A method of tangential positioning of a crushing system in a triangular arrangement

Abstract

The application discloses a kind of triangle arrangement crushing system tangent positioning method, it is related to ore crushing and tangent positioning technical field, including, determining center distributor is respectively connected first crusher inlet center point P1, second crusher inlet center point P2 and third crusher inlet center point P3, constitute triangle arrangement reference;The material to be crushed is introduced into center distributor, and forms the material flow to be distributed;The material flow to be distributed is divided into three-way material flow facing P1, facing P2 and facing P3 in center distributor according to triangle arrangement reference;The allowed drop point area, entrance protection zone and forbidden area of three-way material flow entering P1, P2 and P3 are limited respectively.The application constructs three-way space safety envelope to three-way tangent initial material flow and executes mutual exclusion check, realizes the spatiotemporal occupation relationship of three-way material flow in conveying path and entrance area to carry out computable constraint and real-time verification.

Description

Technical Field

[0001] This invention relates to the field of ore crushing and tangential positioning technology, and in particular to a tangential positioning method for a crushing system with a triangular arrangement. Background Technology

[0002] In recent years, gold mine crushing and feeding technology has been developing towards multi-point parallel feeding, continuous conveying and online monitoring. A common practice is to set up a central distributor upstream to achieve multi-path distribution, and to complete the material flow path constraint through guide plates and chutes. At the same time, the operation status is identified and the feeding is adjusted by combining process signals such as power, vibration and material level, thereby improving the stability and continuous operation capability of the ore crushing section.

[0003] Under conditions of fluctuating particle size distribution and varying moisture content in gold ore, the spatial trajectory of multi-feed systems is susceptible to geometric layout deviations and material flow disturbances, leading to inlet drop point drift and risks such as material flow overlap and increased scouring of components around the inlet. The most significant technical problem lies in the lack of a calculable spatial constraint expression and mutual exclusion verification mechanism oriented towards a triangular layout, making it difficult for tangential incidence to remain stable and verifiable under dynamic disturbances. Summary of the Invention

[0004] In view of the aforementioned existing problems, the present invention is proposed.

[0005] Therefore, this invention provides a tangential positioning method for a triangularly arranged crushing system to solve the problem of unstable, uncontrollable, and verifiable tangential incidence of multi-feeding systems in a triangular arrangement in gold mines.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: This invention provides a tangential positioning method for a triangularly arranged crushing system, comprising: determining that a central distributor is connected to the inlet center points P1, P2, and P3 of a first crusher, respectively, forming a triangular arrangement reference; introducing the material to be crushed into the central distributor to form a material flow to be distributed; dividing the material flow into three paths facing P1, P2, and P3 within the central distributor according to the triangular arrangement reference; defining the permissible landing area, inlet protection zone, and prohibited area for each of the three material flows entering P1, P2, and P3 respectively; and guiding the three material flows through the central distributor via a guide... The guide vanes and feed inlet are redirected to form three tangential ejection material flows. Simultaneously, the three tangential ejection material flows are guided by the guide plate and chute to the allowable landing areas of P1, P2, and P3, respectively, to obtain three initial tangential material flows. Three spatial safety envelopes are established for the three initial tangential material flows and mutual exclusion checks are performed. When mutual exclusion occurs, the guide vane attitude and feed inlet are redirected and reset to generate three tangential feed material flows. The three tangential feed material flows are sent to P1, P2, and P3 respectively for crushing and the tangential injection state is confirmed. When an abnormality occurs, the guide vanes and feed inlet are switched to the preset safe guiding state and the diversion and guiding process is repeated.

[0007] As a preferred embodiment of the tangential positioning method for the triangularly arranged crushing system described in this invention, the steps for establishing the triangular arrangement reference are as follows: The inlet center point P1 of the first crusher, the inlet center point P2 of the second crusher, and the inlet center point P3 of the third crusher were determined by the intersection of two orthogonal diameters of the inlet circular section. Measurement targets were fixed at P1, P2, and P3 to obtain P1, P2, and P3 with targets. Repeated coordinate measurements and three-point closure consistency checks are performed on P1, P2, and P3 with targets to generate P1, P2, and P3 with complete checks. Based on the verified P1, P2 and P3, establish a triangular arrangement reference coordinate system and measure the reference point C of the center distributor. Calculate the connection pointing parameters from the reference point C of the center distributor to the verified P1, P2 and P3 to form the triangular arrangement reference.

[0008] In a preferred embodiment of the tangential positioning method for the triangularly arranged crushing system described in this invention, the steps of introducing the material to be crushed into the central distributor to form a material flow to be distributed are as follows: The material to be crushed is continuously fed into the central distributor via the upstream conveyor belt and the feed chute, and the mass flow rate and material flow cross-sectional state of the upstream conveyor belt are collected simultaneously to generate the import mass flow rate. Based on the imported mass flow rate, the opening of the upstream feed gate and the angle of the feed guide baffle are adjusted in conjunction to align with the projection position of the reference point C of the central distributor, thus forming the material flow to be distributed.

[0009] As a preferred embodiment of the tangential positioning method for the triangularly arranged crushing system described in this invention, the steps for dividing the material flow into three paths—facing P1, P2, and P3—are as follows: Based on the triangular arrangement benchmark, the reference point C of the central distributor is determined to point in the directions of P1, P2 and P3, and the feed load status of the crusher is acquired simultaneously to generate the target distribution ratio towards P1, P2 and P3. Based on the target allocation ratios for P1, P2, and P3, the material flow to be allocated is divided into three material flows for P1, P2, and P3.

[0010] As a preferred embodiment of the tangential positioning method for the triangularly arranged crushing system described in this invention, the steps for defining the allowable landing areas, entrance protection zones, and prohibited areas for the three material flows entering P1, P2, and P3 are as follows: The inlet section profile and the boundary of the surrounding components at P1, P2 and P3 are collected and aligned to obtain the inlet profiles of P1, P2 and P3 and the set of component boundaries of P1, P2 and P3. Based on the inlet contours of P1, P2 and P3 and the boundary sets of P1, P2 and P3 components, the ejection state of the three material flows is obtained, and the landing point distribution of the three material flows at P1, P2 and P3 is generated. The initial permitted landing area of ​​P1, P2 and P3 is determined based on the landing point distribution. The initial entrance protection zone of P1, P2 and P3 is determined based on the component boundary set of P1, P2 and P3. The prohibited area of ​​P1, P2 and P3 is determined based on the initial permitted landing area of ​​P1, P2 and P3 and the initial entrance protection zone of P1, P2 and P3. During runtime, the actual landing points of the three material flows are verified online. When the actual landing point enters one of the prohibited areas P1, P2, and P3, the initial allowed landing point areas of P1, P2, and P3 and the initial entrance protection areas of P1, P2, and P3 are updated, and the allowed landing point areas of P1, P2, and P3 and the entrance protection areas of P1, P2, and P3 are generated.

[0011] As a preferred embodiment of the tangential positioning method for the triangularly arranged crushing system described in this invention, the steps for forming three tangential ejection material flows are as follows: The system collects images of the three material flows exiting the central feeder, the orientation of the guide vanes and the direction of the feed inlet, and combines these with the inlet cross-sectional profile to form a unified timestamped data packet of the exit status. Based on the ejection state data packet, the particle flow agent simulation is invoked to generate a candidate reorientation set for the guide vane attitude and the direction of the feed outlet; The candidate reversal set is matched with the allowed landing areas of P1, P2 and P3 and the prohibited areas of P1, P2 and P3 to select a unique reversal command; The system executes a unique reversal command, driving the guide vanes to align with the material outlet direction, forming an initial three-way tangential ejection material flow. The tangential ejection status of the initial three-way tangential ejection material flow is verified online. Once the verification is passed, the three-way tangential ejection material flow is formed.

[0012] As a preferred embodiment of the tangential positioning method for the triangularly arranged crushing system described in this invention, the steps for obtaining the initial material flow along three tangential paths are as follows: Collect the geometric shape and adjustable posture of the guide plate and chute, and collect the actual landing point distribution at P1, P2 and P3 to construct a guide status data package; The guide state data packet is predicted, corrected, and iterated using a rolling optimization algorithm to generate unique guide instructions for the guide plate and chute. Execute the unique guiding command, and adjust the adjustable posture of the guide plate and the chute in conjunction to guide the three tangential ejected material flows to the allowable landing areas of P1, P2 and P3 respectively, so as to obtain the initial three tangential material flows.

[0013] As a preferred embodiment of the tangential positioning method for the triangularly arranged crushing system described in this invention, the steps for establishing three spatial safety envelopes and performing mutual exclusion checks on the initial material flows along the three tangential paths are as follows: The boundary contours and velocity changes along the three tangential initial material flows are collected, and combined with the geometric shape, three spatiotemporal occupancy maps are generated. Based on the three spatiotemporal occupancy maps, three spatial safety envelopes are constructed. By using spatiotemporal occupancy graph overlap retrieval and restricted zone constraint matching, mutual exclusion verification is performed on the three-way spatial safety envelope.

[0014] As a preferred embodiment of the tangential positioning method for the triangularly arranged crushing system described in this invention, the steps for generating three tangential feed material flows are as follows: When any two spatial security envelopes overlap or any spatial security envelope intrudes into the entrance protection zone or enters the restricted zone, the target channel that causes mutual exclusion is locked and a reset constraint label is generated. Based on the reset constraint label, the safety shielding solution algorithm is called to select a unique reset action and execute it, driving the guide vane attitude and the feed port to complete the reversal reset, forming a three-way tangential feed material flow.

[0015] As a preferred embodiment of the tangential positioning method for the triangularly arranged crushing system described in this invention, the steps of switching the guide vanes and the feed inlet to a preset safe guiding state and repeating the diversion and guiding process are as follows: The three tangential feed material flows are fed into P1, P2 and P3 respectively for crushing. The power change, vibration change and inlet material level change at P1, P2 and P3 are collected simultaneously to generate tangential injection state verification results. When the tangential incident state verification result indicates an abnormality in the tangential incident state, the guide vane attitude and the material distribution port are switched to the preset safe guiding state, and the diversion and guiding process is repeated until the tangential incident state verification result indicates that the tangential incident state has returned to normal.

[0016] The beneficial effects of this invention are as follows: By constructing three spatial safety envelopes for the initial material flows of the three tangential lines and performing mutual exclusion checks, the spatiotemporal occupancy relationship of the three material flows in the conveying path and the inlet area can be calculably constrained and verified in real time; during operation, the material flow trajectory is continuously maintained in the allowable landing area and avoids the inlet protection zone and the prohibited area; when mutual exclusion is triggered, the guide vane attitude and the reversal and reset of the material distribution port are completed in conjunction, so that the three material flows can quickly return to the feasible incident state, thereby reducing the risk of scouring, off-center loading and blockage caused by inlet landing point drift, and improving the feeding stability and continuous operation reliability of the gold mine crushing section. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A flowchart of the tangential positioning method for a crushing system with a triangular arrangement.

[0019] Figure 2 A flowchart for defining permitted landing areas, entrance protection zones, and prohibited areas.

[0020] Figure 3 A flowchart for forming a three-way tangential ejection material flow.

[0021] Figure 4 This is a flowchart for tangential incident state verification and safety guidance switching.

[0022] Figure 5 This is a distribution diagram of the landing points of the control group A for the three material flows.

[0023] Figure 6 This is a distribution diagram of the landing points of the control group B for the three material flows.

[0024] Figure 7 This is a distribution diagram of the landing points of experimental group C, which involves three material flows.

[0025] Figure 8The three indicators are used to verify the multi-curve data graph of the tangent incidence state. Detailed Implementation

[0026] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0027] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0028] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0029] Reference Figures 1-8 As one embodiment of the present invention, this embodiment provides a tangential positioning method for a triangularly arranged crushing system, comprising the following steps: S1. Determine that the central distributor is connected to the inlet center point P1 of the first crusher, the inlet center point P2 of the second crusher, and the inlet center point P3 of the third crusher, forming a triangular arrangement reference; introduce the material to be crushed into the central distributor to form a material flow to be distributed. S1.1: The inlet center point P1 of the first crusher, the inlet center point P2 of the second crusher, and the inlet center point P3 of the third crusher are determined by the intersection of two orthogonal diameters of the inlet circular section. Measurement targets are fixed at P1, P2, and P3 to obtain P1, P2, and P3 with targets. Specifically, select any diameter on the circular cross-section of the first crusher inlet, and draw another diameter perpendicular to it and passing through the same circumference. The intersection of the two orthogonal diameters is the center point P1 of the first crusher inlet. Repeat the same operation on the circular cross-section of the second crusher inlet to draw two mutually perpendicular diameters. Their intersection is the center point P2 of the second crusher inlet. Similarly, draw two orthogonal diameters on the circular cross-section of the third crusher inlet. Their intersection is the center point P3 of the third crusher inlet. After obtaining the center points P1, P2, and P3 of the first, second, and third crusher inlets, fix measuring targets at the positions of each center point to obtain the center points P1, P2, and P3 of the first, second, and third crusher inlets with targets.

[0030] It should be noted that the measurement target refers to the physical marking device fixed at the center point P1 of the first crusher inlet, the center point P2 of the second crusher inlet, and the center point P3 of the third crusher inlet, used for the identification and positioning of the measured equipment. The method of finding the intersection of two orthogonal diameters of an inlet circular cross-section is a measurement method for determining the geometric center of a circular cross-section. This method involves constructing two mutually perpendicular diameters on the circular cross-section, both of which pass through the circumference. Utilizing their geometric properties, the two diameters will inevitably intersect at the center of the circle, and this intersection point is the desired center point. This method relies only on the basic geometric properties of a circle, without requiring additional assumptions or complex calculations, and is suitable for on-site center positioning of circular structures such as crusher inlets.

[0031] S1.2: Repeatedly measure the coordinates of P1, P2 and P3 with targets and verify the consistency of the three-point closure to generate verified P1, P2 and P3; Specifically, using a total station or photogrammetric equipment, multiple independent spatial coordinate acquisitions are performed on three target points at different station locations, with complete three-dimensional coordinate data recorded for each acquisition. Statistical analysis is then performed on the multiple measurements of the same target point to calculate the coordinate deviation range of the multiple independent spatial coordinate measurements of the same target point. If the maximum deviation between the measurements does not exceed the preset allowable limit, the coordinates of that point are considered stable and reliable. Based on this, using the coordinates of the target-bearing center points P1, P2, and P3 of the first, second, and third crusher inlet points obtained from the three measurements, the side lengths of triangles are constructed. The difference between the sum of the three side lengths and the theoretical closure condition (the sum of the three side lengths should satisfy the geometric constraint that three points in space uniquely determine a planar triangle, i.e., the sum of any two side lengths is greater than the third side, and the lengths of the three sides are uniquely determined by the coordinates of the three points, without contradictions or non-closure) is calculated. If this difference is within the allowable error range, the spatial positions of the three points are determined to meet the closure consistency requirement, thus generating verified P1, P2, and P3.

[0032] It should be noted that the permissible tolerance is set comprehensively based on the accuracy level of the measuring equipment, the stability of the on-site operating environment, and the geometric sensitivity of the crusher inlet positioning to subsequent tangential incident control; the exemplary value range is ±1 mm to ±3 mm, and the value is determined based on the typical permissible deviation of repeatability measurement of industrial equipment installation benchmark points in engineering measurement specifications, combined with the actual requirements of the triangular arrangement crushing system for the stability of the inlet center point positioning. The allowable error range is based on the theoretical propagation law of the closure error of a triangle formed by three points in spatial measurement, and takes into account the cumulative effects of instrument alignment error, target placement error, atmospheric refraction and other random errors in actual measurement. The exemplary range is ±2 mm to ±5 mm, and the value is based on the empirical formula for the closure error limit of short-side triangles in the surveying field (such as according to the side length ratio or fixed limit), and refers to the requirements for the accuracy of the relative position of multiple points in the heavy machinery installation and acceptance standards.

[0033] The coordinate deviation range of multiple independent spatial coordinate measurements of the same target point is calculated using the following expression: ; ; ; ; ; In the formula, Indicates the same target point in The arithmetic mean of multiple independent spatial coordinate measurements along the coordinate direction; This represents the total number of independent spatial coordinate measurements performed on the target point. This represents the reciprocal of the total number of independent spatial coordinate measurements performed on the target point. Indicates the first Sub-independent spatial coordinate measurement index; Indicates the first Obtained from sub-independent spatial coordinate measurements Coordinate values; Indicates the same target point in The arithmetic mean of multiple independent spatial coordinate measurements along the coordinate direction; Indicates the first Obtained from sub-independent spatial coordinate measurements Coordinate values; Indicates the same target point in The arithmetic mean of multiple independent spatial coordinate measurements along the coordinate direction; Indicates the first Obtained from sub-independent spatial coordinate measurements Coordinate values; Indicates the first The Euclidean distance between a single independent spatial coordinate measurement and the average position of multiple measurements of the target point; This indicates the range of coordinate deviations from multiple independent spatial coordinate measurements of a target point. This indicates retrieving the maximum value from the set. Indicates by all The Euclidean distance corresponding to the measurement A finite set.

[0034] S1.3: Based on the verified P1, P2 and P3, establish a triangular arrangement reference coordinate system and measure the reference point C of the center distributor. Calculate the connection pointing parameters from the reference point C of the center distributor to the verified P1, P2 and P3 to form a triangular arrangement reference. Specifically, the spatial coordinates of three points are used as reference points, and a triangular arrangement reference coordinate system is constructed using the method of three points determining a plane. The origin of this coordinate system is set as the geometric centroid of the triangle formed by the verified P1, P2, and P3. The direction of the coordinate axes is determined by the vector relationship between the three points according to the right-hand rule. A physically identifiable fixed position is selected at the bottom of the central distributor or at its structural center of symmetry as the central distributor reference point C, and the spatial coordinates of the central distributor reference point C in the triangular arrangement reference coordinate system are measured using a total station or photogrammetric equipment. Based on this, the three-dimensional spatial pointing vectors from the central distributor reference point C to the verified points P1, P2, and P3 are calculated respectively. The direction of these pointing vectors is the connection pointing parameter of the material flowing from the central distributor to the inlet of each crusher. The triangular arrangement reference coordinate system, the spatial position of the central distributor reference point C, and its connection pointing parameters to the three verified points together constitute the triangular arrangement reference.

[0035] Calculate the three-dimensional spatial pointing vectors from the reference point C of the central distributor to the points P1, P2, and P3 after verification, respectively. The expressions are as follows: ; ; ; In the formula, Indicates pointing from C A three-dimensional spatial pointing vector; Indicates pointing from C A three-dimensional spatial pointing vector; Indicates pointing from C A three-dimensional spatial pointing vector; Indicates the reference point of the center distributor; This indicates the center point of the first crusher inlet after verification is complete; This indicates the center point of the second crusher inlet after verification is complete; This indicates the center point of the third crusher inlet after verification is complete; express In a spatial rectangular coordinate system Coordinate values; express In a spatial rectangular coordinate system Coordinate values; express In a spatial rectangular coordinate system Coordinate values; Represents the coordinate system of C in a spatial rectangular coordinate system. Coordinate values; Represents the coordinate system of C in a spatial rectangular coordinate system. Coordinate values; Represents the coordinate system of C in a spatial rectangular coordinate system. Coordinate values; express In a spatial rectangular coordinate system Coordinate values; express In a spatial rectangular coordinate system Coordinate values; express In a spatial rectangular coordinate system Coordinate values; express In a spatial rectangular coordinate system Coordinate values; express In a spatial rectangular coordinate system Coordinate values; express express In a spatial rectangular coordinate system Coordinate values.

[0036] S1.4: The material to be crushed is continuously fed into the central distributor via the upstream conveyor belt and the feed chute, and the mass flow rate and material flow cross-sectional state of the upstream conveyor belt are collected simultaneously to generate the import mass flow rate. Specifically, the material to be crushed is continuously conveyed by an upstream conveyor belt and introduced into the central distributor via a feed chute. During the material flow, a mass flow meter installed on the upstream conveyor belt measures the mass of material passing through per unit time in real time to obtain mass flow data. At the same time, a high-speed image acquisition device arranged above or on the side wall of the feed chute continuously captures images of the material flow cross-section. The width, height, and accumulation pattern of the material flow are identified through image processing algorithms to obtain the material flow cross-sectional state. The synchronously acquired mass flow data is time-aligned and correlated with the material flow cross-sectional state to form the imported mass flow.

[0037] S1.5: Based on the imported mass flow rate, the opening of the upstream feed gate and the angle of the feed guide baffle are adjusted in a linkage manner to align with the projection position of the reference point C of the central distributor, forming the material flow to be distributed; Specifically, the adjustment amount of the upstream feed gate opening is determined according to the mass flow rate. When the incoming mass flow rate increases, the upstream feed gate opening is appropriately increased to maintain stable feeding, and vice versa. At the same time, based on the offset trend of the lateral distribution of the material in the material flow cross-section, the angle of the feed guide baffle is adjusted so that the center line of the material flow is aligned with the vertical projection position of the reference point C of the central distributor at the outlet of the feed chute. The adjustment actions of the upstream feed gate opening and the feed guide baffle angle are carried out synchronously to ensure that the material forms a concentrated, centered and stable flow bundle before entering the central distributor. This bundle is the material flow to be distributed.

[0038] S2. The material flow to be distributed is arranged in a triangle within the central distributor, and divided into three material flows facing P1, P2, and P3 respectively; the allowed landing area, entrance protection area, and prohibited area of ​​the three material flows entering P1, P2, and P3 are respectively defined. S2.1: Based on the triangular arrangement benchmark, determine the direction of the reference point C of the central distributor pointing to P1, P2 and P3, and simultaneously obtain the feed load status of the crusher to generate the target distribution ratio towards P1, P2 and P3; Specifically, based on the three-dimensional spatial pointing vectors from the central feeder reference point C established in the triangular arrangement benchmark to the verified P1, P2, and P3, three spatial directions pointing from the central feeder reference point C to P1, P2, and P3 are determined respectively. Simultaneously, the current values ​​of the drive motors of the first, second, and third crushers are collected in real time as raw input quantities characterizing the feed load status of each crusher. The reciprocal of each motor current value is taken to obtain the receiving capacity index, which is positively correlated with the load capacity. These three receiving capacity indices are normalized, i.e., the ratio of each index to the sum of the three indices forms a capacity weight with a total sum of 1. This capacity weight is the target allocation ratio for P1, P2, and P3. The target allocation ratio is inversely proportional to the feed load status; that is, the smaller the current (the lighter the load), the larger the corresponding capacity weight and the higher the allocation ratio.

[0039] S2.2: Based on the target allocation ratios for P1, P2, and P3, the material flow to be allocated is divided into three material flows for P1, P2, and P3. Specifically, based on the target allocation ratios for P1, P2, and P3, three sets of adjustable guide vanes inside the central distributor are driven to rotate around the central distributor reference point C to the corresponding angles. The angle of each guide vane is determined according to the target allocation ratio, so that the material flow to be allocated is divided into three independent material flows along the direction from the central distributor reference point C to P1, P2, and P3 under the combined action of gravity and guiding constraints. The ratio of the cross-sectional area to the mass flow rate of the three independent material flows is consistent with the target allocation ratio, thus forming three material flows facing P1, P2, and P3.

[0040] S2.3: Collect the entrance section profile and the boundary of the surrounding components at P1, P2 and P3 and align the entrance profile to obtain the entrance profiles of P1, P2 and P3 and the set of component boundaries of P1, P2 and P3; Specifically, at the verified P1, P2, and P3 locations, a laser scanner or high-resolution industrial camera is used to perform local 3D scanning or image acquisition of the inlet areas of each crusher, obtaining original point cloud or image data containing the inlet cross-sectional contour and the boundaries of surrounding components. Using the spatial coordinates of the verified P1, P2, and P3 as a reference, the acquired inlet cross-sectional contour data are rotated and translated to the triangular arrangement reference coordinate system, so that the geometric center of each inlet cross-section coincides with the corresponding center point, completing the inlet contour alignment. The aligned inlet cross-sectional contour data are used to extract clear inlet edge curves and adjacent equipment structural boundaries, forming sets of inlet contours and component boundaries of P1, P2, and P3.

[0041] S2.4: Based on the inlet contours of P1, P2 and P3 and the boundary sets of P1, P2 and P3 components, obtain the ejection state of the three material flows and generate the landing point distribution of the three material flows at P1, P2 and P3; Specifically, based on the inlet contours of P1, P2, and P3 and the boundary sets of components of P1, P2, and P3, high-speed camera devices are deployed in each inlet area to continuously acquire images of the motion trajectories of the three material flows exported from the central distributor as they approach the inlet. The spatial position and velocity direction of the particles at the front end of each material flow are identified through image processing methods. Combined with the spatial coordinates of the inlet contour, the projection landing points of the three material flows on the inlet cross-sectional plane are recorded frame by frame. All landing points within a certain period of time are statistically aggregated to form the landing point distribution of the three material flows at P1, P2, and P3.

[0042] S2.5: Determine the initial allowed landing area of ​​P1, P2 and P3 based on the landing point distribution; determine the initial entrance protection zone of P1, P2 and P3 based on the component boundary set of P1, P2 and P3; determine the prohibited area of ​​P1, P2 and P3 based on the initial allowed landing area of ​​P1, P2 and P3 and the initial entrance protection zone of P1, P2 and P3. Specifically, based on the landing point distribution at P1, P2, and P3, the smallest closed area covering more than 95% of the landing points is selected as the initial allowed landing point area for P1, P2, and P3. According to the equipment structure boundary directly adjacent to their respective entrances in the component boundary set of P1, P2, and P3, the closed area formed by inwardly recessing a safety distance is defined as the initial entrance protection zone for P1, P2, and P3. Within each entrance section, the remaining part of the initial entrance protection zone after excluding the initial allowed landing point area is designated as the prohibited area for the corresponding entrance, thus forming the prohibited areas for P1, P2, and P3.

[0043] It should be noted that the safety distance is the minimum clearance distance determined by measuring the outermost edge of the rigid components (such as flange bolt holes, support ribs, and wear-resistant liner fixing edges) around each inlet in the boundary set of components P1, P2, and P3 towards the inlet center and deducting the sum of the maximum particle size of the material, the lateral sway amplitude of the material flow, and the installation positioning error. An exemplary value range is 30 mm to 80 mm, based on the maximum feed particle size measured on site (usually not exceeding 60 mm), the lateral offset of the high-speed material flow at the inlet due to disturbance (approximately 10–20 mm), and the cumulative error of target positioning and installation (approximately 5–10 mm). The sum of these three values ​​is rounded up to ensure that the material does not collide with structural components in non-inlet areas.

[0044] S2.6: During runtime, the actual landing point of the three material flows is verified online. When the actual landing point enters one of the prohibited areas of P1, P2 and P3, the initial allowed landing point area of ​​P1, P2 and P3 and the initial entrance protection area of ​​P1, P2 and P3 are updated, and the allowed landing point area of ​​P1, P2 and P3 and the entrance protection area of ​​P1, P2 and P3 are generated. Specifically, during operation, high-speed cameras continuously collect the actual landing locations of the three material flows at P1, P2, and P3. When any material flow is detected to have entered one of the prohibited zones of P1, P2, and P3, a zone update is triggered. The effective landing points within the latest consecutive cycles (excluding abnormal points that have entered the prohibited zone) are re-aggregated to generate a new closed zone covering the normal landing points, which serves as the updated initial allowed landing point zones for P1, P2, and P3. Simultaneously, based on the corresponding component boundary set, while maintaining the original safety distance, the structural avoidance range that has not been intruded by the landing points is reconfirmed, forming the updated initial entry protection zones for P1, P2, and P3. The updated initial allowed landing point zones for P1, P2, and P3, along with the initial entry protection zones for P1, P2, and P3, are used as the allowed landing point zones for P1, P2, and P3 and the entry protection zones for P1, P2, and P3.

[0045] Figure 5 Using the coordinate system of "entry plane X coordinate (meters) / entry plane Y coordinate (meters)," the blue solid rectangle represents the boundary of the entry opening, and the orange dashed rectangle represents the boundary (approximate) within the entry protection zone. The three scatter points in blue, orange, and green represent the actual landing points of P1, P2, and P3, respectively, and are used to observe the spatial distribution and dispersion of the landing points of the three material flows within the entry section. The green, red, and purple dashed circles in the figure are used to mark several restricted pocket boundaries (i.e., the pocket-shaped restricted sub-region boundaries within the restricted area), which are used to visually observe whether the landing point cloud is approaching or entering the restricted area, thereby determining whether there is a risk of scouring, off-center loading, or blockage caused by landing point drift.

[0046] Figure 6Similarly, the actual landing points of the three material flows P1, P2, and P3 within the inlet plane are displayed and compared with the inlet opening boundary, the inlet protection zone, and the no-entry pocket boundary. By comparing whether the scatter cloud is closer to the boundary and whether there is a tendency to shift towards the no-entry zone, it can be used to measure the stability of control B in maintaining the feasible domain of the landing points, as well as the "indirect performance" of the mutual exclusion constraint of the three material flows in the inlet area (the more separated the landing points are and the farther away from the no-entry zone, the lower the risk of mutual exclusion conflict and blockage).

[0047] Figure 7 The actual landing points of the three paths in the experimental group C are given in the same coordinate system, and the inlet opening boundary, the boundary (approximate) of the inlet protection zone and the boundary of the prohibited pocket are superimposed to verify the effect of "maintaining the material flow trajectory in the allowable landing area and avoiding the protection zone / prohibited area". If the scatter cloud of the experimental group C is relatively more concentrated, the distance from the boundary of the prohibited pocket is greater and the separation of the three landing points is clearer, it can directly support its reduction of the risk of scouring, off-center loading and blockage and the improvement of feeding stability.

[0048] S3. The three material flows are redirected in the central distributor by the guide vanes and the distribution port to form three tangential ejection material flows; simultaneously, the three tangential ejection material flows are guided by the guide plate and the chute to the allowable landing areas of P1, P2 and P3 respectively to obtain the three tangential initial material flows. S3.1: Collect the ejection images of the three material flows at the outlet of the central distributor, the attitude of the guide vanes and the direction of the dispensing port, and combine them with the inlet cross-sectional profile to form an ejection status data packet with a unified timestamp. Specifically, a high-speed camera is installed at the outlet of the central distributor to simultaneously capture images of the three material flows (P1, P2, and P3) that have completed verification. At the same time, the attitude data of the corresponding guide vanes for each flow is acquired in real time through angle sensors, as well as the pointing information of the dispensing port fed back by mechanical linkages or encoders. The inlet contours of P1, P2, and P3, which have been aligned to the triangular arrangement reference coordinate system, are called up. The images of the three material flows, the attitude data of the guide vanes, the pointing information of the dispensing port, and the inlet contours of P1, P2, and P3 are encapsulated with a unified timestamp based on the same high-precision clock source to form an outflow status data packet with a unified timestamp.

[0049] S3.2: Based on the ejection state data packet, call the particle flow proxy simulation to generate a candidate reorientation set of guide vane attitude and feed port orientation; Specifically, the three material flow outflow images, guide vane attitude data, feed port pointing information, and inlet contours of P1, P2, and P3 are used as initial boundary conditions. The particle flow proxy simulation method is invoked to construct a material falling trajectory consistent with the actual working conditions in the simulation environment. In the material falling trajectory, based on the current guide vane attitude and feed port pointing, several sets of fine-tuned attitude and pointing combinations are generated in their neighborhood to form a candidate reorientation set. Each combination is run through a complete falling process once by the particle flow proxy simulation to predict whether the corresponding landing point distribution falls into its respective allowed landing point area.

[0050] It should be noted that the particle flow surrogate simulation method is a numerical simulation based on the Discrete Element Method (DEM) to simulate the motion behavior of materials composed of a large number of discrete particles under gravity, constraint boundaries, and interaction forces. This method simplifies the particles in the actual material flow into individuals with mass, shape, size, and physical properties (such as friction coefficient, coefficient of restitution, and density). Given the initial position, velocity, and boundary conditions, it calculates the force and motion state of each particle step by step using Newton's second law, and updates the contact force and collision response between particles and between particles and equipment walls in real time. By tracking the trajectory of all particles, the overall morphology, velocity field, and impact point distribution of the material flow can be predicted, thereby evaluating the impact of different guiding structures or operating parameters on the material flow path without conducting physical experiments.

[0051] S3.3: Perform constraint matching between the candidate rerouting set and the allowed landing areas of P1, P2 and P3 and the prohibited areas of P1, P2 and P3, and select a unique rerouting command; Specifically, the attitude of each set of guide vanes and the direction of the feed inlet in the candidate reversal set are substituted into the particle flow proxy simulation to generate the predicted landing point distribution of the three material flows at P1, P2 and P3. It is determined whether each predicted landing point distribution is completely within the allowed landing point area of ​​P1, P2 and P3, and whether any landing point falls into the prohibited area of ​​P1, P2 or P3. Candidate solutions that meet all spatial constraints are retained. If there are multiple feasible solutions, the set with the smallest guide vane adjustment amplitude is selected as the unique reversal command.

[0052] S3.4: Execute the unique reversal command to drive the guide vane attitude and the material outlet direction to form an initial three-way tangential ejection material flow. Verify the tangential ejection state of the initial three-way tangential ejection material flow online. After the verification is passed, the three-way tangential ejection material flow is formed. Specifically, a unique reversal command is executed to synchronously adjust the attitude of the guide vanes and the direction of the material outlet to a specified angle, causing the material flow to exit along the theoretical tangential direction, forming an initial three-way tangential material flow. The motion trajectory of the initial three-way tangential material flow is continuously collected by a high-speed camera device in the areas approaching P1, P2, and P3 to determine whether the center line of each material flow is located within the allowable landing area of ​​the corresponding inlet and has not entered the prohibited area. At the same time, it is confirmed that there is no intersection, convergence, or deviation between the three material flows. When the landing point distribution and direction of all material flows meet the spatial constraint conditions of tangential incidence, the verification is deemed successful, thus forming the three-way tangential material flow.

[0053] It should be noted that spatial constraints refer to limitations or requirements imposed on space (location, shape, size, layout, distance, etc.) to ensure that the solution is physically, logically, or functionally feasible, reasonable, or conforms to specific specifications.

[0054] S3.5: Collect the geometric shape and adjustable posture of the guide plate and chute, and collect the actual landing point distribution at P1, P2 and P3 to construct a guide status data package; Specifically, a 3D laser scanner or high-precision optical measurement equipment is used to perform a full-field scan of the geometry of the guide plate and chute to obtain surface point cloud data. An angle sensor or displacement sensor installed on the guide plate adjustment mechanism is used to collect the current adjustable posture of the guide plate. At the same time, a high-speed camera is used to continuously record the actual landing positions of the material at P1, P2 and P3 to form the actual landing point distribution of each inlet. The geometry of the guide plate, the geometry of the chute, the adjustable posture of the guide plate and the actual landing point distribution at the three locations are synchronously integrated according to the same time base and packaged into a guidance status data package.

[0055] S3.6: The guide state data packet is predicted and corrected iteratively through the rolling optimization algorithm to generate a unique guide command for the guide plate and the chute; Specifically, based on the geometric shape of the guide plate, the geometric shape of the chute, the adjustable posture of the guide plate, and the actual landing point distribution at P1, P2, and P3 in the guidance status data package, several fine-tuned candidate guidance instructions are generated with the current adjustable posture of the guide plate as the benchmark. For each candidate guidance instruction, the particle flow agent simulation is called to predict the landing point position of the three material flows in the next several consecutive control cycles. The prediction landing points are checked cycle by cycle to see if all predicted landing points are always within their respective allowed landing point areas and have not entered the corresponding prohibited areas. Candidate schemes that satisfy all spatial constraints are retained, and the set with the smallest adjustment range is selected as the unique guidance instruction for the guide plate and the chute.

[0056] It should be noted that the rolling optimization algorithm is a dynamic optimization method based on finite-time domain prediction. In each control cycle, it uses the current measurable state to predict the behavior over a finite period of time in the future and solves a local optimization problem to obtain the optimal control sequence. However, only the first control action in the sequence is implemented. When the next cycle arrives, the prediction and optimization are performed again based on the updated actual state. This process is repeated repeatedly. The algorithm can effectively handle constraints, uncertainties, and external disturbances.

[0057] S3.7: Execute the unique guiding command, and adjust the adjustable attitude of the guide plate and the chute in conjunction to guide the three tangential ejected material flows to the allowable landing areas of P1, P2 and P3 respectively, so as to obtain the initial three tangential material flows. Specifically, the system executes a single guiding command for the guide plate and chute, driving the guide plate adjustment mechanism to work in conjunction with the chute, synchronously adjusting the adjustable posture of the guide plate and the geometry of the chute to the state specified in the command. After adjustment, the three tangentially ejected material flows fall along their respective tangential directions under the combined action of gravity and guiding constraints. The landing positions of the three material flows at P1, P2, and P3 are monitored in real time by a high-speed camera device to confirm that each material flow falls into the corresponding allowed landing area and does not enter the prohibited area. When all three material flows meet the spatial constraint conditions, the guidance is considered successful, forming the initial three tangential material flows.

[0058] S4. Establish three spatial safety envelopes for the initial material flow of the three tangential paths and perform mutual exclusion verification. When mutual exclusion occurs, redirect and reset the attitude of the guide vane and the feed port to generate three tangential feed material flows. S4.1: Collect the boundary contours and velocity changes along the three tangential initial material flows, and combine them with the geometric shape to generate three spatiotemporal occupancy maps. Construct three spatial safety envelopes based on the three spatiotemporal occupancy maps. Specifically, high-precision sensors synchronously collect boundary contour data and velocity change data along the flow path of the three tangential initial material flows at various locations. The collected boundary contour data is spatially registered with the corresponding geometric shapes to form the actual occupied area in space of the three tangential initial material flows at each moment. This is organized as a timestamp sequence, with each timestamp corresponding to a spatially occupied section represented by a voxel mesh or a set of triangular polygons. The three-dimensional outline and position of the three tangential initial material flows at that moment are completely recorded. The occupied areas at each moment are stacked sequentially to form a spatiotemporal occupancy map. For the spatiotemporal occupancy map of each material flow, the spatially occupied areas of all time steps are merged into a single three-dimensional point set. Polyhedral external envelope fitting is performed on this point set to generate the smallest closed geometry covering the entire time range of the material flow, which is the spatial safety envelope of that path. The three material flows are processed separately to obtain the first spatial safety envelope, the second spatial safety envelope, and the third spatial safety envelope, forming a three-way spatial safety envelope.

[0059] It should be noted that the boundary profile data along the process refers to the geometric shape and coordinate information of the outer edge of the material flow in space at each cross-sectional position on the falling path of the initial material flow along the three tangential lines from the outlet of the central distributor to P1, P2 and P3. The velocity variation data along the path refers to the magnitude of the overall velocity of the material particle group at each cross-sectional position and its variation with the path position when the initial material flow along the three tangential lines falls along the same path.

[0060] S4.2: Perform mutual exclusion verification on the three-way spatial security envelope by searching the spatiotemporal occupancy map overlap and matching the forbidden zone constraint; Specifically, based on the three-way spatiotemporal occupancy map, the three spatial safety envelopes corresponding to P1, P2, and P3 are subjected to pairwise overlap retrieval to determine whether any two envelopes have spatially overlapping regions in the spatiotemporal dimension. Each spatial safety envelope is constrained and matched with the restricted areas of P1, P2, and P3 to check whether there is a situation where an envelope intrudes into the restricted area or any spatial safety envelope intrudes into the entrance protection area of ​​P1, P2, and P3. If any two envelopes are found to overlap, or any envelope spatially interferes with the corresponding entrance restricted area, or any spatial safety envelope intrudes into the entrance protection area, the mutual exclusion check is determined to have failed, and the guidance adjustment instruction needs to be returned. The mutual exclusion check passes only when the three spatial safety envelopes do not overlap with each other, and any spatial safety envelope avoids the entrance protection area and completely avoids the corresponding restricted area.

[0061] S4.3: When any two spatial security envelopes overlap or any spatial security envelope intrudes into the entrance protection zone or enters the restricted zone, lock the target channel that causes mutual exclusion and generate a reset constraint label; Specifically, when any two spatial security envelopes overlap, any spatial security envelope intrudes into the entrance protection zone, or enters the restricted area, the system detects whether one of the three types of events is triggered. If any event is true, the system identifies all target channels involved in the event. Based on the event type and the target channels involved, the system determines the set of target channels that cause mutual exclusion. The system performs a locking operation on each target channel in the set to make its state immutable. At the same time, the system generates a corresponding reset constraint label for each locked target channel.

[0062] S4.4: Based on the reset constraint label, the safety shielding solution algorithm is called to select the unique reset action and execute it, driving the guide vane attitude and the feed port to complete the reversal reset, forming a three-way tangential feed material flow; Specifically, based on the locked target channel identified by the reset constraint label, the safety shielding solution algorithm is invoked. After excluding the combination of guide vane attitude and feed port direction corresponding to the locked channel, candidate reset schemes are searched from the remaining movable action space to satisfy the condition that the three material flows do not overlap and their respective landing points are within the allowed landing point area. The safety shielding solution algorithm prioritizes the scheme with the smallest adjustment range that can simultaneously resolve all conflicts as the unique reset action. Executing this unique reset action drives the guide vane attitude and feed port to complete the reversal reset synchronously, so that the material falls stably along the tangential direction again, forming three tangential feed material flows.

[0063] It should be noted that the safety shielding solution algorithm is a decision-making method based on constraint exclusion and feasible solution search. Its core is to find a feasible solution that satisfies all safety and functional constraints from the remaining legal action space, given that some actions or states are known to be prohibited.

[0064] S5. Send the three tangential feed material flows into P1, P2 and P3 respectively for crushing and confirm the tangential injection state. When an abnormality occurs, switch the guide vane and the feed port to the preset safe guiding state and repeat the diversion and guiding process. S5.1: The three tangential feed material flows are fed into P1, P2 and P3 respectively for crushing. The power change, vibration change and inlet material level change at P1, P2 and P3 are collected simultaneously to generate tangential injection state verification results. Specifically, the three tangential feed material flows are respectively introduced into the calibrated P1, P2, and P3 for crushing operations. Simultaneously, power, vibration, and inlet level data at P1, P2, and P3 are collected in real time using power sensors, vibration sensors, and inlet level gauges installed on each crusher. The three types of time-series data are aligned with a unified time reference and compared with the expected stable state of the three tangential feed material flows. If the power fluctuation is stable, the vibration amplitude is lower than the preset vibration threshold, and the inlet level remains within the set range, the tangential injection state is determined to be normal, and a tangential injection state verification result is generated.

[0065] It should be noted that the vibration threshold is determined by collecting baseline vibration data at points P1, P2, and P3 under no-load operation of the crusher; conducting multiple sets of tangential feed stable operation tests under rated operating conditions, and recording the effective value (RMS) of vibration acceleration at each inlet corresponding to the crusher bearing housing or casing; taking the upper limit of the vibration value during stable operation and adding a safety margin (usually 10% to 20%) as the vibration threshold; the exemplary value range is an effective value of vibration acceleration of 2.0 to 4.5; the value is based on the vibration limit of heavy-duty crushing equipment and combined with historical fault data from the field. The set interval is determined by continuously monitoring the material level at points P1, P2, and P3 using inlet level gauges during the stable operation of the three-way tangential feed material flow. The upper and lower limits of material level fluctuations over multiple cycles are statistically analyzed, and after eliminating instantaneous impact interference, a 95% confidence interval is taken as the set interval. An exemplary value range is an inlet material level height of 40% to 70% of the chute depth. The basis for this value is that a value below 40% is likely to lead to insufficient material supply to the crushing chamber and low power utilization, while a value above 70% may cause material blockage or backflow.

[0066] S5.2: When the tangential incident state verification result indicates an abnormal tangential incident state, switch the guide vane attitude and the material distribution port to the preset safe guiding state, and repeat the diversion and guiding process until the tangential incident state verification result indicates that the tangential incident state has returned to normal. Specifically, when the tangential incident state verification result indicates an abnormality in tangential incident, the current operating state of the guide vane attitude and the material distribution port direction is immediately stopped and switched to the preset safe guidance state. After the switch is completed, the material diversion and guidance process is re-executed to generate a new three-way tangential feed material flow. The power change, vibration change and inlet material level change at P1, P2 and P3 are collected again to generate a new round of tangential incident state verification results. If it still indicates an abnormality, the switching and guidance process is repeated until the tangential incident state verification result indicates that the tangential incident state has returned to normal.

[0067] It should be noted that the safety guidance state refers to a set of fixed guide vane attitudes and material distribution port orientation configurations that have been verified under stable operating conditions in the early stage. This configuration ensures that the landing points of the three material flows are all located within the allowable landing point areas of P1, P2 and P3, and are far away from their respective prohibited areas and entrance protection areas, with low vibration, stable power and stable material level operation characteristics.

[0068] Figure 8The figure above shows three normalized time-series curves for power change proxy quantity, vibration change proxy quantity, and inlet material level change proxy quantity, along with their corresponding threshold dashed lines. These curves reflect the response of the tangential incident state verification to abnormal disturbances throughout the entire time period. The enlarged view further marks characteristic points such as power peak, vibration peak, and material level peak, and marks key difference locations with dashed lines and Δ values, thus more clearly presenting the peak behavior of multiple indicators in the neighborhood of abnormal triggering, threshold exceeding relationships, and the quantitative results of their differences.

[0069] In summary, this invention achieves calculable constraints and real-time verification of the spatiotemporal occupancy relationship of the three material flows in the conveying path and inlet area by constructing three spatial safety envelopes for the initial material flows of the three tangential lines and performing mutual exclusion checks; during operation, it continuously maintains the material flow trajectory within the allowable landing area and avoids the inlet protection zone and the prohibited area; when mutual exclusion is triggered, it links to complete the reversal and reset of the guide vane attitude and the feed outlet, so that the three material flows can quickly return to the feasible incident state, thereby reducing the risk of scouring, off-center loading and blockage caused by inlet landing point drift, and improving the feeding stability and continuous operation reliability of the gold mine crushing section.

[0070] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A tangential positioning method for a triangularly arranged crushing system, characterized in that: include, The central distributor is connected to the inlet center point P1 of the first crusher, the inlet center point P2 of the second crusher, and the inlet center point P3 of the third crusher, forming a triangular arrangement reference; the material to be crushed is introduced into the central distributor to form a material flow to be distributed. The material flow to be distributed is arranged in a triangle within the central distributor, divided into three material flows facing P1, P2, and P3; the allowed landing area, entrance protection zone, and prohibited area for each of the three material flows are defined respectively. The three material flows are redirected by guide vanes and distribution ports in the central distributor to form three tangential ejection material flows; simultaneously, the three tangential ejection material flows are guided by guide plates and chutes to the allowable landing areas of P1, P2 and P3 respectively, to obtain the three tangential initial material flows. Three spatial safety envelopes are established for the initial material flow of the three tangential paths and mutual exclusion checks are performed. When mutual exclusion occurs, the attitude of the guide vanes and the feed port are redirected and reset to generate three tangential feed material flows. The three tangential feed material flows are fed into P1, P2 and P3 respectively for crushing and the tangential injection state is confirmed. When an abnormality occurs, the guide vanes and the feed inlet are switched to the preset safe guiding state and the diversion and guiding process is repeated.

2. The tangential positioning method for a triangularly arranged crushing system as described in claim 1, characterized in that: The steps for establishing the triangular arrangement reference are as follows: The inlet center point P1 of the first crusher, the inlet center point P2 of the second crusher, and the inlet center point P3 of the third crusher were determined by the intersection of two orthogonal diameters of the inlet circular section. Measurement targets were fixed at P1, P2, and P3 to obtain P1, P2, and P3 with targets. Repeated coordinate measurements and three-point closure consistency checks are performed on P1, P2, and P3 with targets to generate P1, P2, and P3 with complete checks. Based on the verified P1, P2 and P3, establish a triangular arrangement reference coordinate system and measure the reference point C of the center distributor. Calculate the connection pointing parameters from the reference point C of the center distributor to the verified P1, P2 and P3 to form the triangular arrangement reference.

3. The tangential positioning method for a triangularly arranged crushing system as described in claim 2, characterized in that: The steps for introducing the material to be crushed into the central distributor to form a material flow to be distributed are as follows. The material to be crushed is continuously fed into the central distributor via the upstream conveyor belt and the feed chute, and the mass flow rate and material flow cross-sectional state of the upstream conveyor belt are collected simultaneously to generate the import mass flow rate. Based on the imported mass flow rate, the opening of the upstream feed gate and the angle of the feed guide baffle are adjusted in conjunction to align with the projection position of the reference point C of the central distributor, thus forming the material flow to be distributed.

4. The tangential positioning method for a triangularly arranged crushing system as described in claim 1, characterized in that: The process of dividing the material flow into three paths—one facing P1, one facing P2, and one facing P3—is as follows: Based on the triangular arrangement benchmark, the reference point C of the central distributor is determined to point in the directions of P1, P2 and P3, and the feed load status of the crusher is acquired simultaneously to generate the target distribution ratio towards P1, P2 and P3. Based on the target allocation ratios for P1, P2, and P3, the material flow to be allocated is divided into three material flows for P1, P2, and P3.

5. The tangential positioning method for a triangularly arranged crushing system as described in claim 4, characterized in that: The steps for defining the permitted landing areas, entrance protection zones, and prohibited areas for the three material flows entering P1, P2, and P3 are as follows: The inlet section profile and the boundary of the surrounding components at P1, P2 and P3 are collected and aligned to obtain the inlet profiles of P1, P2 and P3 and the set of component boundaries of P1, P2 and P3. Based on the inlet contours of P1, P2 and P3 and the boundary sets of P1, P2 and P3 components, the ejection state of the three material flows is obtained, and the landing point distribution of the three material flows at P1, P2 and P3 is generated. The initial permitted landing area of ​​P1, P2 and P3 is determined based on the landing point distribution. The initial entrance protection zone of P1, P2 and P3 is determined based on the component boundary set of P1, P2 and P3. The prohibited area of ​​P1, P2 and P3 is determined based on the initial permitted landing area of ​​P1, P2 and P3 and the initial entrance protection zone of P1, P2 and P3. During runtime, the actual landing points of the three material flows are verified online. When the actual landing point enters one of the prohibited areas P1, P2, and P3, the initial allowed landing point areas of P1, P2, and P3 and the initial entrance protection areas of P1, P2, and P3 are updated, and the allowed landing point areas of P1, P2, and P3 and the entrance protection areas of P1, P2, and P3 are generated.

6. The tangential positioning method for a triangularly arranged crushing system as described in claim 1, characterized in that: The steps for forming the three-way tangential ejection material flow are as follows: The system collects images of the three material flows exiting the central feeder, the orientation of the guide vanes and the direction of the feed inlet, and combines these with the inlet cross-sectional profile to form a unified timestamped data packet of the exit status. Based on the ejection state data packet, the particle flow agent simulation is invoked to generate a candidate reorientation set for the guide vane attitude and the direction of the feed outlet; The candidate reversal set is matched with the allowed landing areas of P1, P2 and P3 and the prohibited areas of P1, P2 and P3 to select a unique reversal command; The system executes a unique reversal command, driving the guide vanes to align with the material outlet direction, forming an initial three-way tangential ejection material flow. The tangential ejection status of the initial three-way tangential ejection material flow is verified online. Once the verification is passed, the three-way tangential ejection material flow is formed.

7. The tangential positioning method for a triangularly arranged crushing system as described in claim 1, characterized in that: The steps to obtain the initial material flow along three tangential paths are as follows: Collect the geometric shape and adjustable posture of the guide plate and chute, and collect the actual landing point distribution at P1, P2 and P3 to construct a guide status data package; The guide state data packet is predicted, corrected, and iterated using a rolling optimization algorithm to generate unique guide instructions for the guide plate and chute. Execute the unique guiding command, and adjust the adjustable posture of the guide plate and the chute in conjunction to guide the three tangential ejected material flows to the allowable landing areas of P1, P2 and P3 respectively, so as to obtain the initial three tangential material flows.

8. The tangential positioning method for a triangularly arranged crushing system as described in claim 7, characterized in that: The steps for establishing three spatial safety envelopes and performing mutual exclusion checks on the initial material flows along the three tangential paths are as follows: The boundary contours and velocity changes along the three tangential initial material flows are collected, and combined with the geometric shape, three spatiotemporal occupancy maps are generated. Based on the three spatiotemporal occupancy maps, three spatial safety envelopes are constructed. By using spatiotemporal occupancy graph overlap retrieval and restricted zone constraint matching, mutual exclusion verification is performed on the three-way spatial safety envelope.

9. The tangential positioning method for a triangularly arranged crushing system as described in claim 8, characterized in that: The steps for generating the three-way tangential feed material flow are as follows: When any two spatial security envelopes overlap or any spatial security envelope intrudes into the entrance protection zone or enters the restricted zone, the target channel that causes mutual exclusion is locked and a reset constraint label is generated. Based on the reset constraint label, the safety shielding solution algorithm is called to select a unique reset action and execute it, driving the guide vane attitude and the feed port to complete the reversal reset, forming a three-way tangential feed material flow.

10. The tangential positioning method for a triangularly arranged crushing system as described in claim 1, characterized in that: The steps for switching the guide vanes and the dispensing port to a preset safe guiding state and repeating the diversion and guiding process are as follows. The three tangential feed material flows are fed into P1, P2 and P3 respectively for crushing. The power change, vibration change and inlet material level change at P1, P2 and P3 are collected simultaneously to generate tangential injection state verification results. When the tangential incident state verification result indicates an abnormality in the tangential incident state, the guide vane attitude and the material distribution port are switched to the preset safe guiding state, and the diversion and guiding process is repeated until the tangential incident state verification result indicates that the tangential incident state has returned to normal.

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