Laser radar disc coal bucket wheel reclaimer with fusion sensing function

Abstract

The utility model relates to the technical field of bucket wheel machines, in particular to a laser radar disk coal bucket wheel reclaimer with fusion sensing, which comprises a bucket wheel and a first radar component fixed on the bucket wheel. The bucket wheel comprises a bucket wheel body, a plurality of buckets and a baffle, the buckets are arranged on the outer surface of the bucket wheel body, and gaps are formed in the junctions of the buckets and the bucket wheel body and serve as discharging ports; the baffle and the inner surface, with the preset arc length, of the bucket wheel body are arranged in a sliding mode so as to block a discharging opening, rotating upwards, of the bucket. The detection face of the first radar assembly faces the bucket located on the adjacent side of the bucket located at the lowest point of the bucket wheel body so as to detect the volume of materials in the bucket, and the bucket on the adjacent side has the trend of moving upwards.

Description

Technical Field

[0001] The utility model relates to the technical field of bucket wheel machines, in particular to a bucket wheel reclaimer with a laser radar for coal yard inventory taking and integrated sensing. Background Art

[0002] At present, as a key device in bulk material handling operations, the material taking efficiency and accuracy of the bucket wheel reclaimer directly affect the smoothness of the overall production process and economic benefits. However, the current material taking method mainly relies on the real-time feedback data of the cantilever belt scale, and controls the material taking tonnage by monitoring and adjusting the rotation speed of the bucket wheel reclaimer. Although this method realizes automatic operation to a certain extent, it exposes significant limitations in practical applications. When the bucket wheel reclaimer rotates at a constant speed for material taking operations, relying solely on the feedback adjustment of the cantilever belt scale often makes it difficult to ensure the accuracy of material taking. The main reasons for inaccurate material taking are twofold: Firstly, when the material falls onto the cantilever belt scale instantaneously, the pressure will be relatively large, which may cause inaccurate calculation by the cantilever belt scale; Secondly, when the cantilever belt scale detects that the material taking amount is approaching the expected value, it will control the number of rotations of the bucket wheel reclaimer to continue rotating according to the rotation speed of the bucket wheel reclaimer and the mass of the material that the bucket can take. However, due to changes in factors such as the density, shape, and surface friction coefficient of the material pile, the amount of material taken by the bucket each time is not exactly the same and may vary. Therefore, when taking materials in the existing manner, it is easy to cause a large error between the actual material taking amount and the expected material taking amount, which affects the processing efficiency of subsequent processes and product quality. Therefore, there is a problem of a large error between the actual material taking amount and the expected material taking amount when the existing bucket wheel reclaimer takes materials.

[0003] In view of this, overcoming the defects of this prior art is an urgent problem to be solved in this technical field. Summary of the Utility Model

[0004] The technical problem to be solved by the utility model is that there is a problem of a large error between the actual material taking amount and the expected material taking amount when the existing bucket wheel reclaimer takes materials.

[0005] The utility model adopts the following technical solutions:

[0006] In the first aspect, the utility model provides a bucket wheel reclaimer with a laser radar for coal yard inventory taking and integrated sensing, including: a bucket wheel 1 and a first radar assembly 2, and the first radar assembly 2 is fixed on the bucket wheel 1;

[0007] The bucket wheel 1 includes a bucket wheel body 10, a plurality of buckets 11 and a baffle 12. A plurality of buckets 11 are arranged on the outer surface of the bucket wheel body 10. There is a notch at the junction of the bucket 11 and the bucket wheel body 10 to serve as a discharge port;

[0008] The baffle 12 is slidably arranged on the inner surface of the preset arc length of the bucket wheel body 10 to block the discharge port of the bucket 11 that rotates upward.

[0009] The detection surface of the first radar component 2 faces the bucket 11 on the adjacent side of the bucket 11 at the lowest point of the bucket wheel body 10 to detect the volume of the material in the bucket 11, and the bucket 11 on the adjacent side has a tendency to move upward.

[0010] Preferably, the bucket wheel body 10 includes two relatively arranged circular ring frames 101, and a plurality of cross beams 102 are arranged between the two circular ring frames 101 to divide a plurality of installation slots 100. The bucket 11 is installed on the installation slot 100. The tail of the bucket 11 is fixedly connected to the cross beam 102, and both sides of the bucket 11 are fixedly connected to the circular ring frame 101 respectively.

[0011] Preferably, it includes a connecting frame 121. The connecting frame 121 and the baffle 12 are connected by a hinge, and the first radar component 2 is fixedly connected to the connecting frame 121.

[0012] Preferably, the first radar component 2 includes a first fixing frame 20 and a first lidar 21. The first fixing frame 20 includes a first fixed end 201 and a first connecting end 202. The first fixed end 201 is fixedly connected to the connecting frame 121, and the first connecting end 202 is connected to the first lidar 21 by a hinge.

[0013] Preferably, an outer shell 210 is arranged outside the first lidar 21. The outer shell 210 is fixedly connected to one of the hinge units of the hinge; an installation piece 211 is arranged on the hinge unit, and the outer shell 210 is fixedly connected to the installation piece 211.

[0014] Preferably, the bucket wheel reclaimer with integrated sensing lidar further includes a funnel 4 and a conveyor belt 5. The funnel 4 is arranged above the conveyor belt 5 and is directly below the highest point of the bucket wheel body 10. The funnel 4 is fixed to the steel beams on both sides of the conveyor belt 5, and the funnel 4 is used to guide the material in the bucket 11 to fall onto the conveyor belt 5.

[0015] Preferably, it further includes: a second radar component 3. The second radar component 3 is used to identify the volume of the stockpile. The second radar component 3 includes a connecting column 30 and a second lidar 31. One end of the connecting column 30 is fixedly connected to the second lidar 31, and the other end of the connecting column 30 is connected to a bearing component.

[0016] Preferably, the bearing member is a slider 601. A slide rail 60 is provided at the top of the silo 6. The slide rail 60 is fixedly connected to the steel frame at the top of the silo 6. The other end of the connecting column 30 is fixedly connected to a slider 601, and the slider 601 is slidably connected to the slide rail 60.

[0017] Preferably, the bearing member is a drone 7, and the other end of the connecting column 30 is fixedly connected to the drone 7.

[0018] Preferably, the bucket wheel body 10 is circular, the circumference of the bucket wheel body 10 is C, and the arc length range of the baffle 12 is

[0019] Compared with the prior art, the beneficial effects of the present utility model are as follows: Compared with the prior art in which a cantilever belt scale is used to feedback the material taking quality, by providing a first radar component 2 on the bucket wheel 1, and the detection surface of the first radar component 2 faces the bucket 11 that has an upward movement trend and is close to the lowest point of the bucket wheel body 10. After the bucket 11 shovels the material, the volume of the material in the bucket 11 is recognized in real time, and the mass of the material in each bucket 11 can be accurately obtained, so as to calculate the total mass of the material taking, avoiding the situation that when using a cantilever belt scale to weigh the material, the total mass of the material has reached the expected mass, but the bucket wheel 1 is still continuously taking material, resulting in excessive material taking. Moreover, by calculating the mass of the material in each bucket 11 separately, it also overcomes the situation of insufficient material taking caused by the fact that when using a cantilever belt scale for weighing, due to the large gravity generated at the moment when the material drops, the actual mass weighed by the cantilever belt scale is less than the value feedback by the weighing, resulting in insufficient material taking. Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings required to be used in the embodiments of the present utility model will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 It is a schematic diagram of the overall structure of a bucket wheel reclaimer with integrated sensing lidar for coal yard

[0022] Figure 2 It is a schematic diagram of the bucket wheel of a bucket wheel reclaimer with integrated sensing lidar for coal yard provided by an embodiment of the present utility model;

[0023] Figure 3 It is a schematic diagram of the funnel and conveyor belt of a bucket wheel reclaimer with integrated sensing lidar for coal yard provided by an embodiment of the present utility model;

[0024] Figure 4 It is a schematic diagram of a baffle of the prior art of a bucket wheel reclaimer with integrated sensing lidar provided by an embodiment of the present invention;

[0025] Figure 5 It is a schematic diagram of the overall structure of a bucket wheel reclaimer with integrated sensing lidar provided by an embodiment of the present invention;

[0026] Figure 6 It is a schematic diagram of an installation slot of a bucket wheel reclaimer with integrated sensing lidar provided by an embodiment of the present invention;

[0027] Figure 7 It is a schematic diagram of a fixing bolt and a fixing nut of a bucket wheel reclaimer with integrated sensing lidar provided by an embodiment of the present invention;

[0028] Figure 8 It is a schematic diagram of a second radar assembly of a bucket wheel reclaimer with integrated sensing lidar arranged on the top of a silo;

[0029] Figure 9 It is a schematic diagram of a second radar assembly of a bucket wheel reclaimer with integrated sensing lidar arranged at the bottom of a drone.

[0030] Among them, the reference numerals are:

[0031] 1 - bucket wheel, 10 - bucket wheel body, 100 - installation slot, 101 - circular ring frame, 102 - cross beam, 11 - bucket, 12 - baffle, 121 - connecting frame, 2 - first radar assembly, 20 - first fixing frame, 201 - first fixed end, 202 - first connecting end, 203 - fixing bolt, 204 - fixing nut, 21 - first lidar, 210 - housing, 211 - mounting plate, 3 - second radar assembly, 30 - connecting column, 31 - second lidar, 4 - funnel, 5 - conveyor belt, 6 - silo, 60 - slide rail, 7 - drone. Detailed implementation manners

[0032] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0033] Unless the context otherwise requires, throughout the specification and claims, the term "comprising" is to be construed in an open, inclusive sense, i.e., "including, but not limited to". In the description of the specification, the terms "one embodiment", "some embodiments", "exemplary embodiments", "examples", "specific examples", or "some examples", etc. are intended to indicate that specific features, structures, materials, or characteristics related to the embodiment or example are included in at least one embodiment or example of the present disclosure. The schematic representations of the above terms do not necessarily refer to the same embodiment or example. In addition, the specific features, structures, materials, or characteristics may be included in any one or more embodiments or examples in any appropriate manner, that is, although they are carried in the embodiments or examples of the above terms due to reasons such as the order and position of appearance, they are not limited to being carried by one embodiment or example in a combined manner.

[0034] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present disclosure.

[0035] In the description of the present utility model, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present disclosure, unless otherwise specified, the meaning of "a plurality" is two or more. In addition, for example, in the description, for the same type of nouns, the method of adding "A" and "B" at the end is used to describe them as two independent individuals. In this case, the features defined with "A" and "B" are only used for the purpose of distinguishing the same type of individuals and cannot be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features.

[0036] In the description of some embodiments, expressions such as "coupled", "coupling", and "connected" and their derivatives may be used. For example, in the description of some embodiments, the term "connected" may be used to indicate that two or more components have direct physical contact or electrical contact with each other. Another example is that in the description of some embodiments, the term "coupled" may be used to indicate that two or more components have direct physical contact or electrical contact. However, the term "connected" or "coupled" may also mean that two or more components do not have direct contact with each other, but still cooperate or interact with each other, such as "optical path coupling", "wireless connection", etc. The embodiments disclosed herein are not necessarily limited to the content of the present invention.

[0037] In the description of the present invention, the expression "A and / or B" (where A and B are used to formally represent specific feature contents) will be involved. The corresponding expression includes the following three combinations: only A, only B, and the combination of A and B.

[0038] As used in the present invention, "about", "substantially", or "approximate" includes the stated value and the average value within an acceptable deviation range of the specific value, where the acceptable deviation range is determined by a person of ordinary skill in the art considering the measurement being discussed and the error associated with the measurement of a specific quantity (i.e., the limitations of the measurement system).

[0039] In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0040] Embodiment 1:

[0041] Embodiment 1 of the present invention provides a laser radar coal bucket wheel reclaimer with fusion sensing, as Figure 1 and Figure 2 shown, including: a bucket wheel 1 and a first radar assembly 2, the first radar assembly 2 being fixed on the bucket wheel 1; the bucket wheel 1 includes a bucket wheel body 10, a plurality of buckets 11 and a baffle 12, the plurality of buckets 11 are arranged on the outer surface of the bucket wheel body 10, and there is a notch at the junction of the bucket 11 and the bucket wheel body 10 to serve as a discharge port; the baffle 12 is slidably arranged on the inner surface of a preset arc length of the bucket wheel body 10 to block the discharge port of the bucket 11 that rotates upward; the detection surface of the first radar assembly 2 faces the bucket 11 adjacent to the bucket 11 at the lowest point of the bucket wheel body 10 to detect the volume of the material in the bucket 11, and the adjacent bucket 11 has a tendency to move upward.

[0042] Among them, the bucket wheel body 10 is provided with an inner frame (not shown in the figure), the inner frame is fixed, and the baffle 12 is fixed to the inner frame. Therefore, the baffle 12 is slidably arranged on the inner surface of the bucket wheel body 10 with a preset arc length. Specifically, the baffle 12 is fixed, and the bucket wheel body 10 rotates. As a result, when the bucket 11 runs upward, the baffle 12 closes the inner side of the bucket 11 to prevent the material from falling out of the bucket 11. Specifically, the lower end of the baffle 12 with the preset arc length is close to the lowest point of the bucket wheel body 10, and the upper end is close to the highest point of the bucket wheel body 10. At the same time, a detection area for the first radar component 2 needs to be reserved at the lower end of the baffle 12 without blocking the detection range of the first radar component 2.

[0043] In one embodiment, the bucket wheel body 10 is circular, the circumference of the bucket wheel body 10 is C, and the arc length range of the baffle 12 is

[0044] In addition to the first radar component 2, to realize the automation of the bucket wheel machine for material taking, the bucket wheel machine further includes a second radar component 3. The second radar component 3 is used to identify the volume of the stockpile. The second radar component 3 is arranged on the top of the silo 6 or on the unmanned aerial vehicle 7 (such as Figure 9 shown) to monitor the volume of the stockpile in real time.

[0045] Among them, the first radar component 2 includes a first lidar 21 (such as Figure 6 ), and the second radar component 3 includes a second lidar 31 (such as Figure 8 ). The first lidar 21 and the second lidar 31 are connected to the integrated server. The first lidar 21 is used to identify the point cloud data of the material in the bucket 11, so that the integrated server can calculate the volume according to the point cloud data. The second lidar 31 is used to identify the point cloud data of the stockpile in the warehouse, so that the integrated server can calculate the volume according to the point cloud data.

[0046] Compared with the prior art in which a cantilever belt scale is used to feedback the material taking quality, by setting the first radar component 2 on the bucket wheel 1 to identify the volume of the material in the bucket 11 in real time, the mass of the material in each bucket 11 can be obtained faster, so as to calculate the total mass of the material taking, avoiding the situation that when using the cantilever belt scale to weigh the material, the total mass of the material has reached the expected mass, but the bucket wheel 1 is still continuously taking material, resulting in excessive material taking. Moreover, by calculating the mass of the material in each bucket 11 separately, the situation of insufficient material taking caused by using the cantilever belt scale for weighing can also be overcome. In the preferred scheme, by setting the second radar component 3 to identify the volume of the stockpile and combining it with the volume of the material in the bucket 11 identified by the first radar component 2, the working state of the bucket wheel 1 can be adjusted and controlled in real time according to the above data, which plays a positive role in improving the material taking efficiency of the bucket wheel machine.

[0047] To improve the efficiency of material extraction, when it is recognized that the volume of the material in the bucket 11 is too small (or the height of the material in the bucket 11 is too large compared to the distance from the edge of the bucket 11), the integrated server determines whether the height of the stockpile allows the bucket wheel 1 to descend a certain distance based on the volume information of the stockpile transmitted back by the second lidar 31, so that the bucket 11 can collect more materials at one time. If the volume of the stockpile is too small and the height is too low, the bucket wheel 1 will not descend; if the volume of the stockpile is large and the height is high, the bucket wheel 1 can be allowed to descend a certain distance.

[0048] In addition to the above structure, to enable the materials collected by the bucket 11 to fall on the conveyor belt, as Figure 3 shown, the lidar bucket wheel reclaimer with integrated sensing further includes a funnel 4 and a conveyor belt 5. The funnel 4 is arranged above the conveyor belt 5 and directly below the highest point of the bucket wheel body 10. The funnel 4 is fixed to the steel beams on both sides of the conveyor belt 5, and the funnel 4 is used to guide the materials in the bucket 11 to fall on the conveyor belt 5.

[0049] According to the above structure, a first radar component 2 is arranged on the bucket wheel 1, and a second radar component 3 is arranged on the top of the bunker 6. The two work together to judge the material extraction situation of the reclaimer based on the volume of the material in the bucket 11 identified by the first radar component 2, and based on the volume of the stockpile identified by the second radar component 3 and the distance relationship between the bucket wheel 1 and the stockpile. If the volume of the material in the bucket 11 is too small and the height of the stockpile is within the allowable range for the bucket wheel 1 to continue descending, the bucket wheel 1 is lowered so that the bucket 11 can collect more materials, thereby improving the material extraction efficiency and uniformity of the reclaimer. Moreover, by identifying the volume of the material in the bucket 11 through the first radar component 2 and identifying the volume of the stockpile and the distance relationship between the bucket wheel 1 and the stockpile through the second radar component 3, real-time monitoring and accurate analysis of the stockpile state are realized, and then the material extraction parameters of the reclaimer are dynamically adjusted to ensure the stability, efficiency and safety of the material extraction process. A feedback control is formed among the first radar component 2, the second radar component 3 and the bucket wheel 1, improving the automation level of the bucket wheel 1 reclaimer.

[0050] Regarding the baffle 12 inside the bucket wheel body 10, as Figure 4 shown, it is the form of the baffle 12 adopted by the traditional bucket wheel 1. In the embodiment of the present invention, since the first radar component 2 needs to be installed on a fixed object and the laser signal of the first lidar 21 needs to be shot into the bucket 11 without being blocked, and at the same time, the installation of the radar cannot hinder the normal operation of the reclaimer. Based on this, the embodiment of the present invention improves the form of the traditional baffle 12 by cutting off a part of the lower end of the baffle 12 (as Figure 4As shown in the dashed box, the detection port of the first lidar 21 is not blocked, and at the same time, removing this part will not cause the materials in the bucket 11 to fall out. The baffle 12 is fixedly arranged and will not rotate with the rotation of the bucket wheel 1.

[0051] As Figure 5 shown, the bucket wheel body 10 includes two relatively arranged circular ring frames 101. A plurality of cross beams 102 are arranged between the two circular ring frames 101 to divide out a plurality of installation slots 100. The bucket 11 is installed on the installation slots 100. The tail of the bucket 11 is fixedly connected to the cross beam 102, and both sides of the bucket 11 are fixedly connected to the circular ring frame 101 respectively.

[0052] In an actual application scenario, the materials collected by the bucket wheel machine can be coal or sand and gravel. Taking coal as an example, the particle size of coal is uneven. If larger coal particles get stuck between the baffle 12 and the bucket 11, during the rotation of the bucket wheel 1, the friction force between the baffle 12 and the bucket wheel 1 is too large, thus wearing the baffle 12, causing metal fatigue, and reducing the service life of the bucket wheel 1 and the baffle 12. Based on this, a preset range of clearance is provided between the baffle 12 and the circular ring frame 101 to ensure the smooth rotation of the bucket wheel 1. Among them, the preset range of clearance can be 1 - 8 mm. In addition, it is worth noting that due to the uneven particle size of coal, there may be gaps between particles during stacking, resulting in the overall actual density of the coal stacked in the bucket 11 being less than the density of coal itself. Therefore, in order to determine the density used when calculating the mass of coal in the bucket 11, a bulk density experiment is conducted on coal. Through experimental research and analysis, it is obtained that the bulk density of coal (i.e., the density in the natural stacking state) is between 0.8 - 1.0 tons per cubic meter. Based on the above conclusion, when calculating the mass of coal, 0.9 tons per cubic meter can be used as the density calculation. And because during the coal feeding process, the feeding mass does not need to be exactly the same as the preset feeding tonnage, it is allowed that the feeding tonnage is slightly larger or slightly smaller than the preset feeding tonnage. Therefore, the present utility model uses the first lidar 21 to assist in identifying and calculating the volume of coal in each bucket 11, obtains the mass of coal in each bucket 11 according to the calculated volume and the density obtained from the experiment, and adds the masses of coal in each bucket 11 to obtain the total feeding mass. Compared with using a cantilever belt scale for weighing, the error between the finally obtained total feeding mass and the preset feeding tonnage is smaller.

[0053] To ensure the stability and reliability of the baffle 12 during operation, and to meet the requirements of different materials and operating conditions, and improve the operating efficiency and safety of the bucket wheel mechanism, continue to refer to Figure 2, the bucket wheel reclaimer further includes a connecting frame 121. The connecting frame 121 and the baffle 12 are connected by a hinge, and the first radar assembly 2 is fixedly connected to the connecting frame 121. Among them, the connecting frame 121 can not only support and fix the baffle 12, but also adjust the gap between the baffle 12 and the bucket wheel 1 or the position of the baffle 12 through an adjusting member (not shown in the figure) provided on the connecting frame 121.

[0054] For the first radar assembly 2, as Figure 6 shown, the first radar assembly 2 includes a first fixing frame 20 and a first lidar 21. The first fixing frame 20 includes a first fixed end 201 and a first connecting end 202. The first fixed end 201 is fixedly connected to the connecting frame 121, and the first connecting end 202 is connected to the first lidar 21 by a hinge. Specifically, as Figure 7 shown, an outer shell 210 is provided outside the first lidar 21. The outer shell 210 is fixedly connected to one of the hinge units of the hinge; an installation piece 211 is provided on the hinge unit, and the outer shell 210 is fixedly connected to the installation piece 211. Among them, the first connecting end 202 is provided with a fixing bolt 203 and a fixing nut 204. The fixing bolt 203 is inserted into the through hole of the hinge, and the fixing nut 204 is threadedly connected to the fixing bolt 203. During the installation of the first lidar 21, after fixing the first fixed end 201 of the first fixing frame 20 to the connecting frame 121, fix the outer shell 210 outside the first lidar 21 to the installation piece 211, adjust the angle of the first lidar 21, and conduct a test to check whether the detection range of the first lidar 21 is blocked and whether the detection range of the first lidar 21 can cover the entire area where the bucket 11 is located. After making corresponding adjustments to the position of the first lidar 21, fix the fixing bolt 203 and the fixing nut 204 to lock the position and angle of the first lidar 21.

[0055] For the second radar assembly 3, as Figure 8 shown, the second radar assembly 3 is used to identify the volume of the stockpile. The second radar assembly 3 includes a connecting column 30 and a second lidar 31. One end of the connecting column 30 is fixedly connected to the second lidar 31, and the other end of the connecting column 30 is connected to a bearing member. In the scenario preset in the embodiment of the present invention, the bucket wheel machine is a small warehouse operation bucket wheel machine. Therefore, for the identification of the volume of the stockpile and the distance between the edge of the stockpile and the bucket wheel 1, the second lidar 31 can be arranged above the stockpile. Therefore, the following two solutions are adopted in the embodiment of the present invention.

[0056] The first solution is to arrange the second lidar 31 on the top of the warehouse. Refer to Figure 8As shown, the bearing component is the slider 601. A slide rail 60 is provided at the top of the silo 6. The slide rail 60 is fixedly connected to the steel frame at the top of the silo 6. The other end of the connecting column 30 is fixedly connected to the slider 601. The slider 601 is slidably connected to the slide rail 60. Among them, to prevent the slider 601 from slipping off the slide rail 60, the two ends of the slide rail 60 are bent. Since the slide rail 60 is straight, therefore, to facilitate the control of the position of the second lidar 31, landmarks can be set on the warehouse floor for the fixed-point stacking of materials. When it is necessary to retrieve materials from the stockpile, the landmark number instruction is input to the integrated server. The second lidar 31 slides above the corresponding landmark number and the position of the second lidar 31 is finely adjusted according to the position of the stockpile. After the adjustment of the second lidar 31 is completed, a signal is sent to the integrated server, and the integrated server starts the first lidar 21 and the bucket wheel 1. Among them, a power unit (not shown in the figure) is arranged on the side of the slider 601, and the power unit is used to receive the instruction of the integrated server and drive the slider 601 to move on the slide rail 60.

[0057] The second solution is as Figure 9 shown. The bearing component is the unmanned aerial vehicle 7. The second lidar 31 is arranged on the unmanned aerial vehicle 7. The other end of the connecting column 30 is fixedly connected to the unmanned aerial vehicle 7. In the actual application scenario, the unmanned aerial vehicle 7 carrying the second lidar 31 is located directly above the stockpile to identify the volume and height of the stockpile.

[0058] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A coal bucket wheel reclaimer with integrated sensing lidar, characterized in that, Comprising: A bucket wheel (1) and a first radar assembly (2), the first radar assembly (2) being fixed to the bucket wheel (1); The bucket wheel (1) includes a bucket wheel body (10). 、 A plurality of buckets (11) and baffles (12), the plurality of buckets (11) are arranged on the outer surface of the bucket wheel body (10), and there are gaps at the junctions of the buckets (11) and the bucket wheel body (10) to serve as discharge ports. The baffle (12) is slidably disposed on the inner surface of a preset arc length of the bucket wheel body (10) to block the discharge port of the upwardly rotating bucket (11); The detection surface of the first radar assembly (2) faces the bucket (11) adjacent to the bucket (11) at the lowest point of the bucket wheel body (10) to detect the volume of the material in the bucket (11), and the adjacent bucket (11) has a tendency to move upward.

2. The coal yard bucket wheel reclaimer with integrated sensing according to claim 1, wherein The bucket wheel body (10) includes two oppositely disposed circular ring frames (101), and a plurality of cross beams (102) are provided between the two circular ring frames (101) to divide a plurality of installation slots (100), the bucket (11) is installed on the installation slots (100), the tail of the bucket (11) is fixedly connected to the cross beam (102), and both sides of the bucket (11) are fixedly connected to the circular ring frames (101) respectively.

3. The coal yard bucket wheel reclaimer with integrated sensing according to claim 1, wherein Comprising a connecting frame (121), the connecting frame (121) and the baffle (12) are connected by a hinge, and the first radar assembly (2) is fixedly connected to the connecting frame (121).

4. The coal yard bucket wheel reclaimer with integrated sensing according to claim 3, characterized in that, The first radar assembly (2) includes a first fixing frame (20) and a first lidar (21), the first fixing frame (20) includes a first fixed end (201) and a first connecting end (202), the first fixed end (201) is fixedly connected to the connecting frame (121), and the first connecting end (202) is connected to the first lidar (21) by a hinge.

5. The lidar coal yard inventory bucket wheel reclaimer with integrated sensing according to claim 4, characterized in that, An outer shell (210) is provided outside the first lidar (21), the outer shell (210) is fixedly connected to one of the hinge units of the hinge; an installation piece (211) is provided on the hinge unit, and the outer shell (210) is fixedly connected to the installation piece (211).

6. The coal yard wheel reclaimer with integrated sensing lidar according to claim 1, wherein The bucket wheel reclaimer with integrated sensing lidar further includes a funnel (4) and a conveyor belt (5), the funnel (4) is arranged above the conveyor belt (5) and directly below the highest point of the bucket wheel body (10), the funnel (4) is fixed to the steel beams on both sides of the conveyor belt (5), and the funnel (4) is used to guide the material in the bucket (11) to fall onto the conveyor belt (5).

7. The lidar coal yard inventory bucket wheel reclaimer with integrated sensing according to claim 1, characterized in that, Further comprising: A second radar assembly (3), the second radar assembly (3) is used to identify the volume of the stockpile, the second radar assembly (3) includes a connecting column (30) and a second lidar (31), one end of the connecting column (30) is fixedly connected to the second lidar (31), and the other end of the connecting column (30) is connected to a bearing member.

8. The lidar coal yard inventory wheel bucket reclaimer with integrated sensing according to claim 7, characterized in that, The bearing member is a slider (601), a slide rail (60) is provided on the top of the silo (6), the slide rail (60) is fixedly connected to the steel frame on the top of the silo (6), the other end of the connecting column (30) is fixedly connected to a slider (601), and the slider (601) is slidably connected to the slide rail (60).

9. The coal yard bucket wheel reclaimer with integrated sensing according to claim 7, characterized in that, The load-bearing component is a drone (7), and the other end of the connecting column (30) is fixedly connected to the drone (7).

10. The lidar coal yard inventory bucket wheel reclaimer with integrated sensing according to any one of claims 1-9, characterized in that, The bucket wheel body (10) is circular, the circumference of the bucket wheel body (10) is C, and the arc length range of the baffle (12) is .

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