Semi-automatic top-layer continuous rotary stockpiling process control method and system

Abstract

The invention relates to the technical field of stockpiling control, in particular to a semi-automatic top-layer continuous rotary stockpiling process control method and system.The method comprises the steps that an operation coordinate system in the rotary stockpiling operation process is constructed, and the coordinate change condition in the rotary stockpiling process is analyzed based on the operation coordinate system; the dynamic coordinate change condition in the rotary stacking process is obtained; rotation control parameter information is set based on the operation coordinate system and the coordinate change condition, and stacking multi-dimensional monitoring data are obtained; scheduling reference information, rotation angle scheduling instruction information and pitch angle scheduling instruction information of a rotation stacking process are obtained according to the stacking multi-dimensional monitoring data, the rotation control parameter information and the operation coordinate system; and the rotary stacking system is dynamically regulated and controlled by combining the information, so that the aim of semi-automatic top-layer continuous rotary operation of stacked materials is fulfilled. The rotary stockpiling system is intelligently regulated and controlled, semi-automatic top-layer continuous rotary operation of stockpiling is achieved, and operation continuity and stability are improved.

Description

Technical Field

[0001] This invention relates to the field of stockpiling control technology, specifically to a semi-automatic top-layer continuous rotary stockpiling process control method and system. Background Technology

[0002] In bulk material stacking operations, traditional methods primarily rely on manual operation or simple automated control. Manual operation heavily depends on the operator's experience, requiring constant monitoring of the stacker's operating status, material accumulation, and the yard environment. Operators manually adjust various parameters such as slewing angle, pitch angle, and travel speed based on experience. This method is not only labor-intensive but also inefficient. Furthermore, it's difficult to guarantee the stability of stacking quality, easily leading to uneven stacking and non-compliant stack shapes.

[0003] Simple automated control methods control the stacker using preset programs and fixed parameters, achieving automation of some operational processes. However, they lack sufficient flexibility and adaptability. In actual stacking processes, the environment is complex and ever-changing. Simple automated control systems cannot promptly perceive environmental conditions and make corresponding adjustments. Operating according to a fixed mode leads to problems such as uneven stacking, low stacking efficiency, equipment failure, or safety accidents, failing to meet the needs of modern stockyards for efficient, stable, and flexible stacking operations.

[0004] Therefore, a more efficient, stable, and flexible stacking process control method is needed, which can effectively sense changes in the stockpile environment and material status, and dynamically adjust the slewing, pitching, and other motion parameters of the stacker based on real-time data, so as to achieve precise control of stacking operations and effectively improve operational efficiency. Summary of the Invention

[0005] To address the shortcomings of existing methods and meet the needs of practical applications, and in order to achieve accurate perception of changes in the stockpile environment and material status, the slewing, pitching, and other parameters of the stacker are dynamically adjusted based on real-time data. This enables refined control of stockpiling operations, ensures uniform spatial distribution of stockpiled materials, improves slewing efficiency, and meets the diverse and high-standard operational requirements of modern stockpiles. On the one hand, this invention provides a semi-automatic top-level continuous rotary stacking process control method, which includes the following steps: constructing an operating coordinate system in the rotary stacking operation process; analyzing the coordinate changes during the rotary stacking process based on the operating coordinate system, and obtaining the dynamic coordinate changes during the rotary stacking process; setting rotary control parameter information and acquiring multi-dimensional monitoring data of the stacking based on the operating coordinate system and the dynamic coordinate changes; obtaining scheduling reference information, rotary angle scheduling command information, and pitch angle scheduling command information of the rotary stacking process based on the multi-dimensional monitoring data of the stacking, the rotary control parameter information, and the operating coordinate system; and dynamically adjusting the rotary stacking system by combining the scheduling reference information, the rotary angle scheduling command information, the pitch angle scheduling command information, and the rotary control parameter information to achieve the goal of semi-automatic top-level continuous rotary stacking operation.

[0006] This invention obtains scheduling and instruction information based on multi-dimensional monitoring data, slewing control parameter information, and operating coordinate system, which can dynamically regulate the slewing stacking system, making the stacking operation smoother and more efficient, thereby ensuring the safety and stability of the stacking operation.

[0007] Optionally, the construction of the operating coordinate system in the rotary stacking operation process includes: establishing a circular standard coordinate system based on the rotary reclaimer equipment in the operating coordinate system; and establishing a linear reference coordinate system based on the pitch axis device in the operating coordinate system. The combination of the circular standard coordinate system and the linear reference coordinate system in this invention provides a reliable spatial positioning reference for rotary stacking operations.

[0008] Optionally, the step of analyzing the coordinate changes during the rotary stockpiling process based on the operating coordinate system and obtaining the dynamic coordinate changes during the rotary stockpiling process includes: establishing a three-dimensional spatial dynamic coordinate relationship based on the annular standard coordinate system and the linear reference coordinate system; analyzing the motion of the rotary stockpiling system in three-dimensional space through the three-dimensional spatial dynamic coordinate relationship; and obtaining the dynamic coordinate changes during the rotary stockpiling process based on the motion.

[0009] This invention analyzes the motion of the rotary stacking system in three-dimensional space using a dynamic coordinate relationship, enabling real-time acquisition of the dynamic coordinate changes of the equipment and ensuring the continuity and efficiency of the rotary stacking process.

[0010] Optionally, setting the rotation control parameter information based on the operating coordinate system and the dynamic coordinate change status includes: introducing a historical database of semi-automatic top-level continuous rotation operation of the stockpile; setting the rotation operation parameter information of the reclaimer rotation equipment according to the historical database, the operating coordinate system, and the dynamic coordinate change status, wherein the rotation operation parameter information includes the rotation direction, the retraction unit distance, the maximum angle of leveling and laying material, the minimum angle of leveling and laying material, and the rotation angle interval; and setting safe operating conditions for the retraction unit distance based on the actual situation of the stockpile and the stockpile requirements. This invention clarifies the position of the equipment in space based on the operating coordinate system, and the dynamic coordinate change status reflects the movement trend of the equipment in real time, making the operation parameters of the rotation equipment more closely match actual needs.

[0011] Optionally, setting the slewing control parameter information based on the operating coordinate system and the dynamic coordinate change status includes: setting the pitch operation parameter information of the pitch axis device based on the operating coordinate system and the dynamic coordinate change status, wherein the pitch operation parameter information includes the pitch positive direction, standard pitch angle, and pitch angle adjustment step of the pitch axis device.

[0012] This invention can quickly and accurately determine the current and target states of the pitch axis device by operating the coordinate system and monitoring dynamic coordinate changes, providing clear adjustment guidance for the slewing task and improving the stability and continuity of the operation.

[0013] Optionally, the step of setting rotation control parameter information and acquiring multi-dimensional monitoring data of the stockpile based on the operating coordinate system and the dynamic coordinate change status includes: introducing a stockpile data detection device; collecting original detection information of the stockpile through the operating coordinate system and the stockpile data detection device; processing the original detection information of the stockpile using the chord height method and multiple echo technology to obtain three-dimensional stockpile information; verifying the volume and spatial parameters of the stockpile based on the three-dimensional stockpile information to obtain verified stockpile volume information and verified stockpile spatial parameter information; and acquiring multi-dimensional monitoring data of the stockpile by combining the three-dimensional stockpile information, the verified stockpile volume information, and the verified stockpile spatial parameter information.

[0014] This invention verifies the stockpile parameters based on three-dimensional stockpile information, providing a basis for slewing control and further ensuring that the stockpile quality meets actual requirements.

[0015] Optionally, obtaining the scheduling reference information for the rotary stacking process based on the multi-dimensional monitoring data of the stockpile, the rotary control parameter information, and the operating coordinate system includes: obtaining the stockpile area information in the rotary stacking process based on the multi-dimensional monitoring data of the stockpile; analyzing the required height, required area, required width, and required length of the stockpile based on the multi-dimensional monitoring data of the stockpile and the operating coordinate system; obtaining the stockpile storage area information based on the multi-dimensional monitoring data of the stockpile and the operating coordinate system; and integrating the stockpile area information, the required height, the required area, the required width, the required length, and the stockpile storage area information to obtain the scheduling reference information for the rotary stacking process.

[0016] The rotary stockpiling process scheduling reference information of this invention provides comprehensive guidance, which helps to quickly formulate rotary stockpiling plans, determine the optimal stockpiling location and operation mode, and improve the response speed of stockpiling operations.

[0017] Optionally, obtaining the scheduling reference information, slewing angle scheduling instruction information, and pitch angle scheduling instruction information for the slewing stockpiling process based on the multi-dimensional monitoring data of the stockpile, the slewing control parameter information, and the operating coordinate system includes: deriving the slewing angle unit expression based on the slewing control parameter information and the operating coordinate system; obtaining the slewing preset angle unit through the slewing angle unit expression; setting the stockpile height setting value; setting the next slewing angle conditions based on the stockpile height setting value and the slewing preset angle unit; obtaining the slewing angle scheduling instruction information based on the next slewing angle conditions; deriving the pitch angle control function based on the stockpile height setting value, the slewing control parameter information, and the operating coordinate system; and obtaining the pitch angle scheduling instruction information through the pitch angle control function.

[0018] The rotation angle and pitch angle scheduling instructions of this invention can ensure that the equipment maintains a safe distance and operating posture during operation, avoid collisions between the equipment and the material pile, surrounding facilities or other equipment, reduce equipment damage and safety accidents, and ensure the safety of continuous rotating material stacking.

[0019] Optionally, the step of dynamically regulating the slewing stockpiling system by combining the scheduling reference information, the slewing angle scheduling command information, the pitch angle scheduling command information, and the slewing control parameter information to achieve the goal of semi-automatic top-level continuous slewing operation includes: constructing an automated control mechanism and a manual intervention mechanism in the slewing stockpiling system; setting a proportional-integral-derivative (PID) control algorithm in the automated control mechanism; intelligently and dynamically regulating the operating parameters of the slewing stockpiling system through the PID control algorithm, the scheduling reference information, the slewing angle scheduling command information, the pitch angle scheduling command information, and the slewing control parameter information; manually adjusting the operating parameters of the slewing stockpiling system according to the manual intervention mechanism, the scheduling reference information, the slewing angle scheduling command information, the pitch angle scheduling command information, and the slewing control parameter information; and realizing semi-automatic top-level continuous slewing operation based on the automated control mechanism and the manual intervention mechanism.

[0020] The present invention combines manual intervention and automated control mechanisms, which helps to ensure the effectiveness of the operating status and various parameters of the rotary stacking system, enabling the method to flexibly cope with various complex operating scenarios and ensure operational safety.

[0021] Secondly, to efficiently execute the semi-automatic top-layer continuous rotary stacking process control method provided by this invention, this invention also provides a semi-automatic top-layer continuous rotary stacking process control system, including a processor, an input device, an output device, and a memory. The processor, input device, output device, and memory are interconnected. The memory stores a computer program, which includes program instructions. The processor is configured to call the program instructions to execute the semi-automatic top-layer continuous rotary stacking process control method of this invention. The semi-automatic top-layer continuous rotary stacking process control system of this invention has a compact structure and stable performance, and can stably execute the semi-automatic top-layer continuous rotary stacking process control method provided by this invention, thereby improving the overall applicability and practical application capability of this invention. Attached Figure Description

[0022] Figure 1 This is a flowchart of the semi-automatic top-layer continuous rotary stacking process control method of the present invention; Figure 2 This is a simplified schematic diagram of the circular standard coordinate system of the present invention; Figure 3 This is a simplified schematic diagram of the linear reference coordinate system of the present invention; Figure 4 This is a schematic diagram illustrating the principle of the chord height method of the present invention; Figure 5 This is a schematic diagram of the laser echo principle of the present invention; Figure 6This is a structural diagram of the semi-automatic top-layer continuous rotary stacking process control system of the present invention. Detailed Implementation

[0023] See Figure 1 Existing stockpiling process control methods suffer from insufficient precision and poor adjustment flexibility when dealing with complex stockyard environments and dynamic material changes, making it difficult to meet the stockyard's requirements for operational efficiency, uniform stockpiling space, and intelligent control. To address these issues, this invention proposes a semi-automatic top-level continuous rotary stockpiling process control method. This method monitors real-time changes in the stockyard environment and material status, and dynamically adjusts key motion parameters such as the rotation and pitch of the stockpile machine based on real-time data, thereby achieving continuity, safety, and stability in the stockpiling process. The method includes the following steps: S1. Construct a coordinate system for the rotary stockpiling operation process, analyze the coordinate changes during the rotary stockpiling process based on the coordinate system, and obtain the dynamic coordinate changes during the rotary stockpiling process. The specific implementation content is as follows: In order to accurately grasp the movement state of the stacker in three-dimensional space during the rotary stacking operation and achieve refined control of the stacking operation, this embodiment first constructs an operating coordinate system in the rotary stacking operation process to provide positioning and angle reference for subsequent stacking operations. The main components are a circular standard coordinate system and a linear reference coordinate system.

[0024] I. Circular Standard Coordinate System In this embodiment, a circular standard coordinate system is mainly constructed based on the rotating equipment of the material reclaimer. Specifically, the coordinate system is set with the rotation center of the rotating equipment of the material reclaimer as the origin. This coordinate system can analyze the rotation angle within a 360-degree range, providing a precise angle positioning basis for the rotation action of the stacker.

[0025] Set the center of the rotary equipment of the reclaimer as the origin. The rotation angle of the stacker at any given moment in the coordinate system is . (Taking the positive x-axis as the starting point, clockwise rotation is the positive direction), and considering only the rotational motion of the stacker boom without considering the up-and-down swing of the boom, due to... Since the coordinates do not change with the rotation angle, they can be considered constant during the material stacking rotation. Simultaneously, the cantilever length of the reclaimer's rotating equipment remains horizontal. Let the fixed vertical height of the cantilever be... Right now Please refer to the schematic diagram of the above-mentioned circular standard coordinate system. Figure 2 .

[0026] At this point, the relationships within the annular standard coordinate system satisfy the following: , in, This represents the coordinates of the end effector of the rotary reclaimer in the circular standard coordinate system. This indicates the rotation angle of the rotary equipment of the material handling machine. This indicates the cantilever length of the rotary equipment of the material reclaimer. This indicates the fixed height of the cantilever in the vertical direction.

[0027] When setting the angle range for leveling the paving material, combine Figure 2 The circular standard coordinate system can accurately divide each angle range to ensure the precision of the rotation action, and can also effectively avoid problems such as uneven material stacking or collision caused by angle deviation.

[0028] II. Linear Reference Coordinate System In this embodiment, a linear reference coordinate system is set according to the pitch axis device. This coordinate system can convert arc motion into linear motion, which is beneficial for subsequent analysis and control of pitch angle. It uses the direction of motion of the pitch axis as the coordinate axis, transforming complex arc motion into intuitive linear change, thereby enabling precise control of the cantilever's pitch action.

[0029] Set the initial position of the pitch axis device as the origin of the coordinate system. The pitch angle is (Upward is the positive direction), the displacement of the cantilever in the vertical direction is The transmission ratio of the pitch axis device is That is, the proportional relationship between angle change and displacement. Please refer to the schematic diagram of the aforementioned annular standard coordinate system. Figure 3 .

[0030] Furthermore, the above-mentioned linear reference coordinate system satisfies the following relationship: , in, This indicates the vertical displacement of the cantilever of the pitch axis device. Indicates the gear ratio of the pitch axis device. This indicates the pitch angle of the pitch axis device. When adjusting the cantilever pitch angle, the difference between the current pitch position and the target position can be clearly determined through the linear reference coordinate system, which helps to accurately adjust the pitch angle and provide safety warnings.

[0031] Then, based on the operating coordinate system, the coordinate changes during the rotary stockpiling process are analyzed, and the dynamic coordinate changes during the rotary stockpiling process are obtained.

[0032] To analyze the up-down and left-right swing of the cantilever in three-dimensional space, it is necessary to establish a dynamic coordinate relationship in three-dimensional space by combining the circular standard coordinate system and the linear reference coordinate system.

[0033] Based on a linear reference coordinate system, let the vertical swing angle of the cantilever be . (Starting from the horizontal direction, with the upward swing as the positive direction), and according to the circular standard coordinate system, the initial height of the cantilever in the vertical direction is... ,but coordinates and The relationship can be represented as .

[0034] At this point, the dynamic coordinate relationship in three-dimensional space satisfies the following relationship: , in, Represents the dynamic coordinates during the slewing and stacking process. This indicates the rotation angle of the rotary equipment of the material handling machine. This indicates the cantilever length of the rotary equipment of the material reclaimer. This indicates the fixed height of the cantilever in the vertical direction. This indicates the vertical swing angle of the pitch axis device.

[0035] The motion of the rotary stockpiling system in three-dimensional space is analyzed by using dynamic coordinate relationships in three-dimensional space, and the dynamic coordinate changes during the rotary stockpiling process are obtained based on the motion.

[0036] When adjusting the angle range of the leveling material laying, the above-mentioned three-dimensional spatial dynamic coordinates can be used to accurately divide each angle interval, thereby realizing the calculation and analysis of the coordinate position within different angle intervals. This helps to plan the movement trajectory of the stacker in advance, ensuring the accuracy and feasibility of the slewing action. Through the synergistic effect of the circular standard coordinate system and the linear reference coordinate system, the stacker can operate according to the preset path and angle, which can effectively avoid problems such as uneven stacking or mechanical collisions caused by angle deviation, and effectively improve the operating efficiency and stacking quality of slewing material.

[0037] In this embodiment, a three-dimensional dynamic coordinate relationship is established by combining the circular standard coordinate system and the linear reference coordinate system. It takes into account the rotational motion and vertical swing of the operating equipment, and can comprehensively analyze the motion of the rotary stacking system in three-dimensional space, obtain the dynamic coordinate changes during the rotary stacking process, and obtain the coordinate position of the stacker cantilever end in three-dimensional space in real time during the rotary stacking process, so as to understand the accumulation position and height of the material in a timely manner, and provide data support for subsequent stacking operations and process control.

[0038] S2. Based on the operating coordinate system and dynamic coordinate changes, set the slewing control parameters and acquire multi-dimensional monitoring data of the stockpile. The specific implementation details are as follows: First, set the rotation control parameters based on the operating coordinate system and dynamic coordinate changes.

[0039] In this embodiment, a historical database of semi-automatic top-level continuous rotary stacking operation is introduced. This database records various data of stacking operation, including but not limited to equipment operating parameters, stacking effect, site conditions, etc., which provides a reference for parameter information setting and helps to ensure the rationality and scientific nature of preset parameter information.

[0040] 1. Set the rotation operation parameters of the material reclaimer rotation equipment. The above rotation operation parameters mainly include the rotation direction, the distance of the retraction unit, the maximum angle of leveling and laying material, the minimum angle of leveling and laying material, and the rotation angle interval.

[0041] Based on the aforementioned historical database and the circular standard coordinate system, the positive direction of material rotation was determined. In this embodiment, the clockwise direction was set as the positive direction of rotation and was explicitly set during the initial material stacking. This provides a unified directional reference for subsequent rotation actions and ensures the consistency of direction during the rotation material stacking process.

[0042] Following this, based on the actual conditions of the stockpile and the requirements for material stacking, the retraction unit distance of the stacker was reasonably set. The unit is meters. To ensure the continuity and safety of stockpiling operations, the length of the stockpile must be fully considered. Minimum safe distance during material stacking The aforementioned return unit is located at a distance from The following safe operating conditions should be met: , in, Indicates the distance of the reverse unit. Indicates the length of the storage yard. This indicates the minimum safe distance during the material stacking process. The above safe operating conditions ensure the distance between the back-up units. A positive value is required to prevent the reverse distance from being negative, which could lead to equipment malfunction. At the same time, it prevents the reverse distance from exceeding the available length of the stockpile, ensuring that stockpiling operations are carried out within a safe and reasonable range.

[0043] Based on the circular standard coordinate system and material stacking requirements, the maximum angle for level paving is set as follows: The minimum angle is and the rotation angle interval is The above parameters can accurately divide the angle range of the flat layer material laying, provide guidance information for the rotation action, ensure that the rotation process meets the process requirements and actual conditions, and enable the material to be evenly distributed in the specified area.

[0044] 2. Set the pitch operation parameters of the pitch axis device. The pitch operation parameters include the pitch positive direction, standard pitch angle, and pitch angle adjustment step of the pitch axis device.

[0045] Based on the linear reference coordinate system, the positive pitch direction of the pitch axis device is set upwards, and the standard stack height pitch angle is determined as follows. The aforementioned standard stacking height pitch angle serves as the benchmark for adjusting the cantilever pitch up and down. The positive direction provides a clear directional adjustment benchmark for the cantilever pitch action, facilitating precise control and unified management of subsequent cantilever pitch actions.

[0046] Based on the linear reference coordinate system and material stacking requirements, the pitch angle adjustment step size is set as follows: A well-defined pitch angle adjustment step size allows for precise control of the cantilever's pitch movement, enabling localized adjustments to the stockpile height according to preset requirements. In an optional embodiment, for applications requiring fine-grained control of the stockpile height, the pitch angle adjustment step size can be adjusted accordingly. Set a smaller value to ensure the accuracy of the cantilever pitching action; when the accuracy requirement for the stacking height is not high, the pitching angle adjustment step can be appropriately increased to improve the work efficiency.

[0047] In this embodiment, parameters such as the slewing direction of the material reclaimer's slewing equipment, the distance of the retraction unit, the leveling and laying angle, the pitch direction of the pitch axis device, the standard stacking height pitch angle, and the pitch angle adjustment step size are set based on the historical database. This fully considers various factors, ensures the rationality and accuracy of the parameter settings, avoids material stacking problems caused by unreasonable parameters, and makes the parameter settings more in line with actual operating conditions, thereby meeting the slewing and stacking requirements under different working conditions.

[0048] Then, based on the operating coordinate system and dynamic coordinate changes, multi-dimensional monitoring data of the stockpile is obtained. Real-time data collection and acquisition is a key link in stockpile process control. Obtaining real-time information from the stockpile can provide a data foundation for subsequent process adjustments and action control.

[0049] The first step involves introducing a stockpile data detection device. To obtain real-time stockpile data, a stockpile data detection device is introduced. In this embodiment, a laser scanner is selected as the data detection equipment, and other sensors are also configured to obtain other parameter information of the stockpile.

[0050] The second step involves collecting raw detection information of the stockpile using a coordinate system and a stockpile data detection device.

[0051] The raw data collection of the stockpile is carried out using a coordinate system and a stockpile data detection device. In one optional embodiment, a laser scanner is installed at the end of the stacker's cantilever to monitor the height of the coal pile in real time based on the coordinate system during the rotating stockpile process. Simultaneously, other sensors are used to acquire external characteristic data of the stockpile, including but not limited to volume, width, area, mass, density, and shape.

[0052] To ensure the comprehensiveness and accuracy of the data, this embodiment sets the scanning angle range of the laser scanner based on the coordinate system of the rotary stacking process. The scan frequency is set to In time The number of point cloud data points collected internally is Each point cloud dataset contains coordinates. and echo intensity Original detection information, etc.

[0053] The third step involves processing the original detection information of the stockpile using the chord height method and multiple echo technology to obtain three-dimensional stockpile information.

[0054] Since interference factors such as rain, fog, and dust in the stockpile environment can affect the accuracy of data during the stockpile data acquisition process, the embodiment introduces the chord height method and multiple echo technology to optimize the original detection information of the stockpile.

[0055] First, the chord height method is used for processing. Based on the stockpile monitoring information, it is known that the shape of coal piles, ore piles, and other materials generally does not change abruptly after being piled up. Therefore, this embodiment uses the moving chord height method to determine and analyze interference points. For the determination principle, please refer to [link to relevant documentation]. Figure 4 ,based on Figure 4 It can be seen that when the chord height of the sampling point is greater than the set minimum allowable deviation value, the point can be determined as an interference point.

[0056] Discrete points were set in the embodiment. , , ,in , The distance between them is , , The distance between them is , , The distance between them is chord height is And thus the included angle The calculation formula is as follows: , Therefore, the string height The calculation formula is as follows: , To further specify the minimum allowable deviation value, ,when Then, the point can be determined. This is an interference point.

[0057] Subsequently, a multiple echo method was employed. In this embodiment, the echo intensity returned by the point cloud acquired by the scanner is filtered. The echo energy value changes as the laser beam penetrates different objects. The original point cloud data can be filtered according to the different characteristics (attributes) of the material pile and interfering objects. For the processing principle, please refer to [link to relevant documentation]. Figure 5 .

[0058] based on Figure 5 Set the echo intensity range of the material pile to The echo intensity range of the interfering object is For each point in the point cloud data, determine its range. Then retain that point; if This allows us to identify and filter out interference points.

[0059] In this embodiment, the original detection information of the stockpile is processed by combining the chord height method and the multiple echo technique. This can effectively address the impact of stockpile environmental factors on data accuracy. The chord height method determines the relationship between the chord height of the sampling point and the set minimum allowable deviation value, which can accurately identify interference points. The multiple echo method filters the echo intensity returned by the point cloud collected by the scanner, which can effectively filter out interference points. Through the above two methods, accurate three-dimensional stockpile information can be obtained, improving the quality of detection data and providing a reliable data foundation for subsequent rotary stockpile process control and dynamic adjustment.

[0060] The fourth step is to verify the volume and spatial parameters of the stockpile based on the three-dimensional stockpile information to obtain the verified stockpile volume information and the verified stockpile spatial parameter information.

[0061] The examples use The material pile surface is meshed according to dimensions, and the volume of the material pile is verified using an integral method, that is, the material pile is divided into several discrete point regions and the volumes are summed. Based on the relevant parameters of the reclaimer's rotary equipment and pitch axis device, the region is divided, and the material pile is discretized into several cubes of the same shape but different volumes. Let the side length of each cube be... The volume of a single cube is calculated based on the three-dimensional material pile information. The embodiment is divided into There are 10 cubes, therefore the total volume of the stack is 1000 cubic meters. By using grid segmentation and integrated calculations, the stockpile volume can be accurately analyzed and corrected, providing an analytical basis for subsequent parameter verification.

[0062] Based on the three-dimensional stockpile information and stockpiling process, the stockpile width, height, total stockpile volume, and material density are further verified. The relationship between stockpile volume and stockpile length is calculated, and the preset stockpile volume is [value missing]. The weight of the stockpile is The average density of the material is The height of the stockpile is The angle of repose of the material is The width of the stack is The length of the stockpile is .

[0063] Based on the meshing division, when the cross-section of the stockpile is trapezoidal: The volume, mass, and density are known to satisfy the following relationship: ,in, Indicates the volume of the stockpile. Indicates the weight of the stacked material. This indicates the average density of the material.

[0064] Considering the influence of the angle of repose of the material, the upper base of the trapezoidal cross section is therefore... The bottom base is The height is Therefore, the area of ​​the trapezoid The following relationship must be satisfied: , because At this point, the height of the stockpile can satisfy the following relationship: , in, Indicates the length of the stack. Indicates the volume of the stockpile. Indicates the height of the material pile. Indicates the width of the stack. Indicates the angle of repose of the material.

[0065] Based on the meshing division, when the cross-section of the stockpile is triangular: The area of ​​the triangular cross section satisfies the following relationship: , because At this point, the stockpile height can still satisfy the following relationship: , in, Indicates the length of the stack. Indicates the volume of the stockpile. Indicates the height of the material pile. Indicates the angle of repose of the material.

[0066] This embodiment verifies the volume and spatial parameters of the stockpile based on three-dimensional stockpile information. A gridded segmentation and integration method is used to accurately calculate the stockpile volume, discretizing it into several cubes for verification. Simultaneously, the width, height, and other parameters of the stockpile are further verified in conjunction with the stockpile process. For stockpiles with different cross-sectional shapes (trapezoidal, triangular), parameters such as stockpile height, volume, and length under different conditions are derived, ensuring the accuracy of the three-dimensional spatial parameters of the stockpile and providing an information foundation for subsequent rotary stockpile control.

[0067] The fifth step is to obtain multi-dimensional monitoring data for the stockpile. Finally, by integrating the processed three-dimensional stockpile information and the verified three-dimensional parameter information, multi-dimensional monitoring data for the stockpile can be obtained. This data mainly covers multiple dimensions such as the volume, height, width, length, mass, density, and outline shape of the stockpile, providing comprehensive and accurate data support for the precise control and dynamic adjustment of the stockpile process. All the above implementation steps are based on the operation coordinate system and the dynamic coordinate change status to obtain multi-dimensional monitoring data for the stockpile, laying the foundation for the efficient and stable operation of the stockpile.

[0068] This embodiment forms a complete, scientific, and reasonable data acquisition mechanism, from parameter setting to data acquisition and processing, and finally to obtaining multi-dimensional monitoring data. It can effectively ensure the efficient and stable operation of the semi-automatic top-level continuous rotary stacking operation, improve stacking quality and operation efficiency, reduce equipment failure rate and operating costs, and enhance the reliability and controllability of the semi-automatic top-level continuous rotary stacking process control method.

[0069] S3. Based on multi-dimensional monitoring data of the stockpiling, slewing control parameter information, and operating coordinate system, the scheduling reference information, slewing angle scheduling command information, and pitch angle scheduling command information of the slewing stockpiling process are obtained. The specific implementation details are as follows: 1. Obtain scheduling reference information for the rotary stacking process.

[0070] Stockyard area information is the basis for understanding the current stockpile status and planning subsequent stockpiling. In this embodiment, the stockyard area information in the rotary stockpiling process was obtained based on multi-dimensional monitoring data of stockpiling.

[0071] Analyze the actual area and volume of the stockpiled materials in the material yard. The actual area occupied by the stockpiled materials can be obtained through measurement. and volume The two key data points mentioned above can intuitively reflect the current utilization level of the material yard. The fact that the area is close to the total area of ​​the material yard indicates that the remaining space in the material yard is limited; if A larger value indicates that a significant amount of material has been stockpiled.

[0072] Set the total area of ​​the material yard as The remaining usable stockpile area can be obtained through mathematical calculations, and it satisfies the following relationship. This data is crucial for stockpiling tasks and stockpiling location planning. When the material is too small and smaller than the required stacking area for the task, it may be necessary to consider adjusting the stacking plan or reorganizing the existing stockpile.

[0073] Based on multi-dimensional monitoring data and operational coordinate system of stockpiling, the required height, area, width and length of stockpiling are analyzed. These parameters mainly determine the specific scale and form of stockpiling operations.

[0074] The task information includes the material name and the weight of the incoming material. Specific gravity Anchorage And the stockpiling process, based on which the required stockpiling area size for stockpiling operations is calculated, and the aforementioned bulk density... This reflects the mass of a unit volume of material, and the angle of repose. This affects the natural accumulation pattern of materials, and the relevant factors together determine the reasonable scale of the stockpiling operation.

[0075] Based on the actual situation, the required stacking height is set as follows: The required volume of the stockpile can be calculated based on the material weight and bulk density. And satisfy the following relationship .

[0076] The required area for stacking is calculated based on the required volume and height, and the area expression is as follows: Assuming the stacking area is rectangular, a suitable required stacking width should be determined based on material characteristics, such as material flowability and fragility, and site conditions, such as site flatness and surrounding obstacles. Based on this, the required length of the stockpile can be calculated. In one alternative embodiment, for materials with good flowability, the stack width can be appropriately increased to reduce the risk of material slippage; if there are narrow areas on site, the stack width and length need to be adjusted accordingly.

[0077] Information on the storage area of ​​the stockpiled material is obtained based on multi-dimensional monitoring data and operational coordinate system, which helps in selecting a suitable location during stockpiling operations.

[0078] Based on the above calculations and the available land area, suitable locations for material stacking should be selected. The selection process should consider multiple factors, prioritizing locations closer to material conveying equipment to reduce transport distances and improve operational efficiency. Sufficient space should be ensured at the selected locations to meet the required area, width, and length for stacking. Simultaneously, it must be guaranteed that stacking operations will not interfere with other ongoing operations, such as avoiding overlap with material handling areas.

[0079] The distance between the material handling equipment and the material handling area of ​​the screening was further calculated. Set the current position coordinates of the material handling equipment as follows: The center coordinates of the material taking area are According to the three-dimensional spatial distance formula, the distance can be determined. The following relationship must be satisfied: Based on this, the distance between the two can be accurately determined, which is of great significance for optimizing the material picking path and rationally arranging the material picking sequence.

[0080] By comprehensively integrating the above-mentioned stockpile area information (including the current stockpile status and remaining available stockpile area), stockpile requirement parameters (required height, required area, required width, and required length), and stockpile storage area information (selected stockpile locations and distance between retrieving equipment and retrieving areas), we can obtain reference information for the scheduling of rotary stockpiling processes. The above information is interconnected and mutually influential, providing strong support for the scheduling decisions of rotary stockpiling processes. Integrating relevant information is conducive to achieving scientific and rational scheduling of rotary stockpiling processes, ensuring efficient and safe stockpiling operations.

[0081] 2. Obtain the slewing angle scheduling instruction information.

[0082] The expression for the slewing angle element is derived based on the slewing control parameter information and the operating coordinate system.

[0083] Based on the rotation control parameters and the operational coordinate system, the angle range for leveling the material stack can be clearly defined, with the maximum angle for leveling being [value missing]. The minimum angle is and at rotation angle intervals The angle range is divided into several rotation angle units, which will serve as target values ​​to guide the rotation of the stacker.

[0084] Set the current stacker's rotation angle to Based on historical databases and a circular standard coordinate system, the positive direction of material stacking rotation is defined as clockwise, and the distance between retraction units is... Therefore, the preset angle unit rotates. The expression for the rotation angle element can be represented as: ,in ,and , The preset rotation angle unit can be quickly obtained using the above expression for the rotation angle unit. .

[0085] Set the stack height setting to [value]. If the stacking height is simultaneously less than the set value during the stacking process... It is necessary to determine whether the next rotation of the stacker will exceed the set maximum and minimum angle range for leveling and spreading materials.

[0086] If satisfied and The set of angles that satisfy the conditions is Then the next rotation angle condition needs to satisfy the following relationship: , This relation finds the relationship from the set of perspectives that satisfy the conditions. The angle with the smallest difference is taken as the angle of the next rotation. .

[0087] Based on the aforementioned conditions for the next turning angle, the turning angle scheduling instruction information can be obtained. The next turning angle can be calculated according to these conditions. It also performs a slewing motion, allowing the stacker to accurately rotate to the designated angle for leveling and spreading the material.

[0088] If in the judgment process Exceeding and Once the defined range is reached, a reverse movement needs to be executed. In this embodiment, the stacker is positioned at a distance of the reverse unit. Based on the reference, move backward a certain distance and at the same time change the rotation direction of the stacker, that is, change from the original clockwise direction to the counterclockwise direction (or vice versa). Then re-judge and calculate the rotation angle. Through the above dynamic analysis mechanism, it can be ensured that the rotation action is always within a reasonable range, effectively avoiding the problem of uneven stacking or exceeding the boundary, and facilitating the smooth progress of mutual stacking.

[0089] 3. Obtain pitch angle scheduling command information.

[0090] Based on the stack height setpoint, slewing control parameters, and operating coordinate system, a pitch angle control function is derived to achieve precise control of the stacker boom's cantilever pitch angle. During stacking slewing, if the stack height is simultaneously less than the setpoint... It is necessary to determine the current pitch angle of the stacker boom. Make a judgment.

[0091] like ,in The current cantilever pitch angle is too low, indicating that the stack height may be insufficient. The pitch angle can be increased by adjusting the step size. A pitch angle control function was established, which satisfies the following relationship: By adjusting the pitch angle function, the cantilever can be raised to increase the stacking height and gradually approach the standard stacking height.

[0092] If the pitch angle is detected multiple times consecutively This means that the current stockpile height has reached or exceeded the standard requirements. At this point, we can prepare to carry out the rotating leveling and laying operation, shifting the focus of the stockpile to the uniform laying of the level layer, so as to ensure the flatness and uniformity of the entire stockpile area.

[0093] The pitch angle control function and adjustment strategy described above can be used to obtain pitch angle scheduling command information. That is, based on the real-time monitored pitch angle... Compared to standard pitch angle The comparison results are based on the pitch angle control function. Adjust the cantilever pitch angle; or when When preparing to perform the slewing and leveling material laying action, in this embodiment, by real-time monitoring and dynamic adjustment of the pitch angle, it can be ensured that the material stacking height always meets the requirements, effectively improving the material stacking quality and enabling the material stacking operation to achieve the expected results.

[0094] The above implementation steps and analysis methods can effectively obtain slewing angle scheduling command information and pitch angle scheduling command information, providing a reliable basis for the precise operation of the stacker and helping to achieve efficient, uniform and high-quality stacking operations in the future.

[0095] S4. Combining the above-mentioned scheduling reference information, slewing angle scheduling command information, pitch angle scheduling command information, and slewing control parameter information, the slewing stacking system is dynamically adjusted to achieve the goal of semi-automatic top-level continuous slewing operation. The specific implementation details are as follows: To achieve the goal of semi-automatic top-level continuous slewing operation for stockpiling, this embodiment combines scheduling reference information, slewing angle scheduling command information, pitch angle scheduling command information, and slewing control parameter information to dynamically regulate the slewing stockpiling system. Specifically, it further constructs an automated control mechanism and a manual intervention mechanism within the slewing stockpiling system. Based on multi-dimensional monitoring data of the stockpiling (processed three-dimensional stockpile information and verified three-dimensional parameter information), operational coordinate analysis during the slewing stockpiling process, and various scheduling information, and with the assistance of the automated control mechanism and manual intervention mechanism, stockpiling operations are carried out according to the relevant parameters of the reclaimer's slewing equipment and pitch axis device, achieving flexible and stable dynamic adjustments.

[0096] I. Automated Control Mechanism By setting a proportional-integral-derivative (PID) control algorithm in the automated control mechanism, and using the PLC automated control mechanism to realize key functions such as automatic setting of stacker parameters, real-time data monitoring, and automatic execution of actions, the stacker can be ensured to automatically stack materials according to the preset process flow and parameters through programming control, thus ensuring the efficiency and stability of the entire stacking process.

[0097] In one optional embodiment, the stacker's travel speed is The angular velocity of rotation is The pitch angular velocity is The automated control mechanism uses proportional-integral-derivative (PID) control algorithms to intelligently and automatically adjust relevant motion parameters based on pre-set material stacking parameters, real-time data, slewing parameter commands, and pitch parameter commands.

[0098] The above proportional-integral-derivative control algorithm must satisfy the following relationship: , in, Indicates the first The control quantity analysis function at each sampling time, Indicates the first The difference between the target value and the actual value at each sampling time. , , These are the proportional coefficient, integral coefficient, and differential coefficient, respectively. The sampling period is Indicates the first The difference between the target value and the actual value at each sampling time. Indicates from the initial time to the... The cumulative sum of errors at each sampling time.

[0099] in Error accumulation can be approximated by continuously integrating by summing historical deviations and multiplying by the sampling period. This process can eliminate the steady-state error of the system, enabling the rotary stacking system to remain stable after reaching the target value.

[0100] It is a discrete differential term, which is approximated as a continuous differential by calculating the difference between the current time and the previous time and dividing it by the sampling period. It can predict the changing trend of the rotary stockpile system, adjust the system in advance, and thus enhance the dynamic response capability of the rotary stockpile system.

[0101] By properly adjusting the above coefficients, the travel speed, rotational angular velocity, and pitch angular velocity of the stacker and other equipment in the rotary stacking system can be made more precise and stable, ensuring the efficiency, continuity, and stability of the rotary stacking process.

[0102] In one optional embodiment, a proportional-integral-derivative (PID) control algorithm is used to intelligently and dynamically regulate the operating parameters of the slewing stockpiling system by combining scheduling reference information, slewing angle scheduling command information, pitch angle scheduling command information, and slewing control parameter information. Specifically, the stockpiling height and angle information can be monitored and compared with preset target values. The corresponding adjustment amount is calculated by the PID control algorithm, thereby intelligently adjusting the travel, slewing, and pitch parameters of the equipment and devices in the slewing stockpiling system, so that the mechanical equipment in the slewing stockpiling process always maintains the optimal operating state.

[0103] II. Human intervention mechanism In an optional embodiment, the operating parameters of the slewing stacking system are manually adjusted based on a manual intervention mechanism, scheduling reference information, slewing angle scheduling command information, pitch angle scheduling command information, and slewing control parameter information. This semi-automatic operation mode fully considers the complexity and variability of actual operations, allowing operators to manually intervene and adjust the stacker's movement, slewing, pitch, and other actions according to the actual situation. Specifically, different stacking methods, stacking lengths, or widths can be flexibly set via the digital buttons on the control panel or other control devices.

[0104] If uneven material stacking is detected during the rotary stacking operation, operators are allowed to quickly identify the problem based on practical experience and on-site operating conditions. They can then manually adjust the stacker's rotation speed or pitch angle. In an optional embodiment, if excessive material is found in one area while other areas have less, the operator can appropriately reduce the rotation speed to allow more time for the material to distribute evenly; or fine-tune the pitch angle to change the material's landing point, thereby promptly resolving uneven stacking issues. This manual intervention mechanism provides flexibility and adaptability to the stacking operation, ensuring that the semi-automatic top-level continuous rotary stacking process control method achieves high-quality stacking results under various operating conditions.

[0105] In one alternative embodiment, a standard rotary stacking operation procedure was performed.

[0106] Based on coal arrival information and actual conditions at the stockpile, the end position of the stockpiling operation is dynamically and precisely adjusted. During the stockpiling operation, the movement position of the stacker is monitored in real time. When the stacker's movement position is lower than the set end position, an alarm signal is immediately sent to the control center. Upon receiving the alarm signal, the control center can comprehensively judge whether to terminate the stockpiling operation based on the overall situation of the stockpile and the progress of the operation. If there is still enough space in a certain area of ​​the current stockpile to continue stockpiling, and the subsequent coal arrival volume is large, the stockpiling operation time can be appropriately extended; otherwise, the stockpiling operation needs to be terminated in a timely manner.

[0107] When the stacking operation is complete, the cantilever of the reclaimer's slewing device and pitch axis device is retracted to its original (0-degree) position, ensuring that all mechanical equipment and devices in the system are in a safe and orderly state. Then, the relevant equipment moves to the parking position, operating according to a preset path and speed to ensure smooth and accurate arrival. In an optional embodiment, multiple sensors can be installed along the preset path to monitor the parking position and operating speed of different equipment in real time. Any deviations can be adjusted promptly. Upon reaching the preset parking position, the stacker can lower its cantilever to the initial angle, restoring the stacker to its initial standby state and completing the entire stacking operation. Based on these standardized operations, the mechanical equipment of the rotary stacking system is ensured to be in a safe and orderly state, while also preparing for the next rotary stacking operation.

[0108] The close connection and coordinated operation of the above steps, the operation coordinate system provides precise positioning for the stockpiling operation, the stockpiling parameter setting can standardize the operation process, the real-time data acquisition provides the basis for adjustment, the dynamic analysis of adjustment actions helps to ensure the precise control of the rotary stockpiling system, and finally the combination of automatic control mechanism and manual intervention mechanism can ensure the flexible and stable operation of the rotary stockpiling system, complete the rotary stockpiling operation, and ultimately realize the effective operation of the semi-automatic top-level continuous rotary stockpiling process control method.

[0109] The semi-automatic top-level continuous rotary stacking process control method significantly improves stacking efficiency and quality, reduces labor costs and intensity, and the automated control mechanism reduces the tediousness and errors of manual operation, improving the accuracy and speed of stacking. The manual intervention mechanism can promptly resolve complex problems that automated control cannot handle, ensuring stacking quality. At the same time, the semi-automatic top-level continuous rotary stacking process control method provides strong support for the intelligent and automated development of stacking operations, contributing to the progress and development of the entire industry.

[0110] Please see Figure 6In an optional embodiment, to efficiently execute the semi-automatic top-layer continuous rotary stacking process control method provided by the present invention, the present invention also provides a semi-automatic top-layer continuous rotary stacking process control system. In this system, input devices, a processor, an output device, and a memory are interconnected. The memory stores a computer program, which includes program instructions. The processor is configured to call the program instructions and execute the specific steps of the relevant embodiments of the semi-automatic top-layer continuous rotary stacking process control method provided by the present invention. The semi-automatic top-layer continuous rotary stacking process control system of the present invention has a complete and stable structure, and can efficiently execute the semi-automatic top-layer continuous rotary stacking process control method of the present invention, thereby improving the overall applicability and practical application capability of the present invention.

[0111] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention.

Claims

1. A semi-automatic top-layer continuous rotary stacking process control method, characterized in that, Includes the following steps: A coordinate system for the rotary stockpiling operation is constructed, and the coordinate changes during the rotary stockpiling process are analyzed based on the coordinate system to obtain the dynamic coordinate changes during the rotary stockpiling process. Based on the operating coordinate system and the dynamic coordinate change status, set the rotation control parameter information and acquire multi-dimensional monitoring data of the stockpile; Based on the multi-dimensional monitoring data of the stockpiling, the slewing control parameter information, and the operating coordinate system, the scheduling reference information, slewing angle scheduling command information, and pitch angle scheduling command information of the slewing stockpiling process are obtained. By combining the scheduling reference information, the slewing angle scheduling instruction information, the pitch angle scheduling instruction information, and the slewing control parameter information, the slewing stacking system is dynamically adjusted to achieve the goal of semi-automatic top-level continuous slewing operation for stacking.

2. The semi-automatic top-layer continuous rotary stacking process control method according to claim 1, characterized in that, The operational coordinate system in the construction of the rotary stockpile operation process includes: A circular standard coordinate system is established based on the operating coordinate system of the rotating equipment of the material reclaimer; A linear reference coordinate system is established in the operating coordinate system based on the pitch axis device.

3. The semi-automatic top-layer continuous rotary stacking process control method according to claim 2, characterized in that, The analysis of coordinate changes during the rotary stockpiling process based on the aforementioned operating coordinate system, and the resulting dynamic coordinate changes during the rotary stockpiling process, include: A three-dimensional dynamic coordinate relationship is established based on the aforementioned annular standard coordinate system and the aforementioned linear reference coordinate system; The motion of the rotary stacking system in three-dimensional space is analyzed using the aforementioned three-dimensional dynamic coordinate relationship. The dynamic coordinate changes during the slewing and stacking process are obtained based on the aforementioned motion.

4. The semi-automatic top-layer continuous rotary stacking process control method according to claim 1, characterized in that, The information for setting rotation control parameters based on the operating coordinate system and the dynamic coordinate change status includes: Introduce a historical database of semi-automatic top-level continuous rotary stacking operations; Based on the historical database, the operating coordinate system, and the dynamic coordinate change status, the rotation operation parameter information of the material reclaimer rotary equipment is set. The rotation operation parameter information includes the rotation direction, the retraction unit distance, the maximum angle of leveling material laying, the minimum angle of leveling material laying, and the rotation angle interval. The safe operating conditions for setting the distance of the vehicle return unit are based on the actual conditions of the stockpile and the requirements for material stacking.

5. The semi-automatic top-layer continuous rotary stacking process control method according to claim 1, characterized in that, The information for setting rotation control parameters based on the operating coordinate system and the dynamic coordinate change status includes: Based on the operating coordinate system and the dynamic coordinate change status, the pitch operation parameter information of the pitch axis device is set. The pitch operation parameter information includes the pitch positive direction, standard pitch angle, and pitch angle adjustment step of the pitch axis device.

6. The semi-automatic top-layer continuous rotary stacking process control method according to claim 1, characterized in that, The process of setting rotation control parameters based on the operating coordinate system and the dynamic coordinate change status, and acquiring multi-dimensional monitoring data of the stockpile, includes: Introduce a material stockpile data detection device; The original detection information of the stockpile is collected through the operating coordinate system and the stockpile data detection device. The original detection information of the material pile was processed using the chord height method and multiple echo technology to obtain three-dimensional material pile information; The volume and spatial parameters of the stockpile are verified based on the three-dimensional stockpile information to obtain the verified stockpile volume information and the verified stockpile spatial parameter information. Multi-dimensional monitoring data of the stockpile is obtained by combining the three-dimensional stockpile information, the verified stockpile volume information, and the verified stockpile spatial parameter information.

7. The semi-automatic top-layer continuous rotary stacking process control method according to claim 1, characterized in that, The scheduling reference information for the rotary stockpiling process obtained based on the multi-dimensional monitoring data of the stockpiling, the rotary control parameter information, and the operating coordinate system includes: The stockpile area information in the rotary stockpile process is obtained based on the multi-dimensional monitoring data of the stockpile. Based on the multi-dimensional monitoring data of the stockpile and the operating coordinate system, the required height, area, width, and length of the stockpile are analyzed. Information on the stockpiling storage area is obtained based on the multi-dimensional monitoring data of the stockpiled material and the operational coordinate system. By integrating the information on the stockpile area, the required height, the required area, the required width, the required length, and the information on the stockpile storage area, scheduling reference information for the rotary stockpile process is obtained.

8. The semi-automatic top-layer continuous rotary stacking process control method according to claim 1, characterized in that, The process of obtaining scheduling reference information, slewing angle scheduling command information, and pitch angle scheduling command information for the slewing stockpiling process based on the multi-dimensional monitoring data of the stockpiling, the slewing control parameter information, and the operating coordinate system includes: Based on the rotation control parameter information and the operating coordinate system, the expression for the rotation angle unit is derived; The preset rotation angle unit is obtained through the rotation angle unit expression; Set the stacking height setting; The conditions for the next rotation angle are set based on the stack height setting value and the rotation preset angle unit; Based on the next rotation angle condition, the rotation angle scheduling instruction information is obtained; Based on the stack height setting value, the slewing control parameter information, and the running coordinate system, the pitch angle control function is derived. The pitch angle control function is used to obtain pitch angle scheduling command information.

9. The semi-automatic top-layer continuous rotary stacking process control method according to claim 1, characterized in that, The dynamic control of the slewing stockpiling system by combining the scheduling reference information, the slewing angle scheduling command information, the pitch angle scheduling command information, and the slewing control parameter information to achieve the goal of semi-automatic top-level continuous slewing operation includes: Develop automated control and manual intervention mechanisms in rotary stacking systems; A proportional-integral-derivative (PI-DE) control algorithm is set in the aforementioned automated control mechanism; The operating parameters of the slewing stacking system are intelligently and dynamically adjusted using the proportional-integral-derivative control algorithm, the scheduling reference information, the slewing angle scheduling command information, the pitch angle scheduling command information, and the slewing control parameter information. The operating parameters of the slewing stacking system are manually adjusted based on the aforementioned manual intervention mechanism, the aforementioned scheduling reference information, the aforementioned slewing angle scheduling instruction information, the aforementioned pitch angle scheduling instruction information, and the aforementioned slewing control parameter information. The semi-automatic top-level continuous rotation operation of the stockpiling is achieved based on the aforementioned automated control mechanism and the aforementioned manual intervention mechanism.

10. A semi-automatic top-layer continuous rotary stacking process control system, characterized in that, The system includes a processor, an input device, an output device, and a memory, which are interconnected. The memory stores a computer program, which includes program instructions. The processor is configured to invoke the program instructions to execute the semi-automatic top-level continuous rotary stacking process control method as described in any one of claims 1-9.

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