Material handling control method, control system and storage medium of bridge scraper reclaimer

Abstract

This invention provides a material handling control method, control system, and storage medium for a bridge-type scraper reclaimer. The method includes: dividing the material pile into multiple reclaiming sections along its length, and controlling the material handling volume V within a single reclaiming section. 总 and the set material volumetric flow rate V q The total time t for completing the material handling in this section is calculated. Based on the total time t and the interval length of the material handling section, the speed v of the material handling machine along the Y-axis is calculated. The operating speed of the material handling machine is controlled at v to handle the material in the section. The control method of this invention can ensure that the volumetric flow rate of material handling in each section is constant at V. q This avoids the problem of unstable material volume and flow rate.

Description

Technical Field

[0001] This invention relates to the field of material handling equipment control technology, specifically to a material handling control method, control system, and storage medium for a bridge scraper reclaimer. Background Technology

[0002] The raw material yard is a site for receiving, storing, processing, and blending raw materials and fuels for iron and steel metallurgy. Modern large-scale raw material yards include ore yards, coal yards, auxiliary raw material yards, and blending yards. They not only store incoming iron ore, iron concentrate, pellets, manganese ore, limestone, dolomite, serpentine, silica, coking coal, and thermal coal, but also store some sintered ore, pellets, and recycled materials from within the steel plant, such as iron oxide scale, blast furnace ash, coke crushing, sintering powder, and end-of-life materials for blending. The blending yard plays a crucial role in the steel plant, serving as a storage area for mixed materials and being a primary source of raw materials for sintering and pelletizing. This mixed material is formed by layering various raw materials in a specific ratio into a herringbone pattern. Reclaiming is achieved using a bridge-type scraper reclaimer, which directly scrapes material from the cut surface to achieve initial mixing of the different layers.

[0003] Currently, the operation of bridge scraper reclaimers is all done manually. This is labor-intensive, involves long working hours, and the dust pollution from the loose materials can significantly impact the physical and mental health of the operators. During operation, the operator manually controls the movement of the machine from the cab to reclaim materials. Due to the lack of strict regularity in the material pile and the limitations of the operator's experience, the manual material reclaiming flow rate is unstable. Moreover, the operator needs to concentrate for long periods of time, resulting in high labor intensity.

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

[0005] The purpose of this invention is to provide a material handling control method for a bridge-type scraper reclaimer, aiming to solve the problems of unstable material handling volume and flow rate and high labor intensity in manually operated bridge-type scraper reclaimers. The specific technical solution is as follows:

[0006] A material handling control method for a bridge-type scraper reclaimer includes:

[0007] S1. Construct a spatial coordinate system with the width of the material pile as the X-axis, the height of the material pile as the Z-axis, and the length of the material pile as the Y-axis; divide the material pile into multiple material extraction segments along the Y-axis, number each segment sequentially as 1, 2, 3, ..., N, and take m = 1, where N is the total number of material extraction segments;

[0008] S2. Obtain the interval [y1, y2] for the m-th material picking segment, where y1 and y2 are the two boundary points of the m-th material picking segment in the Y-axis direction;

[0009] S3, based on the total material collection volume V within the m-th material collection segment. 总 and the set material volumetric flow rate V q Calculate the total time t for completing the material collection of this section, and calculate the speed v of the material collector moving along the Y-axis based on the total time t and the interval length of the m-th material collection section;

[0010] S4. Control the running speed of the material taker in the Y-axis direction to v to take material in the m-th material taker segment. In real time, determine whether the current total material taker is less than the target material taker. If the current total material taker is greater than or equal to the target material taker, proceed to S6. If the current total material taker is less than the target material taker, continue taking material until the material taker of the m-th material taker segment is completed, and then proceed to S5.

[0011] S5. Determine if the current m is less than N. If it is less, set m = m + 1 and re-enter S2; otherwise, enter S6.

[0012] S6. End material handling.

[0013] Preferably, the total material taken out V within the m-th material taking section is obtained. 总 The method is as follows:

[0014] Let the position of the material handling machine in the Y-axis direction be y. i Establish the planar equation of the scraper frame:

[0015] tan(θ)×(yy i )-z=0 (1),

[0016] Among them, y i ∈[y1,y2], where θ is the angle of the scraper frame;

[0017] Based on the stockpile model, material points whose minimum distance from the scraper frame plane equation is less than a threshold d are selected, resulting in point set P. c :

[0018]

[0019] Where p represents the material point in the stockpile model, p y This represents the coordinate value of the material point p on the Y-axis. z This represents the coordinate value of material point p on the Z-axis;

[0020] From point set P c The largest X-axis coordinate value x2 and the smallest X-axis coordinate value x1 are selected from the data to obtain the position of the material handling machine in the Y-axis direction as y. i The effective material handling range at that time is [x1, x2].

[0021] Update the position y of the material handling machine within [y1, y2] iThe corresponding effective material collection range is obtained, and then the total material collection volume V within the m-th material collection segment is obtained. 总 for:

[0022]

[0023] Where k is the effective material extraction coefficient.

[0024] Preferably, the effective material extraction coefficient k = 1 / w, and k ∈ (0, 1], where the material leakage coefficient w is expressed as:

[0025]

[0026] Where A, B, C, and D are constants, α is the angle of repose, v is the speed of the material handling machine along the Y-axis, and e is a natural constant.

[0027] Preferably, the effective material extraction coefficient is calculated based on the ratio between the calculated value of the material extraction volumetric flow rate and the actual value of the material extraction volumetric flow rate.

[0028] Preferably, the total time t is expressed as:

[0029]

[0030] Preferably, the speed v of the material handling machine moving along the Y-axis is expressed as:

[0031]

[0032] Find the optimal solution of formula (6) to obtain the speed v of the material handling machine moving along the Y-axis.

[0033] The present invention also provides a material handling control system for a bridge scraper reclaimer. The system includes a processor and a memory, wherein the memory stores a computer program, and the processor executes the material handling control method when running the computer program.

[0034] The present invention also provides a storage medium storing a computer program, which, when run, executes the material handling control method.

[0035] The application of the technical solution of the present invention has the following beneficial effects:

[0036] This invention utilizes the total material intake V 总 and material volumetric flow rate V q The total time t for material reclaiming within the reclaiming section is calculated. Then, based on the total time t and the interval length of the reclaiming section, the running speed of the reclaimer along the length of the material pile is calculated. This controls the reclaimer to maintain a uniform speed within the reclaiming section, avoiding the adverse effects of frequent speed adjustments. Simultaneously, the control method of this invention ensures that the volumetric flow rate of material reclaimed within each reclaiming section remains constant at V.q This avoids the problem of unstable material volume flow rate. In addition, the control method of the present invention can realize automated control, avoiding the problem of high manual labor intensity.

[0037] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description

[0038] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0039] Figure 1 This is a schematic diagram of the front structure of the bridge-type scraper reclaimer;

[0040] Figure 2 This is a side view of the bridge-type scraper reclaimer.

[0041] Figure 3 This is a flowchart of the material handling control method for a bridge-type scraper reclaimer;

[0042] Among them, 1. scraper frame, 2. scraper plate. Detailed Implementation

[0043] To facilitate understanding of the present invention, a more complete description is provided below, along with preferred embodiments. 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 thorough and complete understanding of the disclosure of the present invention.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0045] Example 1:

[0046] Figure 1 and Figure 2This is a schematic diagram of a bridge-type scraper reclaimer. The reclaimer has scraper frames 1 on both sides. The side of the scraper frame 1 facing the material pile has scraper teeth. The scraper teeth on the scraper frame 1 insert into the end face of the material pile and vibrate to shake off the material. The bridge-type scraper reclaimer has a circulating scraper plate 2 on the bottom crossbeam. The reclaimer moves to transport the shaken-off material to a belt conveyor for transfer. During the material reclaiming process, the reclaimer can move along the length of the material pile. The tilt angle θ of the scraper frame 1 is adjustable, and the scraper frame 1 can move along the width of the material pile. For details regarding the structure and working principle of the bridge-type scraper reclaimer, please refer to existing technology.

[0047] To address the issues of high labor intensity, low efficiency, and potential safety risks associated with manual operation during material handling in bridge scraper reclaimers, as well as unstable material flow rates due to irregular material piles, this embodiment provides a material handling control method for bridge scraper reclaimers. Figure 3 As shown, the details are as follows:

[0048] S1. Construct a spatial coordinate system with the width of the material pile as the X-axis, the height of the material pile as the Z-axis, and the length of the material pile as the Y-axis; divide the material pile into multiple material extraction segments along the Y-axis, number each segment sequentially as 1, 2, 3, ..., N, and take m = 1, where N is the total number of material extraction segments;

[0049] Preferably, a material pile model is obtained by scanning the material pile, thereby acquiring data information about the material pile, including the width, length, and height of the material pile, as well as the coordinates of each material point on the surface of the material pile in the spatial coordinate system.

[0050] Furthermore, the material pile can be divided into multiple reclaiming sections along the Y-axis in an equal or unequal manner, which can be flexibly configured by those skilled in the art. For example, if the length of the material pile in the Y-axis direction is 10 meters, it can be divided into four reclaiming sections of 2.5 meters each, or into three reclaiming sections of 3 meters each and one reclaiming section of 1 meter each.

[0051] S2. Obtain the interval [y1, y2] for the m-th material picking segment, where y1 and y2 are the two boundary points of the m-th material picking segment in the Y-axis direction, and y1 < y2.

[0052] S3, based on the total material collection volume V within the m-th material collection segment. 总 and the set material volumetric flow rate V q Calculate the total time t for completing the material collection of this section, and calculate the speed v (i.e. average speed) of the material collector along the Y-axis based on the total time t and the interval length of the m-th material collection section.

[0053] Preferably, the total material taken out V within the m-th material taking section is obtained.总 The method is as follows:

[0054] Let the position of the material handling machine in the Y-axis direction be y. i Establish the planar equation of the scraper frame:

[0055] tan(θ)×(yy i )-z=0 (1),

[0056] Among them, y i ∈[y1,y2], where θ is the angle of the scraper frame;

[0057] Based on the stockpile model, material points whose minimum distance from the scraper frame plane equation is less than a threshold d are selected, resulting in point set P. c :

[0058]

[0059] Where p represents the material point in the stockpile model, p y This represents the coordinate value of the material point p on the Y-axis. z This represents the coordinate value of material point p on the Z-axis;

[0060] From point set P c The largest X-axis coordinate value x2 and the smallest X-axis coordinate value x1 are selected from the data to obtain the position of the material handling machine in the Y-axis direction as y. i The effective material handling range at that time is [x1, x2].

[0061] Update the position y of the material handling machine within [y1, y2] i This allows us to obtain the corresponding effective material collection range, and then the total material collection volume V within the m-th material collection segment. 总 for:

[0062]

[0063] Where k is the effective material extraction coefficient.

[0064] Furthermore, the total time t can be expressed as:

[0065]

[0066] Based on the inherent characteristics of the bridge scraper reclaimer, the faster the reclaiming speed, the more material is lost. Therefore, the effective material reclaiming coefficient k = 1 / w, and k ∈ (0, 1], where the material loss coefficient w is expressed as:

[0067]

[0068] Where A, B, C, and D are constants, α is the angle of repose, v is the speed of the material handling machine along the Y-axis, and e is a natural constant.

[0069] Of course, in some embodiments, the effective material handling coefficient may be a value that can be directly set, which can be obtained based on the actual material handling situation, such as by calculating the ratio between the calculated material handling volume flow rate and the actual material handling volume flow rate.

[0070] Therefore, the speed v of the material handling machine moving along the Y-axis can be expressed as:

[0071]

[0072] By optimizing equation (6), the speed v of the material reclaimer along the Y-axis can be obtained. For the method of finding the optimal solution to equation (6), please refer to existing technologies; common optimization algorithms can be used. The effective material reclaiming coefficient is calculated according to equation (5), which balances the operating speed of the material reclaimer with material leakage, ensuring a constant material reclaiming volumetric flow rate of V. q The optimal solution for the operating speed v of the reclaimer.

[0073] S4. Control the running speed of the material taker in the Y-axis direction to v to take material in the m-th material taker segment. In real time, determine whether the current total material taker is less than the target material taker. If the current total material taker is greater than or equal to the target material taker, proceed to S6. If the current total material taker is less than the target material taker, continue taking material until the material taker of the m-th material taker segment is completed, and then proceed to S5.

[0074] Preferably, when the total material taking amount is greater than or equal to the target material taking amount, it means that the set material taking task has been completed and the material taking machine should stop taking material. When the current total material taking amount is less than the target material taking amount, it means that the current material taking task has not been completed and the material taking should continue. Here, the total material taking amount refers to the total material taking amount accumulated by the material taking machine from the moment it starts taking material, and the target material taking amount is the target amount set for the material taking task.

[0075] S5. Determine if the current m is less than N. If it is less, set m = m + 1 and re-enter S2; otherwise, enter S6.

[0076] Specifically, when m equals N, it means that the material is being picked up from the last picking segment. After the picking of this segment is completed, the picking machine should stop picking up material. If the current total picking amount is less than the target picking amount and m is less than N, then the picking machine should continue to pick up material from the next picking segment until the picking is completed.

[0077] S6. End material handling.

[0078] Preferably, the control methods in S1-S6 described above employ a uniform speed motion for material handling. This avoids frequent adjustments to the material handling machine's speed in the Y-axis direction, thus preventing adverse effects from frequent speed adjustments (such as reduced device lifespan). However, it is not ruled out that some embodiments may use real-time adjustment of the material handling machine's speed in the Y-axis direction to achieve a constant material handling volume flow rate of V. q The purpose is to set the material intake volume flow rate V q Based on this, we can reverse-calculate to maintain the material intake volumetric flow rate at V. q The required operating speed, when the material handling machine's movement speed is controlled using a real-time adjustment method, should be determined as follows in step S3:

[0079] Set the material volumetric flow rate to V q To maintain the material intake volumetric flow rate at V q The required operating speed v is:

[0080]

[0081] In formula (7), x2 and x1 represent the current position of the material handling machine at y. i When the position is determined, the two boundary points of the effective material handling range are obtained; k is the effective material handling coefficient, and the specific calculation method is shown in formula (5). According to formula (7), the real-time speed of the material handling machine in the Y-axis direction can be calculated to ensure that the material handling volume flow rate is constant at V. q .

[0082] Example 2:

[0083] This embodiment provides a material handling control system for a bridge scraper reclaimer. The system includes a processor and a memory. The memory stores a computer program, and when the processor runs the computer program, it executes the material handling control method in Embodiment 1.

[0084] Example 3:

[0085] This embodiment provides a storage medium storing a computer program, which, when run, executes the material handling control method in Embodiment 1.

[0086] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A material handling control method for a bridge-type scraper reclaimer, characterized in that, include: S1. Construct a spatial coordinate system with the width of the material pile as the X-axis, the height of the material pile as the Z-axis, and the length of the material pile as the Y-axis; The stockpile is divided into multiple reclaiming sections along the Y-axis, and each reclaiming section is numbered sequentially. And take m=1, where This represents the total number of material retrieving sections; S2, Obtain the interval of the m-th material picking segment as follows: ,in, and These are the two boundary points of the m-th material taking segment along the Y-axis; S3, based on the total amount of material taken out within the m-th material taking segment. and the set material intake volume flow rate Calculate the total time required to complete the material handling in this section. Based on total time Calculate the speed of the reclaimer along the Y-axis based on the interval length of the m-th reclaiming segment. ; S4. Control the running speed of the material handling machine in the Y-axis direction as follows: Take material for the m-th material taking segment, and determine in real time whether the current total material taking amount is less than the target material taking amount. If the current total material taking amount is greater than or equal to the target material taking amount, proceed to S6. If the current total material taking amount is less than the target material taking amount, continue taking material until the material taking of the m-th material taking segment is completed, and then proceed to S5. S5. Determine if the current m is less than... N If it is less than 1, then take m = m + 1 and re-enter S2; otherwise, enter S6. S6. End material handling; Get the total amount of material taken out in the m-th material taking section The method is as follows: Let the position of the material handling machine in the Y-axis direction be... Establish the planar equation of the scraper frame: in, ∈ , The angle of the scraper frame; Based on the stockpile model, the minimum distance from the scraper frame plane equation is less than a threshold. The material points are used to obtain the point set. : in, This represents the material point in the stockpile model. Indicates material point The coordinate value on the Y-axis. Indicates material point Coordinate values ​​on the Z-axis; From point set Filter out the largest X-axis coordinate value and the smallest X-axis coordinate value The position of the material handling machine in the Y-axis direction is obtained as follows: Effective material handling range at that time ; Update the material handling machine Inside position The corresponding effective material collection range is obtained, and then the total material collection amount within the m-th material collection segment is obtained. for: in, This is the effective material extraction coefficient.

2. The material handling control method of the bridge scraper reclaimer according to claim 1, characterized in that, The effective material extraction coefficient = 1 / w ,and Among them, the leakage coefficient w Represented as: in, A, B, C, D All are constants. Anchorage, The speed at which the material handling machine moves along the Y-axis. It is a natural constant.

3. The material handling control method of the bridge scraper reclaimer according to claim 1, characterized in that, The effective material extraction coefficient is calculated based on the ratio between the calculated value of the material extraction volumetric flow rate and the actual value of the material extraction volumetric flow rate.

4. The material handling control method of the bridge scraper reclaimer according to claim 1, characterized in that, Total Time This is represented as: 。 5. The material handling control method of the bridge scraper reclaimer according to claim 4, characterized in that, The speed of the material handling machine along the Y-axis Represented as: Find the optimal solution for formula (6) to obtain the speed of the material reclaimer moving along the Y-axis. .

6. A material handling control system for a bridge-type scraper reclaimer, characterized in that, The system includes a processor and a memory, the memory storing a computer program, and the processor executing the material handling control method as described in any one of claims 1-5 when running the computer program.

7. A storage medium, characterized in that, The storage medium stores a computer program, which, when run, executes the material handling control method as described in any one of claims 1-5.

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