Dry bulk material continuous stockpiling method based on standardized stack type

Abstract

The invention relates to a dry bulk material continuous stockpiling method based on a standardized stack type, and the method comprises the following steps: S1, determining a dry bulk material stockpiling operation process according to port operation specifications or operation regulations; s2, acquiring attributes of dry bulk materials and operation equipment; s3, according to the attributes of the dry bulk materials, a material standardized stack shape is constructed with the minimum stacking occupied area as the target; s4, according to the standardized stack shape of the materials, the stacking continuity principle and the spatial attributes of the operation equipment, a three-dimensional stacking space path of the operation equipment is planned; s5, according to the stockpiling three-dimensional space path, path planning information is converted into equipment operation information and instructions, and an operation device executes a dry bulk material stacking task; and S6, the whole process is embedded in a stacker-reclaimer control system, and automation of dry bulk cargo wharf stacking is achieved. According to the invention, the standardized stacking scheme formulation and equipment operation continuity of the dry bulk materials can be realized, the stacking operation efficiency is improved, and the storage yard utilization rate is improved.

Description

Technical Field

[0001] This invention relates to the field of dry bulk port automation, and more specifically, to a method for continuous stacking of dry bulk cargo based on standardized stacking patterns. Background Technology

[0002] In recent years, with the continuous rise of global trade, dry bulk cargo terminals have become the core hubs of the bulk cargo multimodal transport system, undertaking core functions such as storage and transshipment. However, traditional dry bulk cargo terminals mainly rely on manual operations, and the formulation of stacking plans depends heavily on human experience. When the throughput is high and there are many stacking tasks, formulating stacking plans based on human experience is slow and makes it difficult to effectively utilize the space above the yard, resulting in low yard utilization. At the same time, during the stacking process, the operating methods of stacker-reclaimers are not the same, and frequent pitching or discontinuous stacking methods are inefficient and easily lead to energy waste. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a method for continuous stacking of dry bulk materials based on standardized stacking patterns, which can realize the formulation of standardized stacking schemes for dry bulk materials and the continuity of equipment operation, improve the efficiency of stacking operations, and increase the utilization rate of the stockyard.

[0004] The technical solution adopted by this invention to solve its technical problem is: to construct a method for continuous stacking of dry bulk materials based on standardized stacking patterns, including the following steps: S1. Determine the dry bulk cargo storage operation process according to port operation specifications or procedures; S2. Obtain the attributes of dry bulk materials and operating equipment; S3. Based on the properties of dry bulk materials, with the goal of minimizing the stacking area, construct a standardized stacking shape for the materials while satisfying the material's resting angle. S4. Based on the standardized stacking shape of materials, and in accordance with the principle of material stacking continuity and the spatial attributes of the operating equipment, plan the three-dimensional spatial path of the operating equipment for material stacking. S5. Based on the three-dimensional spatial path of the material stacking, the path planning information is converted into equipment operation information and instructions, and the operating equipment executes the task of stacking dry bulk materials. S6. Embed the entire process of steps S1-S5 into the stacker-reclaimer control system to automate the stacking of dry bulk cargo at the terminal.

[0005] According to the above scheme, in step S1, the process of storing dry bulk cargo at the port is as follows: the dry bulk cargo transported to the port by ship or train is unloaded by ship unloader or car tipper, transported horizontally by belt conveyor, and then stored in the port yard by bucket wheel stacker-reclaimer.

[0006] According to the above scheme, in step S2, the dry bulk material attribute information includes the material type, material weight, material dry density, material moisture content, and material angle of repose for this operation; the operating equipment is a stacking equipment, and the equipment attribute information includes the bucket wheel boom length, bucket wheel discharge rate, rotation angle range of the rotating mechanism, pitch angle range of the pitching mechanism, and effective travel distance of the trolley.

[0007] According to the above scheme, in step S3, constructing a standardized stacking shape is to abstract the actual stacking model into a theoretical stacking model in order to meet the needs of dry bulk materials.

[0008] According to the above scheme, the theoretical stacking model includes the following objectives and constraints: The standardized stacking theory model includes a first objective function, which is expressed as follows:

[0009] in, min To minimize the symbol, The area occupied by the stacking model is determined by the length of the bucket wheel boom of the equipment. Equipment movement distance L Maximum rotation angle of stacking equipment The calculation formula is as follows, jointly determined:

[0010] This constraint aims to maximize the stacking of dry bulk materials while minimizing the yard footprint; The standardized stacking theory model includes the following constraints, specifically expressed as follows: Storage volume constraints:

[0011] The storage volume constraint means that the current storage volume of materials must meet the requirements for material weight, density, and moisture content. V Indicates the volume of material storage. M Indicates the weight of the material. Indicates the dry density of the material. Indicates the moisture content of the material. This indicates the dynamic packing density.

[0012] Storage angle of repose constraint:

[0013] The aforementioned storage angle of repose constraint condition indicates that the theoretical model takes the minimum storage angle of repose for materials with different particle diameters, that is, it satisfies the storage condition under the limiting angle of repose. Indicates the angle of repose for materials with different particle diameters. This indicates that the theoretical model uses the angle of repose.

[0014] Single-layer stacking constraints:

[0015] The single-layer stacking constraint condition represents a unit conical stack that naturally forms at the angle of repose under single-layer stacking height conditions, wherein... Indicates the radius of the unit stack base. Indicates the stacking height of a single layer. Angle of repose; Layered stacking constraints:

[0016]

[0017] The layered stacking constraint condition represents the restriction relationship between the widths of different stacking layers, wherein... Indicates the stacking layer index. Indicates the first Stack width;

[0018]

[0019] This constraint represents the limiting relationship between the stacking lengths of different layers, where... Indicates the first Stack width,

[0020] This constraint represents the limiting relationship between the stacking heights of the layers, where, Indicates the number of stacking layers. Indicates the maximum stacking height allowed by the equipment's pitch mechanism; Theoretical model stack constraints:

[0021] The constraints of the theoretical model stack volume indicate that the theoretical model stack volume must meet the actual material storage volume requirements. Indicates the length of the material stacking path of the equipment bucket wheel; Material stacking path length constraint:

[0022] The stacking path length constraint represents the spatial dimensional relationship between the bucket wheel stacking path and different stacks when the operating equipment completes multi-layer stacking. This indicates the angle of rotation of the boom during equipment operation.

[0023] According to the above scheme, in step S4, the three-dimensional spatial path for the material stacking of the operating equipment is planned, and the specific steps are as follows: S401. Obtain the layered stacking length based on the standardized stacking type theoretical model. ,width ,high ; S402. Based on the initial position of the bucket wheel discharge (0, 0, ...), the equipment bucket wheel discharges material at the following initial position (0, 0, ...). Determine the location of the origin of the spatial coordinate system, and construct a spatial rectangular coordinate system with the length of the stockpile as the X-axis, the width as the Y-axis, and the height as the Z-axis; S403. Determine the initial material drop point for each stack layer and the rotation angle of the equipment's boom. ; S404. Following the single-layer stacking fan-shaped rotary stacking method and the multi-layer stacking method following the turning-back principle, the materials are stacked sequentially. The materials are stacked layer by layer until each layer is completed.

[0024] According to the above scheme, in S404, the multi-layer stacking follows the principle of turning back and forth, which is the way the equipment walking mechanism travels in different stacking layers; if i is odd, the traveling direction of the equipment walking mechanism is the positive X-axis direction, and if i is even, the traveling direction of the equipment walking mechanism is the negative X-axis direction.

[0025] According to the above scheme, in step S404, the single-layer stacking fan-shaped rotary stacking process involves the following specific steps: S404a, Determine the minimum rotation angle of the equipment boom Maximum rotation angle , the direction of material movement; S404b, according to the... The end position of the stacking layer is determined. Initial drop point of the layer; S404c, when At that time, the equipment's traveling mechanism moves along the positive X-axis, and the rotating mechanism moves according to the angular velocity... From the minimum rotation angle Towards the maximum rotation angle Rotation; when the rotating mechanism rotates to its maximum rotation angle At that time, the traveling mechanism moves forward along the positive X-axis. ; S404d; The rotating mechanism operates according to angular velocity From the maximum rotation angle To the minimum rotation angle Rotation; when the rotating mechanism rotates to its minimum rotation angle At that time, the traveling mechanism moves forward along the positive X-axis. ; S404e, repeat S404a-S404d until the first step is completed. Layered material stacking; S404f, when At this time, the equipment's traveling mechanism moves along the negative X-axis, the pitching mechanism raises the pitch angle, and the initial rotation direction of the rotating mechanism is determined by the end point of the first layer of material feeding. If the end point of the first layer of material feeding is close to the X-axis, then it is determined by the minimum rotation angle. Towards the maximum rotation angle Rotate, or conversely, from the maximum rotation angle. To the minimum rotation angle The rotation and operation methods are the same.

[0026] According to the above scheme, in step S5, the three-dimensional spatial path of the material stacking is to convert the path planning information into equipment operation information and instructions. The equipment operation information and instructions include the drop point position, rotation angle, rotation angular velocity, travel direction, travel speed, etc., and the operating equipment performs the task of stacking dry bulk materials.

[0027] According to the above scheme, in step S6, a stockpiling plan is formulated through S1-S6, and then the mechanical equipment is controlled by the PLC controller to perform instruction operations to realize the stockpiling operation of the stacker-reclaimer, thereby realizing the automation of stockpiling at the dry bulk cargo terminal.

[0028] The continuous stacking method for dry bulk materials based on standardized stacking patterns of the present invention has the following beneficial effects: This invention enables the formulation of standardized stacking schemes for dry bulk cargo and the continuity of equipment operations, improves stacking efficiency, and increases yard utilization. It is a major innovation in the automation of dry bulk cargo terminal stacking and has good application prospects in improving yard operation efficiency and space utilization. Attached Figure Description

[0029] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings: Figure 1 This is a flowchart of the continuous stacking method for dry bulk materials based on standardized stacking patterns according to the present invention; Figure 2 This is a schematic diagram of the dry bulk cargo terminal storage operation process of the present invention; Figure 3 This is a schematic diagram of a unit conical stack naturally formed at the angle of repose under the fixed stacking height conditions of this invention; Figure 4 This is a schematic diagram of the standardized stacking scheme for dry bulk materials according to the present invention; Figure 5 This is a schematic diagram of the single-layer stacking fan-shaped rotary stacking operation of the present invention; Figure 6 This is a schematic diagram of the three-dimensional spatial path of the multi-layer stacking of materials following the folding and turning movement of the present invention. Detailed Implementation

[0030] To provide a clearer understanding of the technical features, objectives, and effects of the present invention, specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0031] like Figure 1-6 As shown, the continuous stacking method for dry bulk materials based on standardized stacking patterns of the present invention includes the following steps: S1. Determine the dry bulk cargo storage operation process according to the port operation specifications or procedures, that is, the storage operation process of dry bulk cargo transported into the port by waterway or rail.

[0032] like Figure 2 As shown, the specific process of dry bulk cargo entering and storing materials at the port is as follows: dry bulk cargo transported to the port by ship or train is unloaded by ship unloader or car tipper, transported horizontally by belt conveyor, and then stored in the port yard by bucket wheel stacker-reclaimer.

[0033] Step S2: Obtain relevant attributes of dry bulk materials and operating equipment, such as material type, material weight, material moisture content, operating equipment type, operating equipment performance, and operating equipment efficiency.

[0034] The material attribute information for dry bulk cargo includes the material type, weight, dry density, moisture content, and angle of repose for this operation. The operating equipment refers to the stacking equipment, specifically the bucket wheel stacker-reclaimer. Equipment attribute information includes the bucket wheel boom length, bucket wheel discharge rate, rotation angle range of the rotating mechanism, pitch angle range of the pitching mechanism, and effective travel distance of the trolley.

[0035] Step S3: Based on the properties of dry bulk materials, with the goal of minimizing the stacking area, construct a standardized stack shape for the materials while satisfying the material's resting angle.

[0036] like Figure 4 As shown, constructing a standardized stacking shape involves abstracting the actual stacking model into a theoretical stacking model, which can meet the requirements of dry bulk cargo. The theoretical stacking model includes the following objectives and constraints: The standardized stacking type theoretical model includes at least a first objective function, which is specifically expressed as follows:

[0037] in, min To minimize the symbol, The area occupied by the stacking model is determined by the length of the bucket wheel boom of the equipment. Equipment movement distance L Maximum rotation angle of stacking equipment The calculation formula is as follows, jointly determined:

[0038] This constraint aims to maximize the stacking of dry bulk materials while minimizing the yard footprint; The standardized stacking theory model includes at least one of the following constraints, specifically expressed as follows:

[0039] This formula represents the storage volume constraint, indicating that the current storage volume of materials must meet the requirements for material weight, density, and moisture content. V Indicates the volume of material storage. M Indicates the weight of the material. Indicates the dry density of the material. Indicates the moisture content of the material. This indicates the dynamic packing density.

[0040]

[0041] This formula represents the storage angle of repose constraint, indicating that the theoretical model takes the minimum storage angle of repose for materials with different particle diameters, i.e., it satisfies the storage requirement under the limiting angle of repose. Indicates the angle of repose for materials with different particle diameters. This indicates that the theoretical model uses the angle of repose.

[0042]

[0043] This formula represents a single-layer stacking constraint, indicating a unit conical stack that naturally forms at the angle of repose under a certain single-layer stacking height, such as... Figure 3 As shown. Among them, Indicates the radius of the unit stack base. Indicates the stacking height of a single layer. It is called the Antarctic.

[0044]

[0045]

[0046] This formula represents a layered stacking constraint, indicating the limiting relationship between the widths of different stacking layers, where... Indicates the stacking layer index. Indicates the first Layer stacking width.

[0047]

[0048]

[0049] This formula represents a layered stacking constraint, indicating the limiting relationship between the lengths of different stacking layers. Indicates the first Stack width

[0050] This formula represents the layered stacking constraint, indicating the limiting relationship between the heights of the layers, where... Indicates the number of stacking layers. This indicates the maximum stacking height allowed by the equipment's pitch mechanism.

[0051]

[0052] This formula represents the constraint on the theoretical model's stack volume, indicating that the theoretical model's stack volume must meet the actual material storage volume requirements. This indicates the length of the material stacking path of the equipment's bucket wheel.

[0053]

[0054] This formula represents the stacking path length constraint, indicating the spatial dimensional relationship between the bucket wheel stacking path and different stacks when the operating equipment completes multi-layer stacking. This indicates the angle of rotation of the boom during equipment operation. Step S4: Based on the standardized stacking shape of the materials, and in accordance with the principle of material stacking continuity and the spatial attributes of the operating equipment, further plan the three-dimensional spatial path of the operating equipment for material stacking; The material standardization stacking shape, based on the principle of stacking continuity and the spatial attributes of the operating equipment, further plans the three-dimensional spatial path of the operating equipment for stacking. The specific steps are as follows: First, based on the standardized stacking shape theoretical model, obtain the layer stacking length. ,width ,high Secondly, based on the initial material drop position (0, 0,) of the equipment bucket wheel, the origin of the spatial coordinate system is determined, and a rectangular coordinate system is constructed with the length of the stockpile as the X-axis, the width as the Y-axis, and the height as the Z-axis. Subsequently, the initial material drop point of each stack and the rotation angle of the equipment's boom are determined. Finally, following the principle of fan-shaped rotary stacking for single-layer stacking and reversible travel for multi-layer stacking, the materials are stacked layer by layer until each layer is completed. The reversible travel principle for multi-layer stacking refers to the movement of the equipment's traveling mechanism across different stacking layers. If the number of stacking layers is odd, the traveling direction of the equipment's traveling mechanism is the positive X-axis direction; otherwise, it is the negative X-axis direction.

[0055] like Figure 5 As shown, the specific steps for single-layer stacking in a fan-shaped rotary fashion are as follows: Step 1: Determine the minimum rotation angle of the equipment boom Maximum rotation angle , the direction of material movement; Step 2, according to the... The end position of the stacking layer is determined. Initial drop point of the layer; Step 3, when At that time, the equipment's traveling mechanism moves along the positive X-axis, and the rotating mechanism moves according to the angular velocity... From the minimum rotation angle Towards the maximum rotation angle Rotation; when the rotating mechanism rotates to its maximum rotation angle At that time, the traveling mechanism moves forward along the positive X-axis. ; Fourth step: Subsequently, the rotating mechanism rotates according to angular velocity. From the maximum rotation angle To the minimum rotation angle Rotation; when the rotating mechanism rotates to its minimum rotation angle At that time, the traveling mechanism moves forward along the positive X-axis. ; Step 5: Repeat the above process until the fifth step is completed. Layered material stacking; Step 6, when At this time, the equipment's traveling mechanism moves along the negative X-axis, the pitching mechanism increases the pitch angle, and the initial rotation direction of the rotating mechanism is determined by the end point of the first layer of material feeding. If the end point of the first layer of material feeding is close to the X-axis, then it is determined by the minimum rotation angle. Towards the maximum rotation angle Rotate, or conversely, from the maximum rotation angle. To the minimum rotation angle The rotation and operation methods are the same.

[0056] Step S5: Based on the three-dimensional spatial path of the material stacking, the path planning information is converted into equipment operation information and instructions, and the operating equipment executes the dry bulk material stacking task.

[0057] like Figure 6 As shown, based on the three-dimensional spatial path of the material stacking, the path planning information is converted into equipment operation information and instructions, including the drop point position, rotation angle, rotation angular velocity, direction of travel, and speed of travel, and the operating equipment performs the task of stacking dry bulk materials.

[0058] Step S6, embedding the entire process into the stacker-reclaimer control system, is an effective technical path to achieve automated stacking at dry bulk cargo terminals.

[0059] Embedding the entire process described above into the stacker-reclaimer control system, formulating a stacking plan through the process, and then further controlling the mechanical equipment through the PLC controller to perform the stacking operation of the stacker-reclaimer is an effective technical path to achieve stacking automation in dry bulk cargo terminals.

[0060] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A method for continuous stacking of dry bulk materials based on standardized stacking patterns, characterized in that, Includes the following steps: S1. Determine the dry bulk cargo storage operation process according to port operation specifications or procedures; S2. Obtain the attributes of dry bulk materials and operating equipment; S3. Based on the properties of dry bulk materials, with the goal of minimizing the stacking area, construct a standardized stacking shape for the materials while satisfying the material's resting angle. S4. Based on the standardized stacking shape of materials, and in accordance with the principle of material stacking continuity and the spatial attributes of the operating equipment, plan the three-dimensional spatial path of the operating equipment for material stacking. S5. Based on the three-dimensional spatial path of the material stacking, the path planning information is converted into equipment operation information and instructions, and the operating equipment executes the task of stacking dry bulk materials. S6. Embed the entire process of steps S1-S5 into the stacker-reclaimer control system to automate the stacking of dry bulk cargo at the terminal.

2. The method for continuous stacking of dry bulk materials based on standardized stacking patterns according to claim 1, characterized in that, In step S1, the process of storing dry bulk cargo at the port is as follows: the dry bulk cargo transported to the port by ship or train is unloaded by ship unloader or car tipper, transported horizontally by belt conveyor, and then stored in the port yard by bucket wheel stacker-reclaimer.

3. The method for continuous stacking of dry bulk materials based on standardized stacking patterns according to claim 1, characterized in that, In step S2, the dry bulk material attribute information includes the material type, material weight, material dry density, material moisture content, and material angle of repose for this operation; the operating equipment is a stacking equipment, and the equipment attribute information includes the bucket wheel boom length, bucket wheel discharge rate, rotation angle range of the rotating mechanism, pitch angle range of the pitching mechanism, and effective travel distance of the trolley.

4. The method for continuous stacking of dry bulk materials based on standardized stacking patterns according to claim 1, characterized in that, In step S3, constructing a standardized stacking shape is to abstract the actual stacking model into a theoretical stacking model in order to meet the needs of dry bulk materials.

5. The method for continuous stacking of dry bulk materials based on standardized stacking patterns according to claim 4, characterized in that, The theoretical stacking model includes objectives and constraints; The standardized stacking theory model includes a first objective function, which is expressed as follows: in, min To minimize the symbol, The area occupied by the stacking model is determined by the length of the bucket wheel boom of the equipment. Equipment movement distance L Maximum rotation angle of stacking equipment The calculation formula is as follows, jointly determined: This constraint aims to maximize the stacking of dry bulk materials while minimizing the yard footprint; The standardized stacking theory model includes the following constraints, specifically expressed as follows: Storage volume constraints: The storage volume constraint means that the current storage volume of materials must meet the requirements for material weight, density, and moisture content. V Indicates the volume of material storage. M Indicates the weight of the material. Indicates the dry density of the material. Indicates the moisture content of the material. Indicates dynamic packing density; Storage angle of repose constraint: The aforementioned storage angle of repose constraint condition indicates that the theoretical model takes the minimum storage angle of repose for materials with different particle diameters, that is, it satisfies the storage condition under the limiting angle of repose. Indicates the angle of repose for materials with different particle diameters. This indicates that the theoretical model uses the angle of repose; Single-layer stacking constraints: The single-layer stacking constraint condition represents a unit conical stack that naturally forms at the angle of repose under single-layer stacking height conditions, wherein... Indicates the radius of the unit stack base. Indicates the stacking height of a single layer. Angle of repose; Layered stacking constraints: The layered stacking constraint condition represents the restriction relationship between the widths of different stacking layers, wherein... Indicates the stacking layer index. Indicates the first Stack width; This constraint represents the limiting relationship between the stacking lengths of different layers, where... Indicates the first Stack width, This constraint represents the limiting relationship between the stacking heights of the layers, where, Indicates the number of stacking layers. Indicates the maximum stacking height allowed by the equipment's pitch mechanism; Theoretical model stack constraints: The constraints of the theoretical model stack volume indicate that the theoretical model stack volume must meet the actual material storage volume requirements. Indicates the length of the material stacking path of the equipment bucket wheel; Material stacking path length constraint: The stacking path length constraint represents the spatial dimensional relationship between the bucket wheel stacking path and different stacks when the operating equipment completes multi-layer stacking. This indicates the angle of rotation of the boom during equipment operation.

6. The method for continuous stacking of dry bulk materials based on standardized stacking patterns according to claim 1, characterized in that, In step S4, the three-dimensional spatial path for the material stacking equipment is planned, and the specific steps are as follows: S401. Obtain the layered stacking length based on the standardized stacking type theoretical model. ,width ,high ; S402. Based on the initial position of the bucket wheel discharge (0, 0, ...), the equipment bucket wheel discharges material at the following initial position (0, 0, ...). Determine the location of the origin of the spatial coordinate system, and construct a spatial rectangular coordinate system with the length of the stockpile as the X-axis, the width as the Y-axis, and the height as the Z-axis; S403. Determine the initial material drop point for each stack layer and the rotation angle of the equipment's boom. ; S404. Following the single-layer stacking fan-shaped rotary stacking method and the multi-layer stacking method following the turning-back principle, the materials are stacked sequentially. The materials are stacked layer by layer until each layer is completed.

7. The method for continuous stacking of dry bulk materials based on standardized stacking patterns according to claim 6, characterized in that, In S404, the multi-layer stacking follows the principle of turning back and forth, which is the way the equipment walking mechanism travels in different stacking layers; when i is odd, the traveling direction of the equipment walking mechanism is the positive X-axis direction, and when i is even, the traveling direction of the equipment walking mechanism is the negative X-axis direction.

8. The method for continuous stacking of dry bulk materials based on standardized stacking patterns according to claim 1, characterized in that, In S404, the single-layer stacking fan-shaped rotary stacking process is carried out in the following steps: S404a, Determine the minimum rotation angle of the equipment boom Maximum rotation angle , the direction of material movement; S404b, according to the... The end position of the stacking layer is determined. Initial drop point of the layer; S404c, when At that time, the equipment's traveling mechanism moves along the positive X-axis, and the rotating mechanism moves according to the angular velocity... From the minimum rotation angle Towards the maximum rotation angle Rotation; when the rotating mechanism rotates to its maximum rotation angle At that time, the traveling mechanism moves forward along the positive X-axis. ; S404d; The rotating mechanism operates according to angular velocity From the maximum rotation angle To the minimum rotation angle Rotation; when the rotating mechanism rotates to its minimum rotation angle At that time, the traveling mechanism moves forward along the positive X-axis. ; S404e, repeat S404a-S404d until the first step is completed. Layered material stacking; S404f, when At this time, the equipment's traveling mechanism moves along the negative X-axis, the pitching mechanism raises the pitch angle, and the initial rotation direction of the rotating mechanism is determined by the end point of the first layer of material feeding. If the end point of the first layer of material feeding is close to the X-axis, then it is determined by the minimum rotation angle. Towards the maximum rotation angle Rotate, or conversely, from the maximum rotation angle. To the minimum rotation angle The rotation and operation methods are the same.

9. The method for continuous stacking of dry bulk materials based on standardized stacking patterns according to claim 1, characterized in that, In step S5, the three-dimensional spatial path of the material stacking involves converting the path planning information into equipment operation information and instructions. The equipment operation information and instructions include the drop point position, rotation angle, rotation angular velocity, direction of travel, and speed of travel, and the operating equipment performs the task of stacking dry bulk materials.

10. The method for continuous stacking of dry bulk materials based on standardized stacking patterns according to claim 1, characterized in that, In step S6, a stockpiling plan is formulated through S1-S6, and then the mechanical equipment is controlled by the PLC controller to perform instruction operations to realize the stockpiling operation of the stacker-reclaimer, thereby achieving automation of stockpiling at the dry bulk cargo terminal.

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