Stacker reclaimer control system

Abstract

The present application relates to bulk material conveying technical field, specifically speaking, it is a kind of stacker-reclaimer stack control system, adopts front millimeter wave radar to design angle detection material pile profile, avoids taking material mechanism to shield;Based on millimeter wave radar data and equipment stack data fusion constructs material pile three-dimensional dynamic elevation model;Real-time calculation of the model is carried out to the safety distance of stacker-reclaimer and material pile, and adopts multistage anti-collision strategy dynamic adjustment big arm posture;At the same time, through settlement compensation model real-time compensation big arm pitch angle adjustment value, eliminates structural deformation error;Finally realizes the automatic control of stacker-reclaimer in the process of stacking from back to front, systematically solves the three big problems of taking material position shielding, big arm collision risk and big arm settlement precision in the process of stacking from back to front.

Description

Technical Field

[0001] This invention relates to the field of bulk material conveying technology, specifically a stacker-reclaimer stacking control system. Background Technology

[0002] Stacker-reclaimers are key equipment in bulk material storage yards, and their level of automation directly affects operational efficiency and safety. Back-to-forehead stacking is an uncommon but highly precise stacking process, and achieving fully automated operation in this mode faces three major technical challenges:

[0003] Interference from material handling area obstruction: During the stacking process, the material handling bucket wheel is usually located at the front of the equipment. If the radar used to detect the outline of the material pile is installed near the bucket wheel, its detection beam is easily obstructed by the structure of the material handling mechanism itself, such as the bucket wheel and chute, forming a detection blind spot. It is impossible to accurately obtain the complete shape of the material pile in front, especially the key outline of the leading edge of the material pile.

[0004] Collision prevention between boom and stockpile: Automated stockpiling requires the boom to run close to the stockpile outline to maximize the use of stockpile space, but it is also essential to ensure that the bucket wheel or boom does not collide with the stockpile. Traditional methods relying on single radar ranging or manual observation are insufficient to accurately perceive the complex spatial relationship between the two in real time, posing a risk of collision.

[0005] Precision errors caused by boom settlement: The boom of a stacker-reclaimer is a large metal structure, which will experience varying degrees of settlement (i.e., sagging) due to elastic deformation and structural gaps under different pitch angles and loads. This settlement will cause the actual position of the bucket wheel at the end of the boom to be lower than the theoretical control position calculated by the control system, which can easily cause the bucket wheel or boom to collide with the material pile during automatic stacking. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the purpose of this invention is to provide a stacker-reclaimer stacking control system.

[0007] The technical solution adopted by this invention to solve its technical problem is:

[0008] A stacker-reclaimer stacking control system includes a millimeter-wave radar, a tilt sensor, a central processing unit, and an automatic control unit, wherein...

[0009] The millimeter-wave radar is installed at the top of the front end of the stacker-reclaimer boom, with its axis and horizontal plane at a designed angle downwards, to scan the material pile in front and obtain point cloud data of the material pile surface;

[0010] The tilt sensor is installed at the hinge point between the boom and the slewing platform to detect the actual pitch angle at the root of the boom in real time.

[0011] The central processing unit (CPU) fuses point cloud data, material characteristics, and equipment stacking data. It employs a grid-based unscented Kalman filter algorithm to construct a real-time 3D dynamic elevation model of the stockpile. It acquires the 3D envelope model of the boom and bucket wheel in the stacker-reclaimer, calculates the minimum spatial distance between the 3D dynamic elevation model and the 3D envelope model in real-time, and generates anti-collision control commands based on the minimum spatial distance and a preset safety threshold. Based on the variation of actual settlement at the boom end under different theoretical pitch angles and load conditions, it uses a bivariate polynomial to fit a settlement compensation model and calculates the pitch angle compensation value in real-time. Finally, it generates a comprehensive control signal for controlling the coordinated operation of the stacker-reclaimer based on the 3D dynamic elevation model of the stockpile, the anti-collision control commands, and the pitch angle compensation value.

[0012] Automatic control unit, used to control the stacker-reclaimer's actions based on integrated control signals.

[0013] As a preferred embodiment, a further technical solution of the present invention is:

[0014] Preferably, the process of obtaining point cloud data of the material pile surface includes:

[0015] Acquire raw point cloud data obtained from millimeter-wave radar scanning ;

[0016] The raw point cloud data in the radar coordinate system is transformed to the boom coordinate system with the boom hinge point as the origin to obtain the fused point cloud data. :

[0017] ;

[0018] in, It is based on the angle between the millimeter-wave radar mounting axis and the horizontal plane. The determined rotation matrix around the Y-axis is as follows: ; It is the offset of the millimeter-wave radar's installation position in the large arm coordinate system;

[0019] A statistical outlier removal algorithm is used to filter the fused point cloud data to obtain an effective point cloud dataset of the stockpile surface. .

[0020] Preferably, the process of constructing a three-dimensional dynamic elevation model of the stockpile includes:

[0021] The working area in front of the stacker-reclaimer is divided into a regular grid on the horizontal plane according to the design dimensions;

[0022] Each grid cell Corresponding center elevation Defined as the state of a grid cell, the elevations of all grid cells constitute the state vector. ;

[0023] Initialize the elevation to zero. Let the ground plane be the reference plane, and assign an initial covariance to the state vector to represent the height uncertainty. ;

[0024] Based on material properties and equipment stockpiling data, the elevation of each grid cell in the next time step is predicted. During the prediction process, if the grid cell... If the elevation is located within the projection area of ​​the current material drop point, then the elevation is predicted. The flow rate increases linearly; if located outside the projection area, the elevation diffuses nonlinearly outwards due to the constraint of the angle of repose; therefore, the prediction process can be expressed as:

[0025] ;

[0026] Among them, the function The specific expression is defined as: for any grid cell Its predicted elevation The calculation is as follows: If If it is located within the projection area of ​​the current material drop point, then ,in This represents the grid area; if it is located outside the projection area, then... ,in The diffusion coefficient is... The horizontal distance from the center of the grid to the edge of the projection area; Indicates the angle of repose of the material. This indicates the flow rate of the stacker-reclaimer belt. This indicates the travel speed of the stacker-reclaimer. Indicates the boom rotation angle. Indicates the time step;

[0027] Update prediction error covariance ,in, yes Jacobian matrix, It is the process noise covariance;

[0028] Based on the current state Covariance A set of Sigma points is generated according to the unscented Kalman filter algorithm. ;

[0029] Each Sigma point The observation point cloud is converted into a prediction through the observation model. The observation model is specifically as follows: for a state vector (i.e., a set of grid elevations), and the corresponding predicted observation point cloud. From all elevations The center point of the grid cell Composition, that is ;

[0030] Calculate the mean of the observed point cloud. Covariance and the cross-covariance between state and observation. Kalman gain and state update are performed based on the calculation results:

[0031] ;

[0032] ;

[0033] ;

[0034] Get the updated status Thus, a three-dimensional dynamic elevation model of the stockpile at the current moment is obtained.

[0035] Preferably, the process of generating collision avoidance control commands includes:

[0036] Based on the three-dimensional dynamic elevation model of the material pile and the current pose of the boom, the minimum spatial distance between the three-dimensional envelope model of the bucket wheel and the surface of the material pile is calculated in real time. ;

[0037] If the minimum spatial distance Less than the warning distance Greater than the action distance Generate anti-collision control commands to raise the boom at a first preset angle; continuously monitor during the raising process. ,like Increase to equal to or greater than Then stop rising;

[0038] If the minimum spatial distance Less than or equal to the action distance Prioritize generating anti-collision control commands to raise the boom at a second preset angle. If the boom is raised beyond its upper limit after being raised at the second preset angle, generate an anti-collision control command to control the boom to rotate away from the material pile. If the rotation control still cannot avoid a collision, generate an anti-collision control command to trigger an emergency stop. The second preset angle is greater than the first preset angle, and the action distance is less than the warning distance.

[0039] The process of fitting the settlement compensation model includes:

[0040] During the equipment commissioning phase, at different theoretical elevation angles and load Under operating conditions, the actual settlement at the end of the boom was measured. ;

[0041] Based on trigonometric function theory and the effective length of the upper arm When the change in boom pitch angle is less than the angle threshold (i.e., the change is small), the change in settlement at the boom end is... Angle value that needs compensation The geometric relationship is approximately satisfied: (Radian measure). Based on this relationship, a settlement compensation model is obtained by fitting a bivariate polynomial. Fitting to the quadratic term satisfies the engineering accuracy requirements.

[0042] ;

[0043] in, This is the required pitch angle compensation value. For theoretical pitch angle, For load, to These are the polynomial coefficients obtained by fitting experimental data.

[0044] The calculation process for pitch angle compensation values ​​includes:

[0045] Obtain the first or second preset angle from the anti-collision control command, and simultaneously obtain the current load of the stacker-reclaimer;

[0046] Input the acquired angle and current load into the settlement compensation model to obtain the pitch angle compensation value. .

[0047] The present invention, which adopts the above technical solution, has the following prominent features compared with the prior art:

[0048] A new fully automated stacking mode is defined: by combining three-dimensional contour dynamic modeling, anti-collision control and settlement compensation, the three core problems of stacking materials from back to front are systematically solved, forming a complete and reliable fully automated solution.

[0049] Significantly improves safety: Dynamic 3D modeling combined with multi-level obstacle avoidance strategies greatly reduces the risk of collisions between the boom, bucket wheel and the material pile;

[0050] Improved operational accuracy: The boom settlement compensation model effectively eliminates the positional error caused by structural deformation, counteracts the sagging caused by settlement, and ensures that the bucket wheel end is accurately positioned at the predetermined height;

[0051] Achieving true full automation: It can significantly reduce manual intervention, improve operational efficiency and intelligence level, and provide a new technical paradigm for the stacker-reclaimer's back-to-foreign stacking mode. Attached Figure Description

[0052] Figure 1This is a schematic diagram of the stacker-reclaimer stacking control system in an embodiment of the present invention. Detailed Implementation

[0053] The present invention will be further illustrated below with reference to specific embodiments. The purpose of this illustration is solely to provide a better understanding of the invention. Therefore, the examples given do not limit the scope of protection of the present invention.

[0054] like Figure 1 As shown in the figure, this embodiment provides a stacker-reclaimer stacking control system, including millimeter-wave radar, tilt sensor, central processing unit, and automatic control unit, wherein,

[0055] The millimeter-wave radar is installed at the top of the front end of the stacker-reclaimer boom, with its axis and horizontal plane at a designed angle downwards, to scan the material pile in front and obtain point cloud data of the material pile surface;

[0056] The tilt sensor is installed at the hinge point between the boom and the slewing platform to detect the actual pitch angle at the root of the boom in real time.

[0057] The central processing unit (CPU) integrates point cloud data, material characteristics, and equipment stacking data. It employs a grid-based unscented Kalman filter algorithm to construct a real-time 3D dynamic elevation model of the stacker-reclaimer. It acquires the 3D envelope model of the boom and bucket wheel within the stacker-reclaimer, calculates the minimum spatial distance between the 3D dynamic elevation model and the 3D envelope model in real time, and generates anti-collision control commands based on the minimum spatial distance and a preset safety threshold. Based on the variation of actual settlement at the boom end under different theoretical pitch angles and load conditions, it uses a bivariate polynomial to fit a settlement compensation model and calculates the pitch angle compensation value in real time. Finally, it generates comprehensive control signals for controlling the stacker-reclaimer's travel, rotation, and pitch-up linkage operations based on the 3D dynamic elevation model of the stacker, the anti-collision control commands, and the pitch angle compensation value.

[0058] Automatic control unit, used to control the stacker-reclaimer's actions based on integrated control signals.

[0059] In practice, two millimeter-wave radars can be installed, one on each side of the top front end of the stacker-reclaimer boom. The scanning ranges of the two radars partially overlap. The central processing unit fuses the point cloud data from both radars: for the overlapping area, the average value of the corresponding coordinates is used as the fused data; for the non-overlapping area, the point cloud data is directly stitched together to form a complete and continuous point cloud dataset of the front stockpile surface. The selected millimeter-wave radar must have a data refresh rate of at least 10Hz to adapt to the stacker-reclaimer's motion control cycle. The installation axis should be designed at a 15°-25° angle downwards from the horizontal plane, ensuring that the main lobe of the millimeter-wave radar beam illuminates diagonally downwards from the rear of the equipment, perfectly bypassing and avoiding the front reclaimer bucket wheel and auxiliary structures, directly scanning the slope and upper-middle part of the stockpile, thus obtaining unobstructed and complete stockpile front contour data.

[0060] The tilt sensor detects the actual pitch angle at the base of the boom in real time, with an accuracy of no less than ±0.1°.

[0061] The central processing unit uses an industrial-grade computer (industrial control computer) equipped with a high-performance multi-core processor, which is responsible for building a three-dimensional dynamic elevation model of the material pile, a boom settlement compensation model, and a collision avoidance safety planning and early warning system.

[0062] The automatic control unit is the original PLC controller of the stacker-reclaimer, which is responsible for receiving the comprehensive control signals sent by the central processing unit and driving the stacker-reclaimer's walking drive mechanism, slewing drive mechanism and pitch drive mechanism to perform corresponding actions.

[0063] Millimeter-wave radar, tilt sensor and central processing unit can communicate at high speed via industrial Ethernet, and central processing unit and automatic control unit can exchange commands via Profinet real-time Ethernet protocol.

[0064] In practice, the process of obtaining point cloud data of the material pile surface includes:

[0065] Acquire raw point cloud data obtained from millimeter-wave radar scanning ;

[0066] The raw point cloud data in the radar coordinate system is transformed to the boom coordinate system with the boom hinge point as the origin to obtain the fused point cloud data. :

[0067] ;

[0068] in, It is based on the angle between the millimeter-wave radar mounting axis and the horizontal plane. A defined rotation matrix around the Y-axis. The angle between the radar axis and the horizontal plane. The rotation matrix about the Y-axis has the following specific form: ; It is the offset of the millimeter-wave radar's installation position in the large arm coordinate system;

[0069] A statistical outlier removal algorithm is used to filter the fused point cloud data to obtain an effective point cloud dataset of the stockpile surface. In the specific filtering process, the number of nearest neighbors K=20 and the standard deviation threshold is set to 2.0 to effectively remove noise points caused by the metal structure of the boom itself, dust interference, etc., and obtain an effective point cloud dataset of the material pile surface.

[0070] In practice, the process of constructing a three-dimensional dynamic elevation model of the stockpile includes:

[0071] The working area in front of the stacker-reclaimer is divided into a regular grid on the horizontal plane according to the design dimensions; the design dimensions can be set to a regular grid of 0.5m*0.5m.

[0072] Each grid cell Corresponding center elevation Defined as the state of a grid cell, the elevations of all grid cells constitute the state vector. ;

[0073] Initialize the elevation to zero. The ground plane (elevation zero) is defined, and the state vector is assigned an initial covariance to represent the height uncertainty. ;

[0074] Based on material properties and equipment stockpiling data, the elevation of each grid cell in the next time step is predicted. During the prediction process, if the grid cell... If the elevation is located within the projection area of ​​the current material drop point, then the elevation is predicted. The flow rate increases linearly; if located outside the projection area, the elevation diffuses nonlinearly outwards due to the constraint of the angle of repose; therefore, the prediction process can be expressed as:

[0075] ;

[0076] Among them, the function Specifically defined as: for grid If it is located within the material unloading projection area, then ,in This represents the grid area; if it is located outside the projection area, then... ,in The diffusion coefficient is... The horizontal distance from the center of the grid to the edge of the projection area; Indicates the angle of repose of the material. This indicates the flow rate of the stacker-reclaimer belt. This indicates the travel speed of the stacker-reclaimer. Indicates the boom rotation angle. Indicates the time step;

[0077] Update prediction error covariance ,in, yes Jacobian matrix, It is the process noise covariance;

[0078] Based on the current state Covariance A set of Sigma points is generated according to the unscented Kalman filter algorithm. ;

[0079] Each Sigma point The observation model (i.e., how grid elevation is represented as a 3D point cloud) is converted into a predicted observation point cloud. The observation model is specifically as follows: for a state vector (i.e., a set of grid elevations), and the corresponding predicted observation point cloud. From all elevations The center point of the grid cell Composition, that is .

[0080] Calculate the mean of the observed point cloud. Covariance and the cross-covariance between state and observation. Kalman gain and state update are performed based on the calculation results:

[0081] ;

[0082] ;

[0083] ;

[0084] Get the updated status This yields a three-dimensional dynamic elevation model of the material pile at the current moment. This model integrates real-time measurement with physical law prediction, effectively filling the instantaneous blind zone of the radar and smoothing out measurement noise.

[0085] In practice, the process of generating collision avoidance control commands includes:

[0086] Based on the three-dimensional dynamic elevation model of the material pile and the current pose of the boom, the minimum spatial distance between the three-dimensional envelope model of the bucket wheel and the surface of the material pile is calculated in real time. The three-dimensional envelope models of the boom and bucket wheel can be pre-stored in the central control unit, simplifying the boom into a cuboid and the bucket wheel into a cylinder; this allows for the calculation of the minimum spatial distance. In such cases, a distance field algorithm based on spatial grids can be used for efficient calculation;

[0087] If the minimum spatial distance Less than the warning distance Greater than the action distance Generate anti-collision control commands to raise the boom at a first preset angle; continuously monitor during the raising process. ,like Increase to equal to or greater than If it stops rising, then the ascent will cease.

[0088] If the minimum spatial distance Less than or equal to the action distance If the condition is met, the corresponding control strategy will be executed first, and an anti-collision control command will be generated to raise the boom at the second preset angle. If the boom is raised beyond the upper limit after raising it at the second preset angle, an anti-collision control command will be generated to control the boom to rotate away from the material pile. If the rotation control still cannot avoid a collision, an anti-collision control command to trigger an emergency stop will be generated. The second preset angle is greater than the first preset angle, and the action distance is less than the warning distance. For example, the warning distance can be set to 2.0m, the action distance can be set to 1.2m, the first preset angle can be set to 0.5 degrees to 1 degree, and the second preset angle can be set to 3 degrees to 5 degrees.

[0089] In practice, the process of fitting the settlement compensation model includes:

[0090] During the equipment commissioning phase, at different theoretical elevation angles and load Under operating conditions, the actual settlement at the end of the boom was measured. ;

[0091] Based on trigonometric function theory and the effective length of the upper arm When the change in boom pitch angle is less than the angle threshold (i.e., the change is small), the change in settlement at the boom end is... Angle value that needs compensation The geometric relationship is approximately satisfied: (Radian measure). Based on this relationship, a settlement compensation model is obtained by fitting a bivariate polynomial. Fitting to the quadratic term satisfies the engineering accuracy requirements.

[0092]

[0093] in, This is the required pitch angle compensation value. For theoretical pitch angle, For load, to These are the polynomial coefficients obtained by fitting experimental data.

[0094] In practice, the calculation process for pitch angle compensation values ​​includes:

[0095] Obtain the first or second preset angle from the anti-collision control command, and simultaneously obtain the current load of the stacker-reclaimer;

[0096] Input the acquired angle and current load into the settlement compensation model to obtain the pitch angle compensation value. .

[0097] During the generation of integrated control signals, the first or second preset angle in the anti-collision control command can be compensated based on the pitch angle compensation value to form the final pitch angle control command for adjusting the boom pitch angle, thereby offsetting the problem of the bucket wheel's actual position being too low due to boom structural deformation and settlement; in addition, if anti-collision control is not triggered, travel and slewing commands are generated according to the stacking plan; if obstacle avoidance is triggered, the anti-collision control command is executed first, generating coordinated and unified travel speed command, slewing angle command and pitch angle command to complete the automatic stacking control of the stacker-reclaimer.

[0098] The technical solution of this invention employs a front-mounted millimeter-wave radar to detect the outline of the material pile at a designed angle, avoiding obstruction by the material reclaiming mechanism. A three-dimensional dynamic elevation model of the material pile is constructed by fusing millimeter-wave radar data with equipment material pile data. This model is used to calculate the safe distance between the stacker-reclaimer and the material pile in real time, and a multi-level anti-collision strategy is adopted to dynamically adjust the boom posture. Simultaneously, a settlement compensation model is used to compensate for the boom pitch angle adjustment value in real time, eliminating structural deformation errors. Ultimately, this achieves automatic control of the stacker-reclaimer during the back-to-foreign material stacking process, systematically solving three major problems in the back-to-foreign material stacking process: obstruction of the material reclaiming part, boom collision risk, and boom settlement accuracy.

[0099] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of the 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 stacker-reclaimer stacking control system, characterized in that, It includes millimeter-wave radar, tilt sensor, central processing unit, and automatic control unit, among which, The millimeter-wave radar is installed at the top of the front end of the stacker-reclaimer boom, with its axis and horizontal plane at a designed angle downwards, to scan the material pile in front and obtain point cloud data of the material pile surface; The tilt sensor is installed at the hinge point between the boom and the slewing platform to detect the actual pitch angle at the root of the boom in real time. The central processing unit (CPU) fuses point cloud data, material characteristics, and equipment stacking data. It employs a grid-based unscented Kalman filter algorithm to construct a real-time 3D dynamic elevation model of the stockpile. It acquires the 3D envelope model of the boom and bucket wheel in the stacker-reclaimer, calculates the minimum spatial distance between the 3D dynamic elevation model and the 3D envelope model in real-time, and generates anti-collision control commands based on the minimum spatial distance and a preset safety threshold. Based on the variation of actual settlement at the boom end under different theoretical pitch angles and load conditions, it uses a bivariate polynomial to fit a settlement compensation model and calculates the pitch angle compensation value in real-time. Finally, it generates a comprehensive control signal for controlling the coordinated operation of the stacker-reclaimer based on the 3D dynamic elevation model of the stockpile, the anti-collision control commands, and the pitch angle compensation value. Automatic control unit, used to control the stacker-reclaimer's actions based on integrated control signals.

2. The stacker-reclaimer stacking control system according to claim 1, characterized in that, The process of obtaining point cloud data of the material pile surface includes: Acquire raw point cloud data obtained from millimeter-wave radar scanning ; The raw point cloud data in the radar coordinate system is transformed to the boom coordinate system with the boom hinge point as the origin to obtain the fused point cloud data. : ； in, It is based on the angle between the millimeter-wave radar mounting axis and the horizontal plane. The determined rotation matrix around the Y-axis is as follows: ; It is the offset of the millimeter-wave radar's installation position in the large arm coordinate system; A statistical outlier removal algorithm is used to filter the fused point cloud data to obtain an effective point cloud dataset of the stockpile surface. .

3. The stacker-reclaimer stacking control system according to claim 2, characterized in that, The process of constructing a three-dimensional dynamic elevation model of the stockpile includes: The working area in front of the stacker-reclaimer is divided into a regular grid on the horizontal plane according to the design dimensions; Each grid cell Corresponding center elevation Defined as the state of a grid cell, the elevations of all grid cells constitute the state vector. ; Initialize the elevation to zero. Let the ground plane be the reference plane, and assign an initial covariance to the state vector to represent the height uncertainty. ; Based on material properties and equipment stockpiling data, the elevation of each grid cell in the next time step is predicted. During the prediction process, if the grid cell... If the elevation is located within the projection area of ​​the current material drop point, then the elevation is predicted. The flow rate increases linearly; if located outside the projection area, the elevation diffuses nonlinearly outwards due to the constraint of the angle of repose; therefore, the prediction process can be expressed as: ； Among them, the function Specifically defined as: for grid If it is located within the material unloading projection area, then ,in This represents the grid area; if it is located outside the projection area, then... ,in The diffusion coefficient is... The horizontal distance from the center of the grid to the edge of the projection area; Indicates the angle of repose of the material. This indicates the flow rate of the stacker-reclaimer belt. This indicates the travel speed of the stacker-reclaimer. Indicates the boom rotation angle. Indicates the time step; Update prediction error covariance ,in, yes Jacobian matrix, It is the process noise covariance; Based on the current state Covariance A set of Sigma points is generated according to the unscented Kalman filter algorithm. ; Each Sigma point The observation point cloud is converted into a prediction through the observation model. The observation model is specifically as follows: for a state vector The corresponding predicted observation point cloud From all elevations The center point of the grid cell Composition, that is ; Calculate the mean of the observed point cloud. Covariance and the cross-covariance between state and observation. Kalman gain and state update are performed based on the calculation results: ； ； ； Get the updated status Thus, a three-dimensional dynamic elevation model of the stockpile at the current moment is obtained.

4. The stacker-reclaimer stacking control system according to claim 1, characterized in that, The process of generating collision avoidance control commands includes: Based on the three-dimensional dynamic elevation model of the material pile and the current pose of the boom, the minimum spatial distance between the three-dimensional envelope model of the bucket wheel and the surface of the material pile is calculated in real time. ; If the minimum spatial distance Less than the warning distance Greater than the action distance Generate anti-collision control commands to raise the boom at a first preset angle; continuously monitor during the raising process. ,like Increase to equal to or greater than Then stop rising; If the minimum spatial distance Less than or equal to the action distance Prioritize generating anti-collision control commands to raise the boom at a second preset angle. If the boom is raised beyond its upper limit after being raised at the second preset angle, generate an anti-collision control command to control the boom to rotate away from the material pile. If the rotation control still cannot avoid a collision, generate an anti-collision control command to trigger an emergency stop. The second preset angle is greater than the first preset angle, and the action distance is less than the warning distance.

5. The stacker-reclaimer stacking control system according to claim 4, characterized in that, The process of fitting the settlement compensation model includes: During the equipment commissioning phase, at different theoretical elevation angles and load Under operating conditions, the actual settlement at the end of the boom was measured. ; Based on trigonometric function theory and the effective length of the upper arm When the change in boom pitch angle is less than the angle threshold, the change in settlement at the boom end is... Angle value that needs compensation The geometric relationship is approximately satisfied: Based on this relationship, a settlement compensation model is obtained by fitting a bivariate polynomial. Fitting to the quadratic term satisfies the engineering accuracy requirements. ； in, This is the required pitch angle compensation value. For theoretical pitch angle, For load, to These are the polynomial coefficients obtained by fitting experimental data.

6. The stacker-reclaimer stacking control system according to claim 5, characterized in that, The calculation process for pitch angle compensation values ​​includes: Obtain the first or second preset angle from the anti-collision control command, and simultaneously obtain the current load of the stacker-reclaimer; Input the acquired angle and current load into the settlement compensation model to obtain the pitch angle compensation value. .

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