An automatic control system and method for a stacker-reclaimer

Abstract

This invention discloses an automatic control system and method for a stacker-reclaimer, relating to the field of stacker-reclaimer equipment control technology. It addresses the problem of dynamically allocating stacking areas based on the different storage characteristics of various materials in current stockpiling systems. The system includes a stacking management module, a stacking execution module, a status detection module, and a reclaiming execution module. The stacking management module generates a first stacking signal and a second stacking signal for materials to be received based on stored material data and the type of target material. The stacking execution module performs stacking operations on the materials to be received based on the total volume and remaining volume of the materials to be received, combined with the first or second stacking signal. The status detection module analyzes whether the received materials require drying. The reclaiming execution module performs reclaiming operations on all stacking areas that have completed stacking operations, based on storage time and the type of material leaving the stockpile. This invention achieves dynamic control of the stacking and reclaiming processes of the stacker-reclaimer.

Description

Technical Field

[0001] This invention belongs to the field of stacker-reclaimer control technology, specifically an automatic control system and method for a stacker-reclaimer. Background Technology

[0002] A stacker-reclaimer is a material handling device used for the continuous stacking and retrieval of bulk materials. It is typically installed in stockpile areas of mines, ports, power plants, metallurgical plants, and building materials plants. In conjunction with conveying equipment, it enables the accumulation, storage, and subsequent recovery and transport of materials within the stockpile area. A stacker-reclaimer generally integrates a traveling mechanism, a slewing mechanism, a boom mechanism, a conveying mechanism, and a reclaiming mechanism. During the stacking process, the conveyed material is piled up along a preset trajectory to form a stockpile. During the reclaiming process, scrapers, bucket wheels, or other reclaiming structures continuously cut the stockpile and return it to the conveying system, thereby achieving automated storage, transfer, and retrieval of materials.

[0003] In existing technologies, stockpile material management typically operates with fixed stockpiling areas and fixed work sequences. After materials enter the stockpile, stockpiling, transfer, and retrieval operations are mostly completed manually based on experience or preset rules. It is difficult to dynamically allocate stockpiling areas based on the storage characteristics of different materials. For materials with varying moisture content, prone to absorbing moisture and clumping, prone to oxidation, or with limited storage time, long-term static stockpiling can easily lead to changes in the material's state, thereby affecting subsequent retrieval efficiency and material quality. Therefore, this invention proposes an automatic control system and method for a stacker-reclaimer. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic control system and method for a stacker-reclaimer to solve the problems mentioned in the background art.

[0005] The technical problem to be solved by this invention is: How to achieve dynamic control of stacker-reclaimer stacking and reclaiming.

[0006] The objective of this invention can be achieved through the following technical solutions: An automatic control system for a stacker-reclaimer includes a data acquisition module, a database module, a stacking management module, a stacking execution module, a status detection module, and a reclaiming execution module. The data acquisition module is used to collect the target material type corresponding to the material to be stacked and send it to the stacking management module. The database module is used to store the storage material data of the storage location to which the material has been stacked and send it to the stacking management module, the stacking execution module, and the status detection module. The material stacking management module is used to generate a first stacking signal and a second stacking signal for the material to be delivered based on the stored material data and the target material type, and then send them to the material stacking execution module. The data acquisition module is also used to collect the total volume and remaining entry volume of the materials to be delivered and send them to the stacking execution module. The stacking execution module is used to perform stacking operations on the materials to be delivered based on the total volume and remaining delivery volume of the materials to be delivered, and in conjunction with the first stacking signal or the second stacking signal. The module also sends the storage time of the stacking area to the database module and the completed stacking signal generated by the work to the material retrieval execution module. The data acquisition module is also used to collect the moisture content of the materials already in the stockpiling area and send it to the status monitoring module; the status detection module is used to analyze whether the materials already in the stockpiling area need to be dried based on the stored material data and moisture content, and send the storage time of all materials already in the stockpiling area obtained from the work to the material retrieval execution module. The data acquisition module is also used to collect the types of materials to be removed from the stockpiles and send the types of materials to be removed to the material removal execution module. The material removal execution module is used to perform material removal operations on all stockpiling areas that have completed stockpiling operations based on the storage time and the types of materials to be removed.

[0007] Furthermore, the stored material data includes the types of stored materials, stacking volumes, and storage times corresponding to the materials that have entered the storage site in all stockpiling areas, as well as the maximum storage volume and area number of all stockpiling areas in the storage site.

[0008] Furthermore, the specific working process of the material stacking management module is as follows: Step A101: Obtain the target material type corresponding to the material to be stacked and enters the site, and at the same time obtain the storage material type corresponding to the material already entered in all stacking areas of the storage site, and compare the target material type with the storage material type. If any of the stored materials already in the site are the same type as the target material to be brought in, proceed to step A102. If there is no stored material of the same type as the target material to be stored among the materials already received, the material to be stored is determined to be a new type of stored material, and the process proceeds to step A105. Step A102: Obtain the maximum storage volume of the storage area corresponding to the same type of storage material as the target material in the storage location, as well as the stacking volume of the materials already in the corresponding stacking area. Subtract the stacking volume from the maximum storage volume to calculate the remaining volume of the corresponding stacking area. Step A103: Compare the remaining volume of the stockpile area with the volume threshold. When the remaining volume of the stockpiling area is greater than or equal to the volume threshold, the corresponding stockpiling area is determined to be an incomplete stockpiling area. When the remaining volume of the stockpiling area is less than the volume threshold, the corresponding stockpiling area is determined to be a full stockpiling area.

[0009] Furthermore, the operation of the stockpile management module also includes: Step A104: If any stockpiling area is not full, sort all stockpiling areas in descending order according to the remaining volume to obtain the stockpiling order of the stockpiling area for the material to be entered into the storage site, and generate the first stockpiling signal for the material to be entered. If all stockpiling areas are full, obtain the area number of all stockpiling areas in the storage area, retrieve the maximum value of the area number corresponding to the stockpiling area where the material has entered the site, increment the area number of the stockpiling area after the material to be entered the storage site based on the maximum value of the area number, and generate the second stockpiling signal of the material to be entered. Step A105: Obtain the area number of the stacking area corresponding to all unstored materials in the storage site, sort the area numbers in ascending order, select the stacking area with the smallest number as the stacking area of ​​the material to be delivered, and generate the second stacking signal of the material to be delivered.

[0010] Furthermore, the specific working process of the material stacking execution module is as follows: Step B101: When the first stacking signal is received, the corresponding traveling mechanism, pitching mechanism and slewing mechanism of the stacker-reclaimer used to transport the material to be delivered to the stacking area are moved by controlling the movement of these mechanisms. The bucket wheel mechanism is moved to the top of the material already delivered in the stacking area. The actual distance between the bottom of the bucket wheel mechanism and the highest point of the material already delivered is detected by visual inspection technology. When the actual distance is equal to the fixed discharge height, the adjustment of the bucket wheel mechanism is stopped. Then the stacker-reclaimer is started and the stacking operation is performed, and the process proceeds to step B103. Step B102: When the second stacking signal is received, the bucket wheel mechanism is adjusted to a fixed height above the center of the ground in the stacking area by controlling the movement of the walking mechanism, pitching mechanism and slewing mechanism of the stacker-reclaimer. Then the stacker-reclaimer is started and the stacking operation is performed, and then the process proceeds to step B103. Step B103: When the material to be received is input into the stacking area by the stacker-reclaimer, the total volume and remaining volume of the material to be received, as well as the stacking volume of the material already received, are obtained. The total volume of the material to be received is subtracted from the remaining volume of the material to be received, and then the stacking volume of the material already received is added to calculate the real-time volume of the material already received in the stacking area.

[0011] Furthermore, the operation of the stacking execution module also includes: Step B104: When the real-time volume of the material already in the stockpiling area is less than the maximum storage volume, and the remaining volume of the material to be stockpiled is equal to zero, it is determined that the stockpiling operation of the material to be stockpiled has been completed. When the real-time volume of the material already in the stockpiling area is less than the maximum storage volume, and the remaining volume of the material to be stockpiled is greater than zero, the material to be stockpiled will continue to be stockpiled into the corresponding stockpiling area. When the real-time volume of the material already in the stockpiling area is equal to the maximum storage volume, and the remaining volume of the material to be stockpiled is equal to zero, the stockpiling operation of the material to be stockpiled is determined to be completed. When the real-time volume of the material already in the stockpile area is equal to the maximum storage volume, and the remaining volume of the material to be entered is greater than zero, proceed to step B105. Step B105: Select the next stacking area according to the stacking sequence of the materials to be entered into the storage area, and then repeat step B104 until the remaining volume of the materials to be entered is equal to zero. When the stacking operation is completed, the materials to be entered are determined to have completed the stacking operation. The time corresponding to the completion of the stacking operation is recorded as the storage time of the materials already entered in the corresponding stacking area. At the same time, the corresponding stacking area generates a completion stacking signal.

[0012] Furthermore, the specific working process of the state detection module is as follows: Step C101: Obtain the storage time of all stockpiling areas and the current time. Subtract the storage time from the current time to calculate the storage duration of the corresponding stockpiling area. Step C102: Obtain the moisture content HS of all materials that have entered the stockpile area, compare the moisture content with the moisture content threshold SY, and compare the storage time ZC with the safe storage time AQ. When the moisture content of the material that has entered the site is greater than or equal to the moisture content threshold, or the storage time is greater than or equal to the safe storage time, the corresponding stockpile area is marked as a high-risk stockpile area and the process proceeds to step C103. No operation shall be performed when the moisture content of the materials already in the site is less than the moisture content threshold and the storage time is less than the safe storage time. Step C103: Calculate the risk value of the high-risk stockpile area.

[0013] Furthermore, the operation of the state detection module also includes: Step C104: Sort the high-risk stockpiling areas in descending order according to the risk value, transfer the materials already in the first-ranked high-risk stockpiling area to the stockpiling area without stored materials, and then dry the first-ranked high-risk stockpiling area. Step C105: Transfer the materials already in the second-ranked high-risk stockpile area to the first-ranked high-risk stockpile area, and dry the second-ranked high-risk stockpile area until all high-risk stockpile areas have been dried. Step C106: Repeat step C102 to test the moisture content of all high-risk stockpiles again. When the moisture content of all high-risk stockpiles is less than the moisture content threshold, stop the drying process.

[0014] Furthermore, the material handling process of the material handling execution module is as follows: Step D101: Obtain the outgoing material types of all outgoing materials, select the storage material types that include the outgoing material types and generate a completed stacking signal, and record the corresponding stacking area as a candidate material retrieval area. Step D102: Obtain the storage time of all materials already in the candidate material collection areas, and select the candidate material collection area corresponding to the first-ranked material as the target material collection area according to the storage time from largest to smallest. Step D103: The stacker-reclaimer is used to reclaim the materials that have entered the target reclaiming area. Step D104: Obtain the stacking volume of materials already in the stockpiling area and the remaining exit volume of materials exiting the stockpiling area. The material handling operation is considered complete when the stacked volume is greater than or equal to zero and the remaining output volume is equal to zero. When the stacking volume is equal to zero and the remaining exit volume is greater than zero, proceed to step D105; When the stacked volume is greater than zero and the remaining output volume is greater than zero, the material handling operation is determined to be incomplete, and the material handling operation continues. In step D105, select the candidate material picking area corresponding to the material that has entered the site with the second longest storage time as the target material picking area, and then repeat step D104 until the remaining outgoing volume is equal to zero, at which point the material picking operation is determined to be completed.

[0015] Secondly, the present invention also proposes an automatic control method for a stacker-reclaimer, the method being as follows: Step S100: Based on the stored material data and the target material type, determine whether the material to be entered is a new type of stockpiled material, and generate a first stockpiling signal or a second stockpiling signal for the material to be entered based on the determination result, combined with the corresponding stockpiling volume of the already entered materials and the maximum storage volume of the stockpiling area. Step S200: Based on the input status data and the real-time volume of the materials already in the site, combined with the first stacking signal or the second stacking signal, perform a stacking operation on the materials to be in the site. Step S300: Analyze whether the materials that have entered the site need to be dried based on the stored material data and moisture content; Step S400: Take material from all stacking areas that have completed stacking operations based on storage time and the type of material leaving the stack.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. The present invention first generates a first stacking signal and a second stacking signal for the material to be delivered based on the stored material data and the target material type. Then, it performs stacking operation on the material to be delivered based on the total volume and remaining delivery volume of the material to be delivered, combined with the first stacking signal or the second stacking signal. This effectively adapts to the stacking requirements of different types of materials, improves the space utilization of the stacking area, and reduces the impact of mixed stacking of different types of materials on material quality. 2. This invention analyzes whether incoming materials need drying based on stored material data and moisture content. Then, it performs material retrieval operations on all stockpiling areas that have completed stockpiling operations based on storage time and type of outgoing materials. This is beneficial for handling materials whose stockpiling state has changed, avoiding the absorption of moisture and clumping of materials due to long-term stockpiling, which affects the quality of the materials. At the same time, it can prioritize the removal of materials with longer stockpiling time based on the material's stockpiling time requirements, avoiding the impact of material quality on the material's excessive storage time. Attached Figure Description

[0017] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0018] Figure 1 This is an overall system block diagram of the present invention; Figure 2 This is a flowchart illustrating the drying process in this invention. Figure 3 This is a flowchart of the method of the present invention. Detailed Implementation

[0019] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Example 1, please refer to Figure 1 and Figure 2As shown, the technical solution provided by the present invention is as follows: an automatic control system for a stacker-reclaimer. The system first determines whether there are any unfilled stacking areas in all stacking areas of the storage site. When there are unfilled stacking areas, the system sorts the stacking order of the materials to be received into the storage site according to the remaining volume of the unfilled stacking areas and generates a first stacking signal for the materials to be received. When there are no unfilled stacking areas, the materials to be received are stacked into a new stacking area and a second stacking signal for the materials to be received is generated. Then, the system performs stacking operations on the materials to be received based on the total volume of the materials to be received and the remaining volume of the materials to be received, combined with the first stacking signal or the second stacking signal. The system also analyzes whether the materials already received need to be dried based on the storage material data and moisture content. When all the materials already received do not need to be dried or have been dried, the system performs a material reclaiming operation on all stacking areas that have completed the stacking operation based on the storage time and the type of material to be removed. In this embodiment, the system includes a data acquisition module, a database module, a stockpile management module, a stockpile execution module, a status detection module, and a material handling execution module; Specifically, the data acquisition module is used to collect the target material type corresponding to the material to be stacked and sent the target material type to the stacking management module; In practice, staff can scan the QR code placed in front of the stacker-reclaimer to fill in the target material type corresponding to the material to be stacked. At the same time, the target material type corresponding to the material to be stacked can be obtained through sensors or barcode scanning. The target material type of the material to be stacked can be ore, building material, metallurgical material, high water content organic matter, hygroscopic and caking material, and easily oxidized material, etc. Only one target material type is included in each stacking operation. Specifically, the database module is used to store the storage data of the storage location to which the materials that have entered the site belong, and to send the storage data to the stacking management module, the stacking execution module and the status detection module; In practice, the stored material data includes the type of stored material, stacking volume and storage time of all materials that have entered the storage site in all stacking areas, as well as the maximum storage volume and area number of all stacking areas in the storage site. In practice, the stockpiling management module is used to generate a first stockpiling signal and a second stockpiling signal for materials to be delivered based on stored material data and target material type. The specific analysis process is as follows: Step A101: Obtain the target material type corresponding to the material to be stacked and enters the site, and at the same time obtain the storage material type corresponding to the material already entered in all stacking areas of the storage site, and compare the target material type with the storage material type. If any of the stored materials already in the site are the same type as the target material to be brought in, proceed to step A102. If there is no stored material of the same type as the target material to be stored among the materials already received, the material to be stored is determined to be a new type of stored material, and the process proceeds to step A105. Step A102: Obtain the maximum storage volume of the storage area corresponding to the same type of storage material as the target material in the storage location, as well as the stacking volume of the materials already in the corresponding stacking area. Subtract the stacking volume from the maximum storage volume to calculate the remaining volume of the corresponding stacking area. Step A103: Compare the remaining volume of the stockpile area with the volume threshold. When the remaining volume of the stockpiling area is greater than or equal to the volume threshold, the corresponding stockpiling area is determined to be an incomplete stockpiling area. When the remaining volume of the stockpiling area is less than the volume threshold, the corresponding stockpiling area is determined to be a full stockpiling area. Step A104: If any stockpiling area is not full, sort all stockpiling areas in descending order according to the remaining volume to obtain the stockpiling order of the stockpiling area for the material to be entered into the storage site, and generate the first stockpiling signal for the material to be entered. If all stockpiling areas are full, obtain the area number of all stockpiling areas in the storage area, retrieve the maximum value of the area number corresponding to the stockpiling area where the material has entered the site, increment the area number of the stockpiling area after the material to be entered the storage site based on the maximum value of the area number, and generate the second stockpiling signal of the material to be entered. For example, if the maximum value of the area number is N-1, and the corresponding stockpile area is a full stockpile area, then the new stockpile area number corresponding to the material to be delivered is N. Step A105: Obtain the area number of the stacking area corresponding to all unstored materials in the storage site, sort the area numbers in ascending order, select the stacking area with the smallest number as the stacking area of ​​the material to be delivered, and generate the second stacking signal of the material to be delivered. The material stacking management module sends the first or second stacking signal of the material to be delivered to the material stacking execution module.

[0021] As a further embodiment, the data acquisition module is also used to acquire the total volume and remaining entry volume of the material to be entered, and send the total volume and remaining entry volume of the material to be entered to the stacking execution module. In practice, the real-time volume of the stockpiling area can be collected by a laser scanner; the spatial contour data of the surface of the materials already in the stockpiling area can be obtained by the laser scanner set up in the storage area, and a three-dimensional model of the stockpiled materials can be constructed based on the spatial contour data obtained by scanning. Then, the occupied volume of the materials already in the stockpiling area can be calculated, and the occupied volume can be used as the real-time volume of the materials already in the stockpiling area. Specifically, the stacking execution module is used to perform stacking operations on the materials to be received based on the total volume and remaining volume of the materials to be received, and in conjunction with a first stacking signal or a second stacking signal. The analysis process is as follows: Step B101: When the first stacking signal is received, the corresponding traveling mechanism, pitching mechanism and slewing mechanism of the stacker-reclaimer used to transport the material to be delivered to the stacking area are moved by controlling the movement of these mechanisms. The bucket wheel mechanism is moved to the top of the material already delivered in the stacking area. The actual distance between the bottom of the bucket wheel mechanism and the highest point of the material already delivered is detected by visual inspection technology. When the actual distance is equal to the fixed discharge height, the adjustment of the bucket wheel mechanism is stopped. Then the stacker-reclaimer is started and the stacking operation is performed, and the process proceeds to step B103. In practice, visual inspection technology uses an industrial camera installed under the bucket wheel mechanism to capture images of the top surface of the material piled up. Combined with preset depth calibration parameters, the distance between the highest point of the material and the installation position of the industrial camera can be extracted through image recognition algorithms, and the actual distance between the bottom of the bucket wheel mechanism and the highest point of the material can be calculated. Step B102: When the second stacking signal is received, the bucket wheel mechanism is adjusted to a fixed height above the center of the ground in the stacking area by controlling the movement of the walking mechanism, pitching mechanism and slewing mechanism of the stacker-reclaimer. Then the stacker-reclaimer is started and the stacking operation is performed, and then the process proceeds to step B103. Step B103: When the material to be entered is input into the stacking area by the stacker-reclaimer, the total volume and remaining entry volume of the material to be entered, as well as the stacking volume of the material already entered, are obtained. The total volume of the material to be entered is subtracted from the remaining entry volume and then the stacking volume of the material already entered is added to calculate the real-time volume of the material already entered in the stacking area. Step B104: When the real-time volume of the material already in the stockpiling area is less than the maximum storage volume, and the remaining volume of the material to be stockpiled is equal to zero, it is determined that the stockpiling operation of the material to be stockpiled has been completed. When the real-time volume of the material already in the stockpiling area is less than the maximum storage volume, and the remaining volume of the material to be stockpiled is greater than zero, the material to be stockpiled will continue to be stockpiled into the corresponding stockpiling area. When the real-time volume of the material already in the stockpiling area is equal to the maximum storage volume, and the remaining volume of the material to be stockpiled is equal to zero, the stockpiling operation of the material to be stockpiled is determined to be completed. When the real-time volume of the material already in the stockpile area is equal to the maximum storage volume, and the remaining volume of the material to be entered is greater than zero, proceed to step B105. Step B105: Select the next stacking area according to the stacking sequence of the material to be entered into the storage area, and then repeat step B104 until the remaining volume of the material to be entered is equal to zero. When the material to be entered is determined to have completed the stacking operation, the time corresponding to the completion of the stacking operation is recorded as the storage time of the material already entered in the corresponding stacking area, and the corresponding stacking area generates a completion stacking signal. The stacking execution module sends the storage time of the stacking area to the database module and sends the stacking completion signal to the material retrieval execution module.

[0022] As a further embodiment, the data acquisition module is also used to collect the moisture content of the materials that have entered the stockpile area and send the moisture content of the materials to the status monitoring module. Specifically, the moisture content of materials already in the stockpiling area can be obtained using an infrared moisture detector; in practice, multiple detection points are set up inside the materials already in the stockpiling area, and the average value of the moisture content collected from all detection points is taken as the moisture content of the materials already in the corresponding stockpiling area. The status detection module is used to analyze whether the materials that have entered the site need to be dried based on the stored material data and moisture content. The specific analysis process is as follows: Step C101: Obtain the storage time of all stockpiling areas and the current time. Subtract the storage time from the current time to calculate the storage duration of the corresponding stockpiling area. Step C102: Obtain the moisture content HS of all materials that have entered the stockpile area, compare the moisture content with the moisture content threshold SY, and compare the storage time ZC with the safe storage time AQ. When the moisture content of the material that has entered the site is greater than or equal to the moisture content threshold, or the storage time is greater than or equal to the safe storage time, the corresponding stockpile area is marked as a high-risk stockpile area and the process proceeds to step C103. No operation shall be performed when the moisture content of the materials already in the site is less than the moisture content threshold and the storage time is less than the safe storage time. It should be specifically noted that when the moisture content of the materials already delivered is greater than or equal to the moisture content threshold, the high moisture content materials are prone to seepage and clumping, which alters the material properties and affects subsequent use. At the same time, easily oxidizable materials may undergo oxidation reactions due to excessive moisture content, causing the stockpile to heat up. This embodiment only analyzes the moisture content of the materials already delivered. In actual storage, the analysis can also be performed based on parameters such as the temperature and volatile gas concentration of the materials already delivered. Step C103: Calculate the risk value FXi of the high-risk stockpile area using the formula, where i is the number of the high-risk stockpile area, i = 1, 2, ..., n, and n is a positive integer. The specific formula is as follows: FXi=[|HSi-SY| / SY]+[(|ZCi-AQ| / AQ], where HSi is the moisture content of the materials already in the high-risk stockpile area, and ZCi is the storage time of the materials already in the high-risk stockpile area; Step C104, as follows Figure 2 As shown, the high-risk stockpiling areas are sorted in descending order according to their risk values. The materials already in the first-ranked high-risk stockpiling area are transferred to the stockpiling area where no materials are stored. Then, the first-ranked high-risk stockpiling area is dried. In practice, the drying process involves hot air drying using a dryer installed above the stockpile; materials already in the stockpile can be transferred using a stacker-reclaimer. Step C105: Transfer the materials already in the second-ranked high-risk stockpile area to the first-ranked high-risk stockpile area, and dry the second-ranked high-risk stockpile area until all high-risk stockpile areas have been dried. Step C106: Repeat step C102 to test the moisture content of all high-risk stockpiles again. When the moisture content of all high-risk stockpiles is less than the moisture content threshold, stop the drying process. The status detection module sends the storage duration of all materials already in the stockpiling area to the material retrieval execution module.

[0023] As a further embodiment, the data acquisition module is also used to collect the type of outgoing material corresponding to the outgoing material that needs to be picked up, and send the type of outgoing material to the picking execution module; The material retrieval module is used to perform material retrieval operations on all material stacking areas that have completed stacking operations, based on the storage duration and the type of material leaving the site. The material retrieval process is as follows: Step D101: Obtain the outgoing material types of all outgoing materials, select the storage material types that include the outgoing material types and generate a completed stacking signal, and record the corresponding stacking area as a candidate material retrieval area. Step D102: Obtain the storage time of all materials already in the candidate material collection areas, and select the candidate material collection area corresponding to the first-ranked material as the target material collection area according to the storage time from largest to smallest. Step D103: The stacker-reclaimer is used to retrieve the materials already in the target reclaiming area. The specific reclaiming operation is as follows: By controlling the walking mechanism, pitching mechanism and slewing mechanism of the stacker-reclaimer, the bucket wheel mechanism is moved to the starting position of the target material reclaiming area. Then, the bucket wheel mechanism is started to cut the material that has entered the site. The cut material is then transferred to the belt conveyor for output through the scraper mechanism to complete the material reclaiming. Step D104: Obtain the stacking volume of materials already in the stockpiling area and the remaining exit volume of materials exiting the stockpiling area. The material handling operation is considered complete when the stacked volume is greater than or equal to zero and the remaining output volume is equal to zero. When the stacking volume is equal to zero and the remaining exit volume is greater than zero, proceed to step D105; When the stacked volume is greater than zero and the remaining output volume is greater than zero, the material handling operation is determined to be incomplete, and the material handling operation continues. In step D105, select the candidate material picking area corresponding to the material that has entered the site with the second longest storage time as the target material picking area, and then repeat step D104 until the remaining outgoing volume is equal to zero, at which point the material picking operation is determined to be completed.

[0024] Example 2, please refer to Figure 3 As shown, based on another concept of the same invention, an automatic control method for a stacker-reclaimer is proposed, comprising the following steps: Step S100: Based on the stored material data and the target material type, determine whether the material to be entered is a new type of stockpiled material, and generate a first stockpiling signal or a second stockpiling signal for the material to be entered based on the determination result, combined with the corresponding stockpiling volume of the already entered materials and the maximum storage volume of the stockpiling area. Step S200: Based on the input status data and the real-time volume of the materials already in the site, combined with the first stacking signal or the second stacking signal, perform a stacking operation on the materials to be in the site. Step S300: Analyze whether the materials that have entered the site need to be dried based on the stored material data and moisture content; Step S400: Take material from all stacking areas that have completed stacking operations based on storage time and the type of material leaving the stack.

[0025] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to any specific implementation. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. An automatic control system for a stacker-reclaimer, characterized in that, include: The data acquisition module is used to collect the target material type corresponding to the materials to be stacked and brought into the site. The database module is used to store data on the storage locations of the materials that have entered the site; The material stacking management module is used to generate the first stacking signal and the second stacking signal for materials to be delivered based on stored material data and target material type. The specific working process of the material stacking management module is as follows: Step A101: Obtain the target material type corresponding to the material to be stacked and enters the site, and at the same time obtain the storage material type corresponding to the material already entered in all stacking areas of the storage site, and compare the target material type with the storage material type. If any of the stored materials already in the site are the same type as the target material to be brought in, proceed to step A102. If there is no stored material of the same type as the target material to be stored among the materials already received, the material to be stored is determined to be a new type of stored material, and the process proceeds to step A105. Step A102: Obtain the maximum storage volume of the storage area corresponding to the same type of storage material as the target material in the storage location, as well as the stacking volume of the materials already in the corresponding stacking area. Subtract the stacking volume from the maximum storage volume to calculate the remaining volume of the corresponding stacking area. Step A103: Compare the remaining volume of the stockpile area with the volume threshold. When the remaining volume of the stockpiling area is greater than or equal to the volume threshold, the corresponding stockpiling area is determined to be an incomplete stockpiling area. When the remaining volume of the stockpiling area is less than the volume threshold, the corresponding stockpiling area is determined to be a full stockpiling area. Step A104: If any stockpiling area is not full, sort all stockpiling areas in descending order according to the remaining volume to obtain the stockpiling order of the stockpiling area for the material to be entered into the storage site, and generate the first stockpiling signal for the material to be entered. If all stockpiling areas are full, obtain the area number of all stockpiling areas in the storage area, retrieve the maximum value of the area number corresponding to the stockpiling area where the material has entered the site, increment the area number of the stockpiling area after the material to be entered the storage site based on the maximum value of the area number, and generate the second stockpiling signal of the material to be entered. Step A105: Obtain the area number of the stacking area corresponding to all unstored materials in the storage site, sort the area numbers in ascending order, select the stacking area with the smallest number as the stacking area of ​​the material to be delivered, and generate the second stacking signal of the material to be delivered. The data acquisition module is also used to collect the total volume and remaining volume of materials to be received; The stacking execution module is used to perform stacking operations on the materials to be delivered based on the total volume and remaining delivery volume of the materials to be delivered, and in conjunction with the first stacking signal or the second stacking signal. The module sends the storage time of the stacking area to the database module and the completed stacking signal generated by the work to the material retrieval execution module. The data acquisition module is also used to collect the moisture content of materials that have entered the stockpile area; The status detection module is used to analyze whether the materials that have entered the site need to be dried based on the stored material data and moisture content, and to send the storage time of all materials that have entered the site in the stacking area to the material retrieval execution module. The data acquisition module is also used to collect the types of materials that need to be picked up from the outgoing materials. The material retrieval execution module is used to perform material retrieval operations on all material stacking areas that have completed stacking operations, based on the storage time and the type of material leaving the site.

2. The automatic control system for a stacker-reclaimer according to claim 1, characterized in that, The stored material data includes the type of stored material, stacking volume and storage time of all materials that have entered the storage site in all stacking areas, as well as the maximum storage volume and area number of all stacking areas in the storage site.

3. The automatic control system for a stacker-reclaimer according to claim 1, characterized in that, The specific working process of the material stacking execution module is as follows: Step B101: When the first stacking signal is received, the corresponding traveling mechanism, pitching mechanism and slewing mechanism of the stacker-reclaimer used to transport the material to be delivered to the stacking area are moved by controlling the movement of these mechanisms. The bucket wheel mechanism is moved to the top of the material already delivered in the stacking area. The actual distance between the bottom of the bucket wheel mechanism and the highest point of the material already delivered is detected by visual inspection technology. When the actual distance is equal to the fixed discharge height, the adjustment of the bucket wheel mechanism is stopped. Then the stacker-reclaimer is started and the stacking operation is performed, and the process proceeds to step B103. Step B102: When the second stacking signal is received, the bucket wheel mechanism is adjusted to a fixed height above the center of the ground in the stacking area by controlling the movement of the walking mechanism, pitching mechanism and slewing mechanism of the stacker-reclaimer. Then the stacker-reclaimer is started and the stacking operation is performed, and then the process proceeds to step B103. Step B103: When the material to be received is input into the stacking area by the stacker-reclaimer, the total volume and remaining volume of the material to be received, as well as the stacking volume of the material already received, are obtained. The total volume of the material to be received is subtracted from the remaining volume of the material to be received, and then the stacking volume of the material already received is added to calculate the real-time volume of the material already received in the stacking area.

4. The automatic control system for a stacker-reclaimer according to claim 3, characterized in that, The working process of the material stacking execution module also includes: Step B104: When the real-time volume of the material already in the stockpiling area is less than the maximum storage volume, and the remaining volume of the material to be stockpiled is equal to zero, it is determined that the stockpiling operation of the material to be stockpiled has been completed. When the real-time volume of the material already in the stockpiling area is less than the maximum storage volume, and the remaining volume of the material to be stockpiled is greater than zero, the material to be stockpiled will continue to be stockpiled into the corresponding stockpiling area. When the real-time volume of the material already in the stockpiling area is equal to the maximum storage volume, and the remaining volume of the material to be stockpiled is equal to zero, the stockpiling operation of the material to be stockpiled is determined to be completed. When the real-time volume of the material already in the stockpile area is equal to the maximum storage volume, and the remaining volume of the material to be entered is greater than zero, proceed to step B105. Step B105: Select the next stacking area according to the stacking sequence of the materials to be entered into the storage area, and then repeat step B104 until the remaining volume of the materials to be entered is equal to zero. When the stacking operation is completed, the materials to be entered are determined to have completed the stacking operation. The time corresponding to the completion of the stacking operation is recorded as the storage time of the materials already entered in the corresponding stacking area. At the same time, the corresponding stacking area generates a completion stacking signal.

5. The automatic control system for a stacker-reclaimer according to claim 1, characterized in that, The working process of the status detection module is as follows: Step C101: Obtain the storage time of all stockpiling areas and the current time. Subtract the storage time from the current time to calculate the storage duration of the corresponding stockpiling area. Step C102: Obtain the moisture content HS of all materials that have entered the stockpile area, compare the moisture content with the moisture content threshold SY, and compare the storage time ZC with the safe storage time AQ. When the moisture content of the material that has entered the site is greater than or equal to the moisture content threshold, or the storage time is greater than or equal to the safe storage time, the corresponding stockpile area is marked as a high-risk stockpile area and the process proceeds to step C103. No operation shall be performed when the moisture content of the materials already in the site is less than the moisture content threshold and the storage time is less than the safe storage time. Step C103: Calculate the risk value of the high-risk stockpile area.

6. The automatic control system for a stacker-reclaimer according to claim 5, characterized in that, The operation of the state detection module also includes: Step C104: Sort the high-risk stockpiling areas in descending order according to the risk value, transfer the materials already in the first-ranked high-risk stockpiling area to the stockpiling area without stored materials, and then dry the first-ranked high-risk stockpiling area. Step C105: Transfer the materials already in the second-ranked high-risk stockpile area to the first-ranked high-risk stockpile area, and dry the second-ranked high-risk stockpile area until all high-risk stockpile areas have been dried. Step C106: Repeat step C102 to test the moisture content of all high-risk stockpiles again. When the moisture content of all high-risk stockpiles is less than the moisture content threshold, stop the drying process.

7. The automatic control system for a stacker-reclaimer according to claim 1, characterized in that, The material handling process of the material handling execution module is as follows: Step D101: Obtain the outgoing material types of all outgoing materials, select the storage material types that include the outgoing material types and generate a completed stacking signal, and record the corresponding stacking area as a candidate material retrieval area. Step D102: Obtain the storage time of all materials already in the candidate material collection areas, and select the candidate material collection area corresponding to the first-ranked material as the target material collection area according to the storage time from largest to smallest. Step D103: The stacker-reclaimer is used to reclaim the materials that have entered the target reclaiming area. Step D104: Obtain the stacking volume of materials already in the stockpiling area and the remaining exit volume of materials exiting the stockpiling area. The material handling operation is considered complete when the stacked volume is greater than or equal to zero and the remaining output volume is equal to zero. When the stacking volume is equal to zero and the remaining exit volume is greater than zero, proceed to step D105; When the stacked volume is greater than zero and the remaining output volume is greater than zero, the material handling operation is determined to be incomplete, and the material handling operation continues. In step D105, select the candidate material picking area corresponding to the material that has entered the site with the second longest storage time as the target material picking area, and then repeat step D104 until the remaining outgoing volume is equal to zero, at which point the material picking operation is determined to be completed.

8. An automatic control method for a stacker-reclaimer, characterized in that, Based on any one of claims 1-7, the automatic control system for a stacker-reclaimer comprises the following method: Step S100: Based on the stored material data and the target material type, determine whether the material to be entered is a new type of stockpiled material, and generate a first stockpiling signal or a second stockpiling signal for the material to be entered based on the determination result, combined with the corresponding stockpiling volume of the already entered materials and the maximum storage volume of the stockpiling area. Step S200: Based on the input status data and the real-time volume of the materials already in the site, combined with the first stacking signal or the second stacking signal, perform a stacking operation on the materials to be in the site. Step S300: Analyze whether the materials that have entered the site need to be dried based on the stored material data and moisture content; Step S400: Take material from all stacking areas that have completed stacking operations based on storage time and the type of material leaving the stack.

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