the target area.

[0101] For example, if the film is found to be biased to one side during operation, the hook position can be shifted to the other side by pulling the traction rope, driving the film to move until it completely covers the coal pile surface. This adjustment method can effectively solve the problem of incomplete coverage and prevent the film from being subjected to excessive tension during movement, thereby extending its service life.

[0102] Specifically, the process of reacquiring the image and extracting the coordinates after adjustment can be regarded as a cyclic verification link to ensure that the coating finally reaches the ideal coverage state.

[0103] For example, after adjusting the traction rope direction, the camera re-images the filming position and compares the new edge coordinates with the target area coordinates to determine whether further adjustments are needed. This repeated verification method ensures the integrity of the film laying and significantly improves the quality and reliability of the operation.

[0104] S1010: Record the lamination completion information, including the lamination position and the lamination time, and generate a lamination task completion report.

[0105] Acquire coverage completion data from the working area covered by the film, the data including the specific location information of the film and the time point when the covering operation is completed, and store these data as initial coverage records. Organize the initial coverage records, extract the location information and time points therein, and generate a structured film coverage log. The log arranges the completion status of each coverage area in chronological order. On the basis of the film coverage log, combined with the pre-established working area division standards, determine whether the location of each coverage area meets the preset coverage range requirements, and form a coverage completion verification result. Extract the coverage area data that meets the requirements from the coverage completion verification results, and generate the final film task completion report in combination with the corresponding time points. The report records the coverage location and completion time of each area in detail, and fully presents the execution status of the film task.

[0106] Specifically, the data acquisition process for the film covering operation area can be achieved through positioning devices and time recording equipment arranged at the operation site.

[0107] For example, during film coating operations at an open-pit coal yard, positioning devices can capture the specific coordinates of film coating placement in real time, while time recording equipment simultaneously records the time each area is coated. This data is integrated into the initial coating record, laying the foundation for subsequent processing. The benefit of this approach is that it ensures data accuracy and completeness, providing a reliable basis for subsequent collation and verification.

[0108] In one embodiment, for the collation process of the initial coverage records, the location information and time points can be classified and sorted through data processing tools to form a structured film coverage log. For example, in the coal yard covering operation, the film covering position of a certain area may correspond to multiple time points. During the collation, the coverage status of each area will be arranged in chronological order to form a clear timeline log. The purpose of this method is to facilitate tracking the coverage progress of each area, while providing intuitive data support for subsequent range verification, thereby improving the efficiency of operation management.

[0109] Specifically, the verification process based on the lamination coverage log can be combined with the pre-set work area division standards to determine whether the coverage position meets the requirements.

[0110] For example, in coal yard operations, a certain area may need to be fully covered within a specified range. By comparing the location data in the log with the standard range, a coverage completion verification result can be generated. This has the benefit of promptly identifying coverage deviations, ensuring that operations meet regulatory requirements, and thus improving the protective effectiveness of the film.

[0111] In one embodiment, regional data that meets the requirements is extracted from the coverage completion verification result, and a final lamination task completion report is generated in combination with the corresponding time point.

[0112] For example, during a complete coal yard coating task, a report details the coating location and completion time for each area, forming a comprehensive record of the work. This report not only helps managers understand the execution status of the task but also provides important reference for subsequent maintenance and inspections, significantly improving the traceability and management level of the work.

[0113] The above description is merely a preferred embodiment of the present application and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, but also encompasses other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the concept of this application. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A crawler crane traction method for coating an open-air coal yard, characterized in that: The specific steps include: Step 1: Using a crawler crane to perform a coating operation, the crawler crane is moved to a target location within the coal yard area; Step 2, adjusting the boom of the crawler crane to a predetermined position to lift the film; Step 3, using a traction rope to assist the hook of the crawler crane to be positioned at the film lifting point; Step 4, lifting the film and covering it on the coal pile; Step 5: Adjust the direction of the hook by using the traction rope to complete the film laying.

2. The traction method for coating an open-air coal yard according to claim 1, characterized in that: In step 1, a crawler crane is used to perform the film covering operation, including: Obtaining the initial position of the crawler crane in the coal yard area; determining a target moving path of the crawler crane device according to the position of the coal pile; Using the crawler crane equipment to gradually move along the target moving path to the opposite side of the coal pile; Based on the movement status of the crawler crane, its relative position with respect to the coal pile is monitored in real time; If the crawler crane reaches a predetermined position, it stops moving and records the current position data; Adjusting the posture of the crawler crane device according to the current position data to adapt to the requirements of the laminating operation; Acquiring environmental information during the movement of the crawler crane to avoid interference from obstacles; The movement speed is dynamically adjusted according to the environmental information to ensure smooth operation.

3. The traction method for coating an open-air coal yard according to claim 1, characterized in that: In step 2, adjusting the boom of the crawler crane to a predetermined position to lift the film includes: Obtaining the current angle and length data of the boom; calculating a target angle and an extension length of the boom according to the height and slope of the coal pile; adjusting the boom to the target angle and extension length by a control system; During the adjustment process of the boom, the posture change data thereof is collected in real time; If the boom posture meets the predetermined requirement, the boom position is locked; The relative position information between the hook and the opposite side of the coal pile is obtained by the monitoring device at the front end of the boom; The boom is fine-tuned according to the relative position information to ensure the lifting point is accurate.

4. The traction method for coating an open-air coal yard according to claim 1, characterized in that: In step 3, the hook of the crawler crane is positioned to the film lifting point with the assistance of a traction rope, including: Obtaining the initial state and length data of the traction rope; Determining the slackness of the traction rope according to the distance between the hook and the film lifting point; The traction rope is connected to the hook and extended to the location of the film; Based on the connection status of the traction rope, the tension change thereof is monitored in real time; If the tension of the traction rope exceeds a preset threshold, adjusting the tightness of the traction rope; The hook is guided to slowly descend to the film lifting point by the traction rope; The direction of the traction rope is dynamically adjusted according to the descending trajectory of the hook to ensure accurate positioning.

5. The traction method for film covering in an open-air coal yard according to claim 1, characterized in that: In step 4, the covering film is lifted and placed on the coal pile, including: Obtaining the connection status between the lifting point of the coating and the hook; Lifting the hook by the crawler crane to drive the film off the ground; Determining the covering path of the coating according to the shape and size of the coal pile; During the lifting process of the coating, the stress condition thereof is monitored in real time; If the coating is unevenly stressed, adjust the lifting speed and angle of the hook; The crawler crane moves along the covering path to gradually unfold the covering film; The height of the hook is dynamically adjusted according to the unfolding state of the covering film to adapt to the slope of the coal pile.

6. The traction method for film covering in an open-air coal yard according to claim 1, characterized in that: In step 5, the direction of the hook is adjusted by the traction rope to complete the film laying, including: Obtaining current position data of the hook during the film covering process; determining a target adjustment angle of the hook according to a laying direction of the coating; applying a lateral force through the traction rope to change the moving direction of the hook; In response to the adjustment operation of the traction rope, the force data thereof is collected in real time; If the force on the traction rope exceeds a preset range, the force applied is adjusted to avoid damage; The hook is moved along a predetermined trajectory by continuous guidance of the traction rope; The traction angle of the traction rope is dynamically adjusted according to the laying progress of the coating to complete the covering.

7. The traction method for coating an open-air coal yard according to claim 1, characterized in that: In step 5, the direction of the hook is adjusted by the traction rope to complete the film laying, including: Obtaining edge position data of the coating after the coating reaches the coal pile; determining a final adjustment direction of the hook according to the edge position data; The hook is slightly displaced by the traction rope to align the edge of the film; During the fine-tuning process of the hook, the tension state of the traction rope is monitored in real time; If the tension of the traction rope is abnormal, adjusting the traction force of the traction rope; Stabilizing the hook in the final position with the aid of the traction rope; The hooks are finally positioned according to the covering effect of the coating to ensure complete laying.

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