A fully continuous mining coordinated overlapping control system of a double-drum coal mining machine in an open pit mine
By using a rangefinder and alignment detector in the open-pit coal mining machine, the automated docking of the transfer machine and the coal mining machine is achieved, solving the problem of complexity in traditional manual control and improving control accuracy and automation.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- ZHENGZHOU COAL MINING MACHINERY (GRP) CO LTD
- Filing Date
- 2025-07-03
- Publication Date
- 2026-06-16
AI Technical Summary
The traditional control of the connection between open-pit coal mining machines and transfer machines relies on manual operation, which is complex and difficult, resulting in inaccurate control.
The distance between the transfer machine and the coal mining machine is detected by a first and a second rangefinder. Combined with a first alignment detector and several targets, the automatic docking of the transfer machine and the coal mining machine is realized. The position and angle of the transfer machine are adjusted by the controller to maintain a suitable distance and docking.
It achieves automated docking between the transfer machine and the coal mining machine, reduces human intervention, and improves the automation level and control precision of ore transfer.
Smart Images
Figure CN224363947U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of open-pit mining machinery technology, and more specifically to a collaborative overlapping control system for fully continuous mining of open-pit double-drum coal mining machines. Background Technology
[0002] Open-pit mining is a mining method that extracts valuable minerals directly from the earth's surface. Compared to underground mining, open-pit mining has advantages such as large-scale mining, high efficiency, and low cost. Open-pit mining involves directly exposing and mining valuable minerals (such as coal, metallic ores, and limestone) by stripping away topsoil and rock (called overburden or waste rock). This method is suitable for situations where the ore body is shallow, thick, and has a gentle dip angle.
[0003] Open-pit coal mining requires the use of a coal mining machine to extract the coal, which is then transported to a transfer conveyor. The transfer conveyor then transports the coal to a unloading car that travels along a track. The coal is transferred between the unloading port of the coal mining machine and the receiving port of the transfer conveyor. Since the coal mining machine runs along the coal face, the transfer conveyor needs to move accordingly to ensure that the unloading port of the coal mining machine is aligned with the receiving port of the transfer conveyor.
[0004] Traditional control methods require the driver to manually control the forward movement of the transfer machine and the movement of the receiving port, which makes the alignment process complex and difficult to control. Utility Model Content
[0005] The core of this utility model is to provide a collaborative overlapping control system for fully continuous mining of open-pit double-drum coal mining machines. This system can automatically adjust the distance between the transfer conveyor and the coal mining machine, ensuring they are within a suitable range. It can also automatically connect the transfer conveyor's receiving port to the coal mining machine's unloading port, reducing human intervention. The specific solution is as follows:
[0006] A collaborative overlapping control system for fully continuous mining using a double-drum coal mining machine in an open-pit mine includes:
[0007] A first rangefinder and a second rangefinder are installed on the transfer machine. The first rangefinder is used to detect the distance between the first identification points on the coal mining machine; the second rangefinder is used to detect the distance perpendicular to the direction of travel of the coal mining machine.
[0008] A first alignment detector is installed on the transfer machine and a plurality of first targets are installed on the coal mining machine. The first targets are distributed circumferentially in the horizontal direction. The first alignment detector is used to detect the distance between itself and each of the first targets.
[0009] The controller installed on the transfer machine is used to keep the transfer machine and the coal mining machine within a preset range based on the detection values of the first rangefinder and the second rangefinder; and to align the receiving port of the transfer machine with the unloading port of the coal mining machine according to the spacing of each of the first targets.
[0010] Optionally, the maximum value of the preset range between the transfer machine and the coal mining machine is the length of the receiving arm of the transfer machine; the minimum value is the distance between the second rangefinder and the coal mining machine body when the receiving arm rotates to its maximum angle to receive coal.
[0011] Optionally, several of the first targets are distributed on the same circumference and located next to the unloading port of the coal mining machine;
[0012] The first alignment detector is located next to the receiving port of the transfer machine and is used to detect each of the first targets located above it.
[0013] Optionally, the first identification point is located at the midpoint of the length direction of the coal mining machine.
[0014] Optionally, the first rangefinder is a UWB base station, and an identification card for the UWB base station to identify is provided at the first identification point.
[0015] Optionally, the second rangefinder is a laser rangefinder.
[0016] Optionally, the first alignment detector is an ultrasonic radar.
[0017] Optionally, it also includes a third rangefinder and a second alignment detector installed on the unloading vehicle, and a plurality of second targets are provided at the unloading port of the feeding swing arm of the transfer machine.
[0018] The third rangefinder is used to detect the distance between itself and the second identification point of the feeding arm; the second alignment detector is used to detect the distance between itself and each of the second targets;
[0019] The controller installed on the unloading vehicle is used to drive the unloading vehicle to move according to the detection value of the third rangefinder, and to align the unloading vehicle with the unloading port of the feeding swing arm according to the detection value of the second alignment detector.
[0020] Optionally, the third rangefinder is a UWB base station, and an identification card for the UWB base station to identify is provided at the second identification point;
[0021] And / or, the second alignment detector is an ultrasonic radar.
[0022] Optionally, several second targets are distributed on the same circumference and located next to the discharge port of the feeding arm;
[0023] The second alignment detector is located next to the receiving port of the unloading vehicle and is used to detect each of the second targets located above it.
[0024] This invention provides a collaborative overlapping control system for fully continuous mining of open-pit double-drum coal mining machines. A first rangefinder on the transfer conveyor detects the distance between first identification points on the coal mining machine, obtaining the straight-line distance between the transfer conveyor and the coal mining machine. A second rangefinder on the transfer conveyor detects the distance perpendicular to the coal mining machine's direction of travel. The controller of the transfer conveyor, based on the detection values of the first and second rangefinders, ensures the horizontal distance between the transfer conveyor and the coal mining machine is within a preset range. Within this range, a first alignment detector on the transfer conveyor detects several first targets on the coal mining machine. Based on the spacing of each first target, the receiving port of the transfer conveyor aligns with the unloading port of the coal mining machine to receive the falling ore. This invention can automatically control the distance between the transfer conveyor and the coal mining machine, and automatically align the unloading port of the coal mining machine with the receiving port of the transfer conveyor, automatically maintaining the positional matching between the transfer conveyor and the coal mining machine, reducing human intervention. Attached Figure Description
[0025] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0026] Figure 1 This is a schematic diagram of the entire machine used in the fully continuous mining collaborative overlapping control system of the open-pit double-drum coal mining machine of this utility model;
[0027] Figure 2 A schematic diagram showing the transfer machine lagging behind the coal mining machine;
[0028] Figure 3 This is a schematic diagram showing the minimum distance between the transfer machine and the coal mining machine;
[0029] Figure 4 A schematic diagram showing the maximum distance between the transfer machine and the coal mining machine;
[0030] Figure 5 This is a schematic diagram showing the coordination between the first alignment detector and the first identification point;
[0031] Figure 6 A schematic diagram illustrating the coordinated transmission between the transfer machine and the coal mining machine;
[0032] Figure 7 This is a schematic diagram illustrating the connection principle between the transfer machine and the coal mining machine.
[0033] The image includes:
[0034] Transfer machine 10, first rangefinder 101, second rangefinder 102, first alignment detector 103, receiving swing arm 110, feeding swing arm 120, coal mining machine 20, first identification point 201, first target 202, unloading car 30, unloading track 310. Detailed Implementation
[0035] To enable those skilled in the art to better understand the technical solution of this utility model, the following will provide a detailed description of the open-pit mine double-drum coal mining machine's fully continuous mining collaborative overlapping control system, in conjunction with the accompanying drawings and specific embodiments.
[0036] This utility model provides a fully continuous mining collaborative overlapping control system for a double-drum coal mining machine in open-pit mines. It is applied to open-pit mining scenarios, such as open-pit coal mining. In addition, it can also be used in other open-pit mining scenarios, and is not limited to coal mining.
[0037] Open-pit mining requires the coordinated operation of a coal mining machine 20, a transfer conveyor 10, and an unloading car 30. The coal mining machine 20 moves along the slope to extract coal from it. This utility model's open-pit double-drum coal mining machine's fully continuous mining collaborative overlapping control system can achieve docking and matching between the coal mining machine 20 and the transfer conveyor 10, as well as between the transfer conveyor 10 and the unloading car 30.
[0038] Combination Figure 1 As shown, the transfer machine 10 includes a receiving swing arm 110 and a feeding swing arm 120. The receiving swing arm 110 has a receiving port, and the feeding swing arm 120 has a discharging port. The coal mining machine 20 has a discharging port, and the unloading car 30 has a receiving port. The receiving swing arm 110 and the feeding swing arm 120 can rotate independently relative to the transfer machine 10 clockwise and counterclockwise, respectively, while the transfer machine 10 can move forward, backward, left, and right. By adjusting the forward, backward, left, and right positions of the transfer machine 10 and the angle of the receiving swing arm 110, the position of the receiving port of the receiving swing arm 110 can be adjusted to match the discharging port of the coal mining machine 20. By adjusting the forward, backward, left, and right positions of the transfer machine 10 and the angle of the feeding swing arm 120, the position of the discharging port of the feeding swing arm 120 can be adjusted to match the receiving port of the unloading car 30. This utility model's open-pit mine double-drum coal mining machine fully continuous mining collaborative overlapping control system can realize an automated matching process and achieve intelligent overlapping.
[0039] The open-pit double-drum coal mining machine's fully continuous mining collaborative overlapping control system includes a first rangefinder 101 and a second rangefinder 102 installed on the transfer machine 10, a first alignment detector 103 installed on the transfer machine 10, and several first targets 202 installed on the coal mining machine 20, etc.
[0040] A first rangefinder 101 and a second rangefinder 102 are installed on the transfer machine 10. The first rangefinder 101 is used to detect the distance between the first identification point 201 on the coal mining machine 20. The first identification point 201 is a fixed position on the coal mining machine 20. Once the position of the first identification point 201 is determined, the same position on the coal mining machine 20 is always detected as the detection point. Combined with... Figure 2 As shown, length A represents the distance between the first rangefinder 101 and the first identification point 201. Figure 2 The middle section is a slanted line segment. The second rangefinder 102 is used to detect the distance perpendicular to the direction of travel of the coal mining machine 20. Figure 2 The coal mining machine 20 is traveling in the left direction, while the second rangefinder 102 is used to detect the vertical distance. Figure 2 The length B in the figure represents the detection distance of the second rangefinder 102. Figure 2 The middle part is a vertical line segment. It should be noted that the detection object of the second rangefinder 102 can be either a slope or the body of the coal mining machine 20.
[0041] A first alignment detector 103 is installed on the transfer conveyor 10 and several first targets 202 are installed on the coal mining machine 20. The first alignment detector 103 can detect its distance from each first target 202. Figure 5 As shown, the first targets 202 are distributed horizontally in a circumferential direction, and all the first targets 202 are located on the same circumference. The number of first targets 202 can be set arbitrarily, but at least three should be provided. The first alignment detector 103 is used to detect the distance between itself and each first target 202. When the distance between the first alignment detector 103 and each first target 202 is equal, it indicates that the receiving port of the transfer machine 10 is exactly aligned with the unloading port of the coal mining machine 20. Under normal circumstances, as long as the deviation of the distance value between the first alignment detector 103 and each first target 202 does not exceed the set range, it can be considered that the receiving port of the transfer machine 10 is aligned with the unloading port of the coal mining machine 20.
[0042] The controller installed on the transfer conveyor 10 maintains the distance between the transfer conveyor 10 and the coal mining machine 20 within a preset range based on the detection values of the first rangefinder 101 and the second rangefinder 102. When the horizontal distance between the transfer conveyor 10 and the coal mining machine 20 is within the preset range, the receiving arm 110 of the transfer conveyor 10 can drive the receiving port to face the unloading port of the coal mining machine 20, and according to the spacing of each of the first targets 202, the receiving port of the transfer conveyor 10 is aligned with the unloading port of the coal mining machine 20.
[0043] When the distance value fed back by the second rangefinder 102 of the transfer conveyor 10 is greater than the length of the receiving swing arm 110 of the transfer conveyor 10 (the detection object of the second rangefinder 102 is the coal wall of the working face, such as...) Figure 2As shown), it is considered that the relative position of the transfer machine 10 has lagged behind that of the double-drum coal mining machine. Figure 2 If the transfer conveyor 10 is positioned too far to the right, it will automatically accelerate (move to the left) until the distance value fed back by the second rangefinder 102 of the transfer conveyor 10 is less than or equal to the length of the receiving swing arm 110 of the transfer conveyor 10 (the second rangefinder 102 detects the coal mining machine body, such as...). Figure 3 After (as shown), the transfer machine 10 and the double-drum coal mining machine 20 move forward at the same speed. Figure 3 (Moves to the left from the center). The distance between the first distance measuring instrument 101 and the first identification point 201 is detected. This distance should always be greater than the length of the receiving swing arm 110 to avoid the transfer machine 10 and the coal mining machine 20 being too close. That is, the second distance measuring instrument 102 avoids the transfer machine 10 and the coal mining machine 20 being too far apart, and the first distance measuring instrument 101 avoids the transfer machine 10 and the coal mining machine 20 being too close.
[0044] This invention uses distance detection by a first rangefinder 101 and a second rangefinder 102 to maintain a suitable distance between the transfer machine 10 and the coal mining machine 20, ensuring appropriate front-to-back and lateral distances. Then, a first alignment detector 103 detects the distances between each of the first identification points 201 on the coal mining machine 20. When the distance differences between the first identification points 201 are close, it indicates that the unloading port of the coal mining machine 20 and the receiving port of the receiving swing arm 110 are aligned, allowing for ore transfer and docking.
[0045] The entire process is automated through various distance detection systems, which greatly reduces human intervention and improves the automation level of ore transfer and docking.
[0046] Based on the above scheme, the maximum preset range between the transfer machine 10 and the coal mining machine 20 is the length of the receiving swing arm 110 of the transfer machine 10 (e.g., Figure 4 (As shown); the minimum value is the distance between the second rangefinder 102 and the coal mining machine body 20 when the receiving arm 110 rotates to its maximum angle to receive coal (e.g., Figure 3 (As shown).
[0047] When the transverse distance between the transfer machine 10 and the coal mining machine 20 ( Figure 3 , Figure 4 The maximum spacing D is equal to the length of the entire receiving arm 110. At this point, the receiving arm 110 can receive material perpendicular to the body of the coal mining machine 20. Figure 4 When the receiving arm 110 rotates to its maximum angle, and its receiving port aligns with the unloading port of the coal mining machine 20, the lateral distance is at its minimum. Figure 3 ).
[0048] Combination Figure 6As shown, in some specific embodiments, several first targets 202 are distributed on the same circumference and located next to the discharge port of the coal mining machine 20. The circumference of the first targets 202 is not concentric with the discharge port of the coal mining machine 20. A first alignment detector 103 is set next to the receiving port of the transfer conveyor 10, and the first alignment detector 103 is not concentric with the receiving port of the transfer conveyor 10. The first alignment detector 103 on the transfer conveyor 10 detects each of the first targets 202 located above it. When the distance deviation between the first alignment detector 103 and each of the first targets 202 is close, the discharge port of the coal mining machine 20 is located directly above the receiving port on the receiving swing arm 110 of the transfer conveyor 10. The detection structure is not concentric with the material inlet, which can avoid the falling ore from interfering with normal detection.
[0049] exist Figure 6 In the illustrated embodiment, the first alignment detector 103 is closer to the end of the receiving port of the transfer machine 10, while the discharge port of the coal mining machine 20 is closer to the end of the first target 202. Alternatively, the configuration can be reversed, meaning the receiving port of the transfer machine 10 is closer to the end of the first alignment detector 103, and the first target 202 is closer to the end of the discharge port of the coal mining machine 20. All these specific implementations should be included within the protection scope of this utility model.
[0050] Specifically, in this utility model, the first identification point 201 is located at the midpoint of the length direction of the coal mining machine 20. According to the side length relationship of a right triangle, the lateral distance between the transfer machine 10 and the coal mining machine 20 should satisfy the following relationship:
[0051] .
[0052] Specifically, the first rangefinder 101 in this invention is a UWB base station, and an identification card for identification by the UWB base station is provided at the first identification point 201. UWB (Ultra-Wideband) is a carrier-free communication technology that uses nanosecond-level non-sinusoidal narrow pulses to transmit data. UWB has advantages such as low power consumption, strong anti-interference ability, and high-precision positioning. Using UWB, the distance to the preset point position of the coal mining machine 20 can be accurately detected.
[0053] The second rangefinder 102 is a laser rangefinder, which uses laser to detect distances perpendicular to the direction of travel of the coal mining machine 20.
[0054] The first alignment detector 103 is an ultrasonic radar that can detect the distance to multiple first targets 202 through a single sensor.
[0055] As can be seen from the above content, combined with Figure 2 , Figure 3 , Figure 4 , Figure 7As shown, when the coal mining machine 20 is cutting coal, its traveling speed is unstable, and there is a delay in the speed transmission to the control system of the transfer machine 10. Therefore, when the transfer machine 20 follows the coal mining machine 20, the speed of the transfer machine 10 may occasionally be higher than that of the coal mining machine 20, resulting in a momentary travel speed faster than that of the coal mining machine 20. At this time, the lateral distance between the transfer machine 10 and the coal mining machine should be automatically adjusted between the maximum and minimum values by the transfer machine traveling system to prevent the feeding swing arm 120 of the transfer machine from colliding with the body of the coal mining machine 20.
[0056] Based on the distance value fed back by the laser rangefinder, the equipment is guaranteed to move within the lateral range. When the distance of the UWB positioning system sensing and identification card is less than or equal to the length of the transfer machine's feeding swing arm 120, the transfer machine 10 automatically deflects away from the coal mining machine 20.
[0057] The transfer machine 10 maintains its distance from the coal mining machine 20 by automatically controlling the direction and speed of its own tracks to make turns.
[0058] Left turn: Right-moving track speed > Left-moving track speed.
[0059] Sharp left turn: Right-moving tracks move forward; Left-moving tracks move backward.
[0060] Turn right: The forward speed of the left-walking track is greater than the forward speed of the right-walking track.
[0061] Sharp right turn: Left-moving tracks move forward; right-moving tracks move backward.
[0062] Based on any of the above technical solutions and their combinations, this utility model further includes a third rangefinder and a second alignment detector installed on the unloading vehicle 30, and several second targets installed at the unloading port of the feeding swing arm 120 of the transfer machine 10. The third rangefinder and the second alignment detector are used to track the feeding swing arm 120 of the transfer machine 10 by the unloading vehicle 30, so that the receiving port of the unloading vehicle 30 is directly opposite the unloading port of the feeding swing arm 120.
[0063] Combination Figure 1 As shown, the unloading trolley 30 moves linearly along the unloading track 310, and can move forward or backward relative to the unloading track 310. The third distance measuring instrument is used to detect the distance between the unloading trolley 30 and the second identification point of the feeding arm 120. As long as the distance between the third distance measuring instrument and the second identification point of the feeding arm 120 meets the set range, the unloading trolley 30 can be positioned directly below the unloading port of the feeding arm 120 by moving forward and backward, so as to receive the material conveyed by the feeding arm 120.
[0064] When the receiving port of the unloading vehicle 30 connects to the unloading port of the feeding swing arm 120, the second alignment detector is used to detect the distance between the unloading vehicle and each second target. The specific implementation principle is the same as the cooperation principle between the first identification point 201 and the first target 202.
[0065] The controller installed on the unloading trolley 30 drives the unloading trolley 30 to move according to the detection value of the third rangefinder, and aligns it with the unloading port of the feeding swing arm 120 according to the detection value of the second alignment detector. This control process is similar to the process of the receiving swing arm 110 tracking the coal mining machine 20, except that the unloading trolley 30 only needs to detect one distance value, and does not need to measure two distances separately through two rangefinders.
[0066] Specifically, the third rangefinder is a UWB base station, and an identification card for UWB base station identification is provided at the second identification point. The selection of the third rangefinder can refer to the first rangefinder 101 mentioned above. The second alignment detector is an ultrasonic radar, and the selection of the second alignment detector can refer to the first alignment detector mentioned above.
[0067] Several second targets are distributed on the same circumference and located next to the discharge port of the feeding arm 120; a second alignment detector is set next to the receiving port of the unloading cart 30 to detect each of the second targets above it. Similarly, the circumference formed by the discharge port of the feeding arm 120 and the second targets is not concentric, and the second alignment detector and the receiving port of the unloading cart 30 are not concentric, which can avoid interference from falling material.
[0068] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A collaborative overlapping control system for fully continuous mining of open-pit double-drum coal mining machines, characterized in that, include: The first distance measuring instrument (101) and the second distance measuring instrument (102) are installed on the transfer machine (10). The first distance measuring instrument (101) is used to detect the distance between the first identification point (201) on the coal mining machine (20); the second distance measuring instrument (102) is used to detect the distance perpendicular to the direction of travel of the coal mining machine (20). The first alignment detector (103) is set on the transfer machine (10) and a plurality of first targets (202) are set on the coal mining machine (20). The first targets (202) are distributed in a horizontal circumferential direction. The first alignment detector (103) is used to detect the distance between itself and each of the first targets (202). The controller installed on the transfer machine (10) is used to keep the transfer machine (10) and the coal mining machine (20) within a preset range according to the detection value of the first rangefinder (101) and the detection value of the second rangefinder (102); and to connect the receiving port of the transfer machine (10) to the unloading port of the coal mining machine (20) according to the distance between each of the first targets (202).
2. The open-pit mine double-drum coal mining machine fully continuous mining collaborative overlapping control system according to claim 1, characterized in that, The maximum value of the preset range between the transfer machine (10) and the coal mining machine (20) is the length of the receiving arm (110) of the transfer machine (10); the minimum value is the distance between the second rangefinder (102) and the body of the coal mining machine (20) when the receiving arm (110) rotates to the maximum angle to receive coal.
3. The open-pit mine double-drum coal mining machine fully continuous mining collaborative overlapping control system according to claim 1, characterized in that, Several of the first targets (202) are distributed on the same circumference and located next to the discharge port of the coal mining machine (20); The first alignment detector (103) is located next to the receiving port of the transfer machine (10) for detecting each of the first targets (202) located above it.
4. The open-pit mine double-drum coal mining machine fully continuous mining collaborative overlapping control system according to claim 1, characterized in that, The first identification point (201) is located at the midpoint of the length direction of the coal mining machine (20).
5. The open-pit mine double-drum coal mining machine fully continuous mining collaborative overlapping control system according to any one of claims 1 to 4, characterized in that, The first rangefinder (101) is a UWB base station, and the first identification point (201) is equipped with an identification card for the UWB base station to identify.
6. The open-pit mine double-drum coal mining machine fully continuous mining collaborative overlapping control system according to any one of claims 1 to 4, characterized in that, The second rangefinder (102) is a laser rangefinder.
7. The open-pit mine double-drum coal mining machine fully continuous mining collaborative overlapping control system according to any one of claims 1 to 4, characterized in that, The first alignment detector (103) is an ultrasonic radar.
8. The open-pit mine double-drum coal mining machine fully continuous mining collaborative overlapping control system according to any one of claims 1 to 4, characterized in that, It also includes a third rangefinder and a second alignment detector installed on the unloading vehicle (30), and several second targets are installed at the unloading port of the feeding swing arm (120) of the transfer machine (10). The third rangefinder is used to detect the distance between itself and the second identification point of the feeding swing arm (120); The second alignment detector is used to detect the distance to each of the second targets; The controller installed on the unloading vehicle (30) is used to drive the unloading vehicle (30) to move according to the detection value of the third rangefinder, and to align the unloading vehicle (30) with the unloading port of the feeding swing arm (120) according to the detection value of the second alignment detector.
9. The open-pit mine double-drum coal mining machine fully continuous mining collaborative overlapping control system according to claim 8, characterized in that, The third rangefinder is a UWB base station, and an identification card for the UWB base station to identify is provided at the second identification point; And / or, the second alignment detector is an ultrasonic radar.
10. The open-pit mine double-drum coal mining machine fully continuous mining collaborative overlapping control system according to claim 8, characterized in that, Several second targets are distributed on the same circumference and located next to the discharge port of the feeding swing arm (120); The second alignment detector is located next to the receiving port of the unloading vehicle (30) for detecting each of the second targets located above it.