Intelligent pile center adjustment system and method for side-type stacker

Abstract

The present application relates to the technical field of side type cantilever stacker, and particularly relates to a stockpile center intelligent adjustment system and method of a side type cantilever stacker. The system comprises a sensing module, which performs contour scanning on a stockpile formed by the cantilever stacker; a control module, which dynamically generates a synchronous control instruction based on a real-time offset; and an execution module, which comprises an electro-hydraulic push rod actuator configured to drive a discharge baffle to perform linear displacement based on a displacement instruction in the synchronous control instruction, and a belt conveyor variable frequency drive configured to adjust the rotating speed of a drive motor of the belt conveyor based on a speed instruction in the synchronous control instruction. The system performs real-time scanning on the stockpile contour through the sensing module, calculates the real-time offset of the stockpile center based on the scanning data through the control module, and generates a synchronous control instruction, and then the electro-hydraulic push rod actuator and the belt conveyor variable frequency drive in the execution module receive the instruction and act in coordination.

Description

Technical Field

[0001] This invention relates to the field of side-mounted cantilever stackers, specifically to an intelligent adjustment system and method for the center of the stack of a side-mounted cantilever stacker. Background Technology

[0002] Bulk material pre-homogenization is a crucial step in the production processes of industries such as cement, coal, power, and metallurgy, playing a vital role in ensuring stable product quality and optimizing process efficiency. Rectangular pre-homogenization stockpiles, as a widely used technology, directly impact the material homogenization effect and the smoothness of subsequent material handling processes due to the precision of their stockpiling operations. Side-mounted cantilever stackers are the core equipment in these stockpiles, and their operational status directly determines the rationality of the stockpile shape and its central location.

[0003] Currently, the stacker adjustment methods commonly used in the industry still have certain limitations. Traditional unloading baffles mostly rely on mechanical limit structures or manual adjustment modes with limited ranges, making it difficult to achieve continuous and smooth position control according to actual working conditions, and their effective adjustment range is usually quite limited. At the same time, the belt conveyor drive system often operates independently, without forming an effective control linkage with the baffle adjustment mechanism, resulting in insufficient dynamic response capability of the system when dealing with different material characteristics or external disturbances. The overall automation level of existing technical solutions needs to be improved. The establishment and maintenance of the stack center largely depends on the experience and manual intervention of operators, which not only increases labor intensity but also makes it difficult to flexibly and accurately set the required stack center position for different stacking areas. The above factors together restrict the further improvement of the accuracy and overall efficiency of stockpile operations. How to achieve dynamic, precise, and automated adjustment of the stack center has become a technical problem worthy of attention in this field. Summary of the Invention

[0004] The present invention aims to solve the above problems, thereby providing an intelligent adjustment system and method for the center of a side-mounted cantilever stacker that enables precise setting of the center position of the stack.

[0005] The technical solution adopted by the present invention to solve the aforementioned problem is as follows: A side-mounted cantilever stacker's intelligent stack center adjustment system includes: The sensing module includes a laser scanning device configured to perform contour scanning on the stockpile formed by the cantilever stacker to obtain three-dimensional point cloud data of the stockpile surface. The control module is communicatively connected to the sensing module. The control module includes a programmable logic controller and is configured to: calculate the real-time offset of the center of the material pile based on 3D point cloud data, and dynamically generate synchronous control commands based on the real-time offset using a fuzzy PID control algorithm. The execution module includes: An electro-hydraulic actuator is communicatively connected to a control module and configured to drive the unloading baffle to perform linear displacement based on displacement commands in synchronous control instructions. The belt conveyor frequency converter is connected in communication with the control module and is configured to adjust the speed of the belt conveyor's drive motor based on the speed command in the synchronous control command; The control module is further configured to send displacement and speed commands synchronously to the electro-hydraulic actuator and the belt conveyor frequency converter via an industrial bus, so that the electro-hydraulic actuator and the belt conveyor frequency converter can work together to dynamically compensate and adjust the center of the material pile.

[0006] A method for intelligent adjustment of the stockpile center of a side-mounted cantilever stacker includes the following steps: Step S1: The laser scanning device of the sensing module performs contour scanning on the material pile formed by the cantilever stacker to obtain three-dimensional point cloud data of the material pile surface. Based on the contour features of the material pile obtained from the initial scan, the initial reference running speed of the belt conveyor drive motor is determined.

[0007] Step S2: The programmable logic controller of the control module calculates the real-time offset of the material pile center based on the three-dimensional point cloud data.

[0008] Step S3: Based on the real-time offset, the control module dynamically generates synchronization control commands using a fuzzy PID control algorithm.

[0009] Step S4: The synchronous control command is sent synchronously to the electro-hydraulic actuator and the belt conveyor frequency converter of the execution module via the industrial bus; wherein, the synchronous control command includes the displacement command for the electro-hydraulic actuator and the speed command for the belt conveyor frequency converter.

[0010] Step S5: Drive the unloading baffle to make linear displacement according to the displacement command by the electro-hydraulic actuator.

[0011] Step S6: Adjust the speed of the belt conveyor's drive motor according to the speed command via the belt conveyor frequency converter driver.

[0012] Steps S5 and S6 are executed simultaneously, and the center of the material pile is dynamically compensated and adjusted by the coordinated change of the position of the unloading baffle and the speed of the belt conveyor.

[0013] The present invention, which adopts the above technical solution, has the following prominent features compared with the prior art: This system uses a sensing module to scan the material pile outline in real time. The control module calculates the real-time offset of the pile center based on the scan data and generates synchronous control commands. These commands are then received and coordinated with the electro-hydraulic actuator and the belt conveyor's frequency converter driver in the execution module. This system enables synchronous adjustment of the unloading baffle position and the belt conveyor speed, thereby dynamically compensating for the material pile center. Through closed-loop control and coordinated execution, it helps improve the continuity, response speed, and setting flexibility of the material pile center adjustment.

[0014] This method acquires the stockpile outline information through real-time scanning, calculates the center offset, and dynamically generates synchronous control commands based on this, thereby synchronously driving the displacement of the unloading baffle and the speed change of the belt conveyor. This method achieves dynamic compensation and adjustment of the stockpile center through the synchronous operation and coordinated changes of two actuators. Compared to the previous technology, which relied on manual intervention and independent operation of each link leading to adjustment lag and insufficient accuracy, this method establishes an automated closed-loop adjustment process, which helps improve the control accuracy and operational efficiency of the stockpile center.

[0015] As a preferred embodiment, a further technical solution of the present invention is: Furthermore, the electro-hydraulic actuator includes a servo proportional valve, a high-resolution encoder, and a hydraulic controller. The high-resolution encoder provides real-time feedback on the piston rod position, and the hydraulic controller controls the opening of the servo proportional valve based on the displacement command and the feedback position signal. By introducing the servo proportional valve, high-resolution encoder, and hydraulic controller, a closed-loop control system is formed. The encoder provides feedback on the real-time piston rod position, and the hydraulic controller precisely adjusts the servo proportional valve accordingly. This structure helps improve the accuracy and stability of displacement control and enhances the response performance of the actuator.

[0016] Furthermore, the electro-hydraulic actuator is installed on the boom of the cantilever stacker using a double-ear hinge connection. The electro-hydraulic actuator is installed on the boom of the stacker using a double-ear hinge connection. The electro-hydraulic actuator is connected to the hinge support through a trunnion and fixed to the cantilever boom. The actuator head is connected to the baffle structure through a Y-shaped connector to achieve mechanical linkage. The hydraulic pipeline uses a high-pressure hose to connect the oil pump and the proportional valve to ensure smooth hydraulic oil supply and circulation. The control system is connected to the sensor, actuator and PLC through a cable (model: Belden 9842, shielded twisted pair, temperature resistance -20~80℃). This installation method can better adapt to the installation space constraints and may improve the mechanism's ability to bear the lateral forces generated under complex working conditions.

[0017] Furthermore, the working surface of the discharge baffle is provided with a tungsten carbide wear-resistant coating. This coating helps to reduce the adhesion of sticky and wet materials to the baffle surface, thereby potentially reducing the decrease in adjustment function or maintenance requirements caused by material adhesion.

[0018] Furthermore, in step S1, the acquired 3D point cloud data is subjected to Kalman filtering to eliminate noise interference. After acquiring the 3D point cloud data, Kalman filtering is performed. This step helps to filter out noise interference that may be introduced during the scanning process and improves the reliability of subsequent contour recognition and center offset calculation.

[0019] Furthermore, in step S3, the proportional coefficient of the fuzzy PID control algorithm is adaptively adjusted according to the magnitude of the real-time offset. This allows the proportional coefficient of the fuzzy PID control algorithm to be adaptively adjusted according to the magnitude of the real-time offset. This adjustment strategy may enable the system to have more suitable response characteristics when facing deviations of different magnitudes, which helps to balance the response speed and stability of the adjustment process.

[0020] Furthermore, it includes fault diagnosis steps: collecting hydraulic pressure signals from the electro-hydraulic actuator and vibration signals from the drive motor, performing state analysis through a multi-parameter fusion diagnostic model, and outputting warning signals or executing protective shutdowns when abnormal states are identified. By collecting hydraulic pressure and vibration signals and using a multi-parameter fusion diagnostic model for state analysis, it can issue warnings or take protective shutdowns when abnormal states are identified. This function helps to detect potential faults early and improves the reliability and safety of system operation.

[0021] Furthermore, the method also includes a dynamic correction step: repeating steps S1 to S6 at fixed time intervals to correct accumulated errors. By repeating the core adjustment steps at fixed time intervals, continuous dynamic correction of the stockpile center can be achieved. This mechanism helps to correct accumulated errors that may occur during the adjustment process and maintain long-term adjustment accuracy. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the main structure of an embodiment of the present invention; Figure 2 This is a top view of the structure of an embodiment of the present invention; Figure 3 This is a schematic diagram of the control flow of an embodiment of the present invention; The components in the diagram are labeled as follows: 1. Electro-hydraulic actuator; 2. Arm; 3. Unloading baffle; 4. Slide rail. Detailed Implementation

[0023] The present invention will be further described below with reference to embodiments, which are intended only to provide a better understanding of the invention. Therefore, the examples given do not limit the scope of protection of the present invention.

[0024] A side-mounted cantilever stacker's intelligent stack center adjustment system includes: The sensing module includes a laser scanning device configured to perform contour scanning on the material pile formed by the cantilever stacker to obtain three-dimensional point cloud data of the material pile surface. The laser scanning device is a lidar (model: SickLMS511, scanning range 180° horizontally, ±15° vertically, resolution 0.02°). The control module communicates with the sensing module. The control module includes a programmable logic controller (PLC) configured to calculate the real-time offset of the material pile center based on 3D point cloud data, and dynamically generate synchronous control commands based on the real-time offset using a fuzzy PID control algorithm. The PLC (model: Siemens S7-1200, CPU model: CPU1214C) has a built-in PID control algorithm and communicates with the frequency converter, electro-hydraulic actuator, and sensors via Ethernet (protocol: Profibus DP). The execution module includes: The electro-hydraulic actuator 1 is communicatively connected to the control module and is configured to drive the unloading baffle 3 to perform linear displacement based on the displacement command in the synchronous control command.

[0025] The belt conveyor frequency converter is connected in communication with the control module and is configured to adjust the speed of the belt conveyor's drive motor based on the speed command in the synchronous control command; The control module is further configured to synchronously send displacement and speed commands to the electro-hydraulic actuator 1 and the belt conveyor frequency converter via the industrial bus, so that the electro-hydraulic actuator 1 and the belt conveyor frequency converter can work together to dynamically compensate and adjust the center of the material pile. The displacement signal of the electro-hydraulic actuator and the frequency of the frequency converter are synchronized at the millisecond level (communication cycle 1ms) via the PROFINET industrial bus, and the dynamic response speed is improved by 95%.

[0026] This system uses a sensing module to scan the outline of the material pile in real time. The control module calculates the real-time offset of the pile center based on the scan data and generates synchronous control commands. These commands are then received and coordinated with the electro-hydraulic actuator 1 and the belt conveyor frequency converter in the execution module. This system enables synchronous adjustment of the position of the unloading baffle 3 and the belt conveyor speed, thereby dynamically compensating for the pile center. Through closed-loop control and coordinated execution, it helps improve the continuity, response speed, and setting flexibility of the pile center adjustment.

[0027] Furthermore, the electro-hydraulic actuator 1 includes a servo proportional valve, a high-resolution encoder, and a hydraulic controller. The high-resolution encoder provides real-time feedback on the piston rod position, and the hydraulic controller controls the opening of the servo proportional valve based on the displacement command and the feedback position signal. By introducing the servo proportional valve, the high-resolution encoder, and the hydraulic controller, a closed-loop control system is formed. The encoder provides feedback on the real-time position of the piston rod, and the hydraulic controller adjusts the servo proportional valve accordingly. This structure helps improve the accuracy and stability of displacement control and enhances the response performance of the actuator. The actuator stroke system, controlled by the servo proportional valve (positioning accuracy ±0.1mm), uses a high-resolution encoder to provide real-time feedback on the piston rod position. Combined with the Bosch Rexroth HNC100 hydraulic controller, it achieves stepless adjustment of the baffle within a linear stroke range of 2 meters. The hydraulic unit integrates an ambient temperature compensation module (operating temperature range -40℃~70℃) and incorporates a PT100 temperature sensor and a viscosity-temperature correction algorithm to ensure that fluctuations in oil viscosity during low-temperature startup do not affect positioning accuracy.

[0028] Furthermore, the electro-hydraulic actuator 1 is mounted on the boom 2 of the cantilever stacker using a double-ear hinge connection. The main body of the boom 2 is made of Q355B material. The electro-hydraulic actuator 1 is mounted on the boom 2 using a double-ear hinge connection. This mounting method can better adapt to installation space limitations and may improve the mechanism's ability to bear lateral forces generated under complex working conditions. It uses dual electro-hydraulic actuators (model: TTYYFJ20000-1200-TB, stroke 1200mm, total thrust up to 50KN); actuator power source: 3kw motor pump station power, matched with electromagnetic proportional valve (model: REXROTH 4WE3-4X51, control accuracy ±0.5%).

[0029] Furthermore, the working surface of the unloading baffle 3 is provided with a tungsten carbide wear-resistant coating. The working surface of the baffle is sprayed with a tungsten carbide coating (80μm), which reduces the adhesion rate of sticky and wet materials by 60%. The unloading baffle 3 slides on the boom 2 of the cantilever stacker via the slide rail 4, and the boom 2 of the cantilever stacker is extended by two meters to leave the travel position of the unloading baffle 3. The tungsten carbide wear-resistant coating on the working surface of the unloading baffle 3 helps to reduce the adhesion of sticky and wet materials on the baffle surface, thereby potentially reducing the decrease in adjustment function or maintenance requirements caused by material adhesion.

[0030] A method for intelligent adjustment of the stockpile center of a side-mounted cantilever stacker includes the following steps: Step S1: The laser scanning device of the sensing module performs contour scanning on the material pile formed by the cantilever stacker to obtain three-dimensional point cloud data of the material pile surface. The lidar (SICK LMS511) scans the material pile contour at a frequency of 10Hz. Based on the initial scan of the material pile contour features (such as the total length of the material pile and the preset material pile cross-sectional model), the initial reference running speed of the belt conveyor drive motor is determined. The point cloud data is input into the PLC after noise reduction by Kalman filtering. The Siemens S7-1200 PLC executes the three-dimensional coordinate system transformation algorithm to calculate the material pile centroid offset in real time (resolution ±5mm). The lidar scans the material pile surface contour at a frequency of 2Hz to generate three-dimensional point cloud data. The PLC calculates the current actual center offset ΔX and ΔY of the material pile (accuracy ±2mm).

[0031] Step S2: The programmable logic controller (PLC) of the control module calculates the real-time offset of the material pile center based on the 3D point cloud data. The PLC processes the 3D point cloud data, establishes a reference coordinate system for the material yard, identifies and extracts the outline of the material pile, and obtains the real-time offset of the material pile center by calculating the geometric center of the outline or the positional difference between it and the preset target centerline.

[0032] Step S3: Based on the real-time offset, the control module dynamically generates synchronous control commands using a fuzzy PID control algorithm. The fuzzy PID controller (sampling period 50ms) dynamically generates control commands, where the proportional coefficient KP is adaptively adjusted according to the deviation (range 0.5~2.0).

[0033] Step S4: The synchronous control commands are synchronously sent to the electro-hydraulic actuator 1 and the belt conveyor frequency converter driver of the execution module via the industrial bus. The synchronous control commands include displacement commands for the electro-hydraulic actuator 1 and speed commands for the belt conveyor frequency converter driver. A dynamic matching model of belt conveyor speed v=K·√(tanθ) (K is the material characteristic coefficient) is established based on discrete element simulation data. The model parameters are automatically calibrated by the field calibration module. An ABB ACS880 frequency converter with DTC direct torque control technology is used to achieve smooth speed adjustment with acceleration ≤0.2m / s², and the speed control accuracy reaches ±0.05m / s. The belt conveyor drive motor is equipped with a vibration monitoring unit, which automatically triggers speed reduction protection when abnormal harmonics are detected.

[0034] Step S5: The electro-hydraulic actuator 1 drives the unloading baffle 3 to perform linear displacement according to the displacement command. If ΔX or ΔY exceeds the preset threshold (±50mm), the PLC calculates the target push rod displacement ΔL through the PID algorithm (proportional coefficient Kp=2.5, integral time Ti=1s, derivative time Td=0.5s) and drives the two electro-hydraulic actuators to move synchronously (displacement accuracy ±0.1mm). When the equipment is detected to be changing the stockpile and the stockpile area is changed, the PLC calculates the target push rod displacement through the PID algorithm according to the preset center position of the stockpile in different stockpile areas and drives the two electro-hydraulic actuators to move synchronously.

[0035] Step S6: The belt conveyor frequency converter driver adjusts the speed of the belt conveyor drive motor according to the speed command. Based on the feedback signals of different stacking area positions, the belt conveyor drive speed is adjusted. In conjunction with the position of the baffle, the design requirements of different stacking areas and different material stack centers are achieved.

[0036] Steps S5 and S6 are executed simultaneously. By coordinating the position of the unloading baffle 3 with the speed of the belt conveyor, the center of the material pile is dynamically compensated and adjusted.

[0037] This method acquires the material pile outline information through real-time scanning, calculates the center offset, and dynamically generates synchronous control commands based on this, thereby synchronously driving the displacement of the unloading baffle 3 and the speed change of the belt conveyor. This method achieves dynamic compensation and adjustment of the material pile center through the synchronous operation and coordinated changes of two actuators. Compared to the previous technology, which relied on manual intervention and independent operation of each link, resulting in adjustment lag and insufficient accuracy, this method establishes an automated closed-loop adjustment process, which helps improve the control accuracy and operational efficiency of the stockpile center. The stockpile center can be dynamically adjusted to reduce fluctuations. The electro-hydraulic actuator displacement signal and the belt speed frequency conversion control are synchronized at the millisecond level through the PROFINET industrial bus, realizing stepless adjustment of the electro-hydraulic actuator and coordinated control of the belt speed, achieving dynamic response. Through PLC control algorithms, the stockpile center can be finely adjusted and adjusted over long distances to meet the stockpile center requirements of different stockpile areas. The stockpile center adjustment accuracy can reach ±20mm, and the long-distance center adjustment can reach 2m. The stockpiling efficiency is improved by 30%, and the equipment failure rate caused by off-center stockpiling is reduced. The system is compatible with mainstream industrial communication protocols and can be seamlessly integrated into existing stockyard automation systems.

[0038] Furthermore, in step S1, the acquired 3D point cloud data is subjected to Kalman filtering to eliminate noise interference. After acquiring the 3D point cloud data, Kalman filtering is performed. This step helps to filter out noise interference that may be introduced during the scanning process and improves the reliability of subsequent contour recognition and center offset calculation.

[0039] Furthermore, in step S3, the proportional coefficient of the fuzzy PID control algorithm is adaptively adjusted according to the magnitude of the real-time offset. This allows the proportional coefficient of the fuzzy PID control algorithm to be adaptively adjusted according to the magnitude of the real-time offset. This adjustment strategy may enable the system to have more suitable response characteristics when facing deviations of different magnitudes, which helps to balance the response speed and stability of the adjustment process.

[0040] Furthermore, it also includes fault diagnosis steps: collecting the oil pressure signal of the electro-hydraulic actuator 1 and the vibration signal of the drive motor, performing state analysis through a multi-parameter fusion diagnostic model, and outputting a warning signal or performing a protective shutdown when an abnormal state is identified. By collecting oil pressure and vibration signals and using a multi-parameter fusion diagnostic model for state analysis, it can issue a warning or take protective shutdown when an abnormal state is identified. The integrated multi-parameter fusion diagnostic model for vibration, oil pressure, temperature and other parameters can predict mechanical faults 30 minutes in advance. This function helps to detect potential faults early and improve the reliability and safety of system operation.

[0041] Furthermore, the method also includes a dynamic correction step: repeating steps S1 to S6 at fixed time intervals to correct accumulated errors, scanning the material pile outline every 30 seconds to correct accumulated errors, and ensuring that the center offset is always less than ±20mm. By repeating the core adjustment steps at fixed time intervals, continuous dynamic correction of the material pile center can be achieved. This mechanism helps to correct accumulated errors that may occur during the adjustment process and maintain long-term adjustment accuracy.

[0042] This method acquires the stockpile outline information through real-time scanning, calculates the center offset, and dynamically generates synchronous control commands based on this, thereby synchronously driving the displacement of the unloading baffle 3 and the speed change of the belt conveyor. This method achieves dynamic compensation and adjustment of the stockpile center through the synchronous operation and coordinated changes of two actuators. Compared to the previous technology, which relied on manual intervention and independent operation of each link leading to adjustment lag and insufficient accuracy, this method establishes an automated closed-loop adjustment process, which helps improve the control accuracy and operational efficiency of the stockpile center.

[0043] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of the present invention. All equivalent changes made based on the description and drawings of the present invention are included within the scope of the present invention.

Claims

1. A stack center intelligent adjustment system for a side-mounted cantilever stacker, characterized in that: include: The sensing module includes a laser scanning device configured to perform contour scanning on the material pile formed by the cantilever stacker to obtain three-dimensional point cloud data of the material pile surface, and calculate the actual center offset of the current material pile through the PLC. The control module is communicatively connected to the sensing module. The control module includes a programmable logic controller and is configured to: calculate the real-time offset of the center of the material pile based on 3D point cloud data, and dynamically generate synchronous control commands based on the real-time offset using a fuzzy PID control algorithm. The execution module includes: An electro-hydraulic actuator, which communicates with the control module, is configured to drive the unloading baffle to perform linear displacement based on the displacement command in the synchronous control instructions. The electro-hydraulic actuator includes a servo proportional valve, a high-resolution encoder, and a hydraulic controller. The high-resolution encoder is used to provide real-time feedback on the piston rod position, and the hydraulic controller controls the opening of the servo proportional valve based on the displacement command and the feedback position signal. The electro-hydraulic actuator drives the unloading baffle to perform linear displacement according to the displacement command. If the actual center offset of the material pile exceeds a preset threshold, the PLC calculates the target push rod displacement using a PID algorithm and drives the two electro-hydraulic push rods to move synchronously. When the equipment detects a pile change or a change in the pile area, the PLC calculates the target push rod displacement using a PID algorithm based on the preset center position of the material pile in different pile areas and drives the two electro-hydraulic push rods to move synchronously. The belt conveyor frequency converter is connected to the control module and is configured to adjust the speed of the belt conveyor's drive motor based on the speed command in the synchronous control command. The belt conveyor frequency converter adjusts the speed of the belt conveyor's drive motor according to the speed command, and adjusts the belt conveyor drive speed according to the feedback signals detected by different stacking area positions. In conjunction with the position of the baffle, the design requirements of different stacking areas and different material stack centers can be realized. The control module is further configured to send displacement and speed commands synchronously to the electro-hydraulic actuator and the belt conveyor frequency converter via an industrial bus, so that the electro-hydraulic actuator and the belt conveyor frequency converter can work together to dynamically compensate and adjust the center of the material pile.

2. The intelligent adjustment system for the center of the stack of a side-mounted cantilever stacker according to claim 1, characterized in that: The electro-hydraulic actuator is mounted on the boom of the cantilever stacker using a double-ear hinge connection.

3. The intelligent adjustment system for the center of the stack of a side-mounted cantilever stacker according to claim 1, characterized in that: The working surface of the unloading baffle is coated with a tungsten carbide wear-resistant coating.

4. An adjustment method for a stockpile center intelligent adjustment system using a side-mounted cantilever stacker as described in any one of claims 1-3, characterized in that: Includes the following steps: Step S1: The laser scanning device of the sensing module performs contour scanning on the material pile formed by the cantilever stacker to obtain three-dimensional point cloud data of the material pile surface. Based on the contour features of the material pile obtained from the initial scan, the initial reference running speed of the belt conveyor drive motor is determined. Step S2: Calculate the real-time offset of the material pile center based on the 3D point cloud data using the programmable logic controller of the control module; Step S3: The control module dynamically generates synchronization control commands based on the real-time offset using a fuzzy PID control algorithm; the proportional coefficient of the fuzzy PID control algorithm is adaptively adjusted according to the magnitude of the real-time offset. Step S4: The synchronous control command is synchronously sent to the electro-hydraulic actuator and the belt conveyor frequency converter of the execution module via the industrial bus; wherein, Synchronous control commands include displacement commands for electro-hydraulic actuators and speed commands for belt conveyor frequency converters; Step S5: Drive the unloading baffle to perform linear displacement according to the displacement command via the electro-hydraulic actuator; Step S6: Adjust the speed of the belt conveyor's drive motor according to the speed command via the belt conveyor frequency converter driver; Steps S5 and S6 are executed simultaneously, and the center of the material pile is dynamically compensated and adjusted by the coordinated change of the position of the unloading baffle and the speed of the belt conveyor.

5. The adjustment method of the intelligent adjustment system for the center of the stockpile of the side-mounted cantilever stacker according to claim 4, characterized in that: In step S1, the acquired 3D point cloud data is subjected to Kalman filtering to eliminate noise interference.

6. The adjustment method of the intelligent adjustment system for the center of the stockpile of the side-mounted cantilever stacker according to claim 4, characterized in that: It also includes fault diagnosis steps: collecting the oil pressure signal of the electro-hydraulic actuator and the vibration signal of the drive motor, performing state analysis through a multi-parameter fusion diagnostic model, and outputting a warning signal or performing a protective shutdown when an abnormal state is identified.

7. The adjustment method of the intelligent adjustment system for the center of the stockpile of the side-mounted cantilever stacker according to claim 4, characterized in that: The method also includes a dynamic correction step: repeating steps S1 to S6 at fixed time intervals to correct accumulated errors.

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