WO2022012116A1 - Système et procédé de récupération - Google Patents

Système et procédé de récupération Download PDF

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Publication number
WO2022012116A1
WO2022012116A1 PCT/CN2021/091047 CN2021091047W WO2022012116A1 WO 2022012116 A1 WO2022012116 A1 WO 2022012116A1 CN 2021091047 W CN2021091047 W CN 2021091047W WO 2022012116 A1 WO2022012116 A1 WO 2022012116A1
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WO
WIPO (PCT)
Prior art keywords
reclaiming
boom
area
taken
bucket wheel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2021/091047
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English (en)
Chinese (zh)
Inventor
邱立运
陈陆义
袁立新
吴勇
丁勇
周斌
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hunan Changtian Automation Engineering Co Ltd
Zhongye Changtian International Engineering Co Ltd
Original Assignee
Hunan Changtian Automation Engineering Co Ltd
Zhongye Changtian International Engineering Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hunan Changtian Automation Engineering Co Ltd, Zhongye Changtian International Engineering Co Ltd filed Critical Hunan Changtian Automation Engineering Co Ltd
Priority to BR112022023981A priority Critical patent/BR112022023981A2/pt
Publication of WO2022012116A1 publication Critical patent/WO2022012116A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G65/00—Loading or unloading
    • B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
    • B65G65/16—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with rotary pick-up conveyors
    • B65G65/20—Paddle wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G65/00—Loading or unloading
    • B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
    • B65G65/04—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with pick-up shovels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection

Definitions

  • the present application relates to the technical field of automatic control, in particular to a material reclaiming system and method.
  • the raw material yard is a site for receiving, storing, processing and mixing materials, among which the materials mainly include iron and steel metallurgical raw materials or fuels.
  • the process of stacking materials in the raw material yard is called stacking, and the process of taking materials out of the raw material yard is called reclaiming.
  • stacking and reclaiming operations are typically performed using stacker-reclaimers.
  • Bucket-wheel stacker-reclaimer can perform both reclaiming and stacking operations, so it is currently widely used in raw material yards.
  • the existing bucket wheel type stacker and reclaimer is shown in Figure 1, which mainly includes: a large machine 1 arranged at the bottom end, a boom 2 movably connected with the large machine 1, and a bucket wheel arranged at the end of the boom 2 3.
  • the mainframe 1 can run along a preset track, thereby driving the boom 2 to generate displacement; the boom 2 can rotate horizontally or in pitch around the pitch rotation point A.
  • the bucket wheel 3 does not rotate, and the discharge port is on the boom 2 close to one end of the bucket wheel 3.
  • the material is transported to the discharge port through the belt on the boom 2 to control the movement of the machine 1 and the boom 2. Turn to discharge the material to the designated position.
  • the machine controls the rotation of the bucket wheel 3.
  • the rotation of the bucket wheel 3 causes the material to be brought to the belt of the boom 2, and then transferred to the belt in the middle of the track along the belt of the boom 2. On the belt, it is conveyed to other areas through the belt in the middle of the track.
  • the existing bucket wheel stacker and reclaimer is manually operated, and each bucket wheel stacker and reclaimer is equipped with at least one operator, who manually controls the stacker and reclaimer in the cab.
  • manual operation requires the operator to concentrate for a long time, has high labor intensity and long working time, which is not conducive to the safety of the operator.
  • there will be many interference factors on site such as water mist, dust, etc., which will block the operator's line of sight, and are prone to collisions and other problems, threatening the safe operation of the equipment.
  • the present application provides a material reclaiming system and method to solve the problem of personnel and equipment safety caused by manual operation of the material reclaimer in the prior art.
  • a first aspect of the present application provides a material reclaiming system, the material reclaiming system is applied to a material reclaimer, and the material reclaimer includes a large machine for walking on a track, a large arm arranged on the large machine, and a The bucket wheel at the end of the boom; the bucket wheel changes with the position of the boom and the boom, and the bucket wheel is used to transport the material in the stockpile area to the belt on the boom; the pick-up
  • the material system includes:
  • a laser scanning device arranged on the side of the boom is used to emit laser points to the stockpile area and receive reflection points on the surface of the stockpile area to obtain the position parameters of each reflection point on the surface of the stockpile area;
  • control unit arranged on the surface of the large machine, the control unit is connected with the laser scanning device, and is used to obtain the position parameters of each reflection point on the surface of the material pile area, and control the movements of the large machine and the boom, in order to complete the reclaiming operation;
  • the control unit is configured to perform the following steps:
  • the pile model is obtained, wherein the pile area is approximately strip-shaped, including the pile surface and the ground in the pile area. all around;
  • the material-stack area is divided into multi-layer to-be-taken areas
  • the reclaiming entry point of the target area to be taken is obtained, and the reclaiming entry point is the closest point from the origin of the coordinate system in the described stockpile area;
  • the target attitude data includes the position of the mainframe, the pitch angle of the boom and the rotation angle of the boom;
  • the boom is rotated in a second direction opposite to the first direction, and the reclaimer is controlled to continue the reclaiming operation of the target area to be taken.
  • the steps of obtaining the maximum height of the surface of the material pile from the ground, and calculating the number of material layers in the area to be taken include:
  • the quotient of the maximum height and the preset layer height is used as the number of layers in the area to be taken;
  • the sum of the quotient of the maximum height and the preset layer height plus the preset value is taken as the number of layers in the to-be-taken area.
  • the step of dividing the stockpile area into multiple layers of to-be-taken areas includes:
  • the contour lines corresponding to the lower surface of each layer of the to-be-taken area are sequentially acquired from bottom to top.
  • the step of calculating the target attitude data corresponding to the cut-in point of the reclaiming material includes:
  • H m is the height of the cut-in point of the reclaiming material relative to the horizon
  • H is the height of the pitch rotation point of the boom relative to the horizon
  • L is the length from the pitch rotation point of the boom to the bucket wheel
  • the mainframe position I is calculated according to the following formula:
  • the step of judging in real time whether the position of the bucket wheel reaches the reclaiming boundary of the target area to be taken includes:
  • H m is the height of the cut-in point of the reclaiming material relative to the horizon
  • H is the height of the pitch rotation point of the boom relative to the horizon
  • L is the length from the pitch rotation point of the boom to the bucket wheel
  • Q(X 0 , Y 0 ) is the real-time horizontal plane two-dimensional coordinate information of the mainframe
  • the horizontal plane two-dimensional coordinate information P' (X t , Y t ) corresponding to the position of the bucket wheel it is judged whether the position of the bucket wheel reaches the reclaiming boundary of the target area to be taken, wherein, if P' ( X t , Y t ) is not within the reclaiming boundary of the target area to be taken, then it is determined that the position of the bucket wheel reaches the reclaiming boundary of the target area to be taken, otherwise, it is determined that the position of the bucket wheel has not reached The picking boundary of the target area to be taken.
  • the step of controlling the boom to rotate according to the preset first direction includes:
  • the boom is controlled to rotate the reclaimer in the first direction at the rotational speed.
  • the steps of calculating the rotation speed of the main arm include:
  • R is the projected length of the arm in the plane
  • Q m is the preset amount of material taken per unit time
  • a material reclaiming method is provided.
  • the material reclaiming method is applied to a material reclaimer, and the material reclaimer includes a large machine for walking on a track, a large arm arranged on the large machine, and a The bucket wheel at the end of the boom; the bucket wheel changes with the position of the boom and the boom, and the bucket wheel is used to transport the material in the stockpile area to the belt on the boom;
  • the pick-up Feeding methods include:
  • the stockpiling area includes a stockpiling surface and a surrounding surface in contact with the ground in the stockpiling area;
  • the material-stack area is divided into multi-layer to-be-taken areas
  • the target attitude data includes the position of the mainframe, the pitch angle of the boom and the rotation angle of the boom;
  • the present application provides a material reclaiming system and method.
  • the system includes: a laser scanning device disposed on the side of the boom and a control unit disposed on the surface of the large machine.
  • the control unit is configured to perform the following steps: obtaining a model of the material pile; calculating the number of material layers in the area to be taken; dividing the area of the material pile into multiple layers of areas to be taken; The reclaiming entry point of the target area to be taken; calculate the target attitude data corresponding to the reclaiming entry point; control the reclaimer to move to the target attitude; control the arm to rotate according to the preset first direction; judge the bucket wheel in real time.
  • Fig. 1 is the structural representation of the existing bucket wheel type reclaimer
  • FIG. 2 is a schematic diagram of a scene of a material reclaiming system provided by an embodiment of the present application
  • FIG. 3 is a working flow diagram of a control unit in a material reclaiming system provided by an embodiment of the present application
  • Fig. 4 is the positional relationship diagram of the reclaimer and the reclaiming entry point provided by the embodiment of the application;
  • FIG. 5 is a schematic diagram of the trajectory of the reclaimer for rotating and reclaiming material provided by the embodiment of the application;
  • FIG. 6 is a schematic diagram of the running trajectories of the front and rear booms in the plane in the plane rectangular coordinate system provided by the embodiment of the present application;
  • FIG. 7 is a working flow chart of a material reclaiming method provided by an embodiment of the present application.
  • the present application provides a material reclaiming system and method.
  • FIG. 2 is a schematic diagram of a scene of a material reclaiming system provided by an embodiment of the present application.
  • the reclaiming system is applied to a reclaimer, and the reclaimer includes a large machine 1 for walking on a track, a boom 2 arranged on the large machine 1 and a bucket at the end of the boom 2 Wheel 3; the bucket wheel 3 changes with the position of the large machine and the boom, and the bucket wheel 3 is used to transport the material in the stockpile area to the belt on the boom 2.
  • the material reclaiming system includes: a laser scanning device 4 arranged on the side of the boom 2 and a control unit 5 arranged on the surface of the large machine 1 .
  • the laser scanning device 4 is used to emit laser points to the stockpiling area and receive the reflection points on the surface of the stockpiling area to obtain the position parameters of each reflection point on the surface of the stockpiling area; the control unit 5 and the laser scanning device 4 is connected to obtain the position parameters of each reflection point on the surface of the material pile area, and control the movements of the main machine 1 and the boom 2, so as to complete the reclaiming operation.
  • the laser scanning device 4 is arranged on the lower surface of the boom 2. Before taking the material, the boom 2 is controlled to rotate above the material stack at a certain speed. During the rotation, the laser scanning device 4 The laser is emitted to the surface of the stack according to a specific frequency, and the point at which the surface of the stack receives and reflects the laser is taken as the reflection point, and the laser scanning device 4 can obtain the position parameters of multiple reflection points on the surface of the stack.
  • the control unit 5 processes the data, and performs a series of calculations according to the processed data to control the main machine 1 and the boom 2 of the reclaimer. action to execute the automatic reclaiming process.
  • FIG. 3 is a working flow chart of a control unit in a material reclaiming system provided by an embodiment of the present application.
  • control unit is configured to perform the following steps:
  • Step 101 Obtain a stockpile model according to the position parameters of each reflection point on the surface of the stockpile area sent by the laser scanning device, wherein the stockpile area is approximately bar-shaped, including the stockpile surface and the ground in the stockpile area. the surrounding surfaces that are connected.
  • the position parameters of each reflection point include the abscissa and ordinate data of each reflection point in the plane rectangular coordinate system, and the height data of the reflection point.
  • the process of establishing the stockpile model and the subsequent calculation process all use the same plane Cartesian coordinate system
  • the plane Cartesian coordinate system takes the position of the main machine as the origin, and the reclaimer running track as the origin.
  • the x-axis, the direction perpendicular to the x-axis in the horizontal plane is used as the y-axis, and a plane rectangular coordinate system is established.
  • the location of the mainframe refers to the initial position of the mainframe before it moves to acquire data.
  • a 2D or 3D model can be established, which is the stockpile model.
  • Step 102 Obtain the maximum height of the surface of the material pile from the ground, and calculate the number of material layers in the area to be taken.
  • the material reclaiming method is adopted in layers.
  • the factors that restrict the height of the reclaiming layer of each layer are mainly parameters such as the size of the bucket wheel itself and the rotational speed. Therefore, when the bucket wheel is determined, the reclaiming layer height of each layer is usually predetermined. The height of the reclaiming layer of each layer is used as the preset layer height.
  • Step 1021 Determine whether the remainder obtained by dividing the maximum height by the preset layer height is within a preset range.
  • the maximum height of the stock pile surface is used as the total height of the stock pile area. If the remainder obtained by dividing the maximum height and the preset layer height is within the preset range, the operation of step 1022 is performed; otherwise, the operation of step 1023 is performed.
  • the preset range may be determined according to the actual situation, and is usually a range close to zero.
  • Step 1022 if the remainder obtained by dividing the maximum height and the preset layer height is within a preset range, the quotient of the maximum height and the preset layer height is used as the number of layers in the to-be-taken area.
  • Step 1023 if the remainder obtained by dividing the maximum height and the preset layer height exceeds the preset range, the sum of the quotient of the maximum height and the preset layer height plus the preset value is taken as the number of layers in the to-be-taken area.
  • the preset value is usually 1, that is, if the remainder exceeds the preset range, add 1 to the quotient obtained by dividing the maximum height and the preset layer height, which is the number of layers in the area to be taken .
  • Step 103 according to the number of material layers in the to-be-taken area, divide the material-stack area into multiple layers of to-be-taken areas.
  • step 102 the number of material layers in the area to be taken has been calculated.
  • layered material reclaiming is performed according to the number of material layers in the area to be taken.
  • the reclaimer usually moves according to the set position parameters. Therefore, in order to divide a specific position for the reclaiming operation of each layer, the embodiment of the present application adopts the following steps to divide the material pile area into: Multi-layer waiting area:
  • Step 1031 Calculate the contour lines in the stockpile area.
  • Step 1032 according to the number of material layers in the to-be-taken area, sequentially acquire the contour lines corresponding to the lower surface of each layer of the to-be-taken area from bottom to top.
  • the contour lines corresponding to the lower surface of each layer area are determined.
  • the material is reclaimed from the upper layer to the lower layer, it is only necessary to determine the lower boundary of each layer to be reclaimed and the area to be taken of the layer.
  • the contour lines of the lower surface can be consistent.
  • Step 104 take the area to be taken at the uppermost layer as the target area to be taken, and obtain the cut-in point of the material to be taken from the target area to be taken, and the cut-in point of the material to be taken is within the area of the material pile and is the closest to the origin of the coordinate system. point.
  • FIG. 4 is a positional relationship diagram of a reclaimer and a reclaiming entry point according to an embodiment of the present application.
  • the position coordinates of the mainframe and the position coordinates of each point on the lower surface of the area to be taken can be obtained, the position coordinates of the point closest to the origin of the coordinate system can be calculated, and the position coordinates of the point closest to the origin of the coordinate system can be calculated. point as the cut-in point for taking material.
  • the point closest to the origin of the coordinates is usually closer to the mainframe, so that the position of the cut-in point can be reached when the mainframe moves less distance; in addition, the point closest to the origin of the coordinates is taken as
  • the cut-in point of reclaiming also conforms to the motion trajectory of the large machine. See Figure 5 for the schematic diagram of the trajectory of the reclaimer performing rotary reclaiming.
  • Step 105 Calculate the target attitude data corresponding to the cut-in point of the reclaiming material, where the target attitude data includes the position of the mainframe, the pitch angle of the boom, and the rotation angle of the boom.
  • Step 1051 Obtain the horizontal plane two-dimensional coordinate information P(X, Y) of the reclaiming entry point, wherein X is the abscissa of the reclaiming entry point, Y is the ordinate of the reclaiming entry point, so The abscissa and the reclaimer running track direction coincide.
  • Step 1052 calculate the pitch angle ⁇ of the boom according to the following formula:
  • H m is the height of the reclaiming cut-in point relative to the horizon
  • H is the height of the pitch rotation point of the boom relative to the horizon
  • L is the length from the pitch rotation point of the boom to the bucket wheel.
  • Step 1053 calculate the rotation angle ⁇ of the boom according to the following formula:
  • Step 1054 calculate the mainframe position I according to the following formula:
  • Step 106 controlling the reclaimer to move from an initial posture to a target posture, where the target posture corresponds to the target posture data.
  • the position of the bucket wheel is the position of the cut-in point of the reclaiming material.
  • Control the initial posture of the reclaimer to move to the target posture that is, control the reclaimer to move to a position that matches the entry point of the reclaimer.
  • Step 107 under the condition that the pitch angle of the boom remains unchanged, control the boom to rotate according to a preset first direction.
  • the pitch angle of the boom is always kept unchanged, and the material is rotated and reclaimed according to the schematic diagram of the trajectory shown in Figure 5.
  • the position of the main machine remains unchanged. From the top view of the material yard, the main machine is the center of the circle and the big arm is the radius to rotate.
  • the rotation process always maintains the same rotation direction. In this step, the rotation direction is taken as the first direction.
  • the first direction is the direction shown in the first trajectory line in Figure 5, that is, the direction from close to the track to the direction away from the track, because the thickness of the material in contact with the bucket wheel during the reclaiming process is changing. If the material is rotated at a constant speed, more material will be withdrawn per unit time where the material is thick, and less material will be withdrawn per unit time where the material is thin. However, in places where the material is thick, if too much material is reclaimed per unit time, it may exceed the maximum amount of material reclaimed by the bucket wheel per unit time, resulting in the situation that the material cannot be completely reclaimed.
  • Step 1071 Calculate the rotation speed of the boom according to the position of the boom and the preset amount of material taken per unit time.
  • Step 1072 controlling the boom to rotate and reclaim the material in the first direction at the rotation speed.
  • the embodiment of the present application uses the position coordinates before and after the stepping of the mainframe as a reference to calculate the rotation speed of the boom.
  • XO 0 Y 1 is large before Stepping plane rectangular coordinate system, namely before the location of the large Stepping O 0, A 0 0 arc trajectory before step B is a big machine;
  • XOY is the plane rectangular coordinate system after the mainframe stepping, O is the position after the mainframe stepping, and the arc AB is the trajectory after the mainframe stepping.
  • the material within the arc A 0 B 0 has been taken away before that, the arc AB is the predicted trajectory of the main machine at O, and the line segment OC is the projection of the boom in the plane rectangular coordinate system, the intersection of the line segment OC and the arc A 0 B 0 is point D, then the line segment CD is the corresponding thickness of the material taken when the boom rotates to the position C.
  • the following steps are used to calculate the rotation speed of the boom:
  • a plane rectangular coordinate system is established, that is, the XOY coordinate system.
  • the included angle ⁇ between the projection line of the boom in the horizontal plane and the x-axis is obtained.
  • the included angle ⁇ is the included angle between the line segment OC and the X-axis.
  • R is the projected length of the big arm in the plane, that is, the length of the line segment OC.
  • the reclaiming height h ⁇ in the direction of the reclaiming depth is obtained, and the reclaiming height h ⁇ is the height of point C minus the height of the bucket wheel.
  • Q m is the preset amount of material taken per unit time
  • step 108 it is judged in real time whether the position of the bucket wheel reaches the reclaiming boundary of the target area to be taken.
  • the step of judging in real time whether the position of the bucket wheel reaches the reclaiming boundary of the target area to be taken includes:
  • H m is the height of the reclaiming cut-in point relative to the horizon
  • H is the height of the pitch rotation point of the boom relative to the horizon
  • L is the length from the pitch rotation point of the boom to the bucket wheel.
  • Q(X 0 , Y 0 ) is the real-time horizontal plane two-dimensional coordinate information of the mainframe.
  • the horizontal plane two-dimensional coordinate information P'(X t , Y t ) corresponding to the position of the bucket wheel it is judged whether the position of the bucket wheel reaches the reclaiming boundary of the target area to be taken, wherein, if P'( X t , Y t ) is not within the reclaiming boundary of the target area to be taken, then it is determined that the position of the bucket wheel reaches the reclaiming boundary of the target area to be taken, otherwise, it is determined that the position of the bucket wheel has not reached The picking boundary of the target area to be taken.
  • step 109 it is judged whether the position of the bucket wheel reaches the reclaiming boundary of the target area to be taken. If so, execute the operation of step 109; if not, continue to control the boom to rotate and take out the material.
  • Step 109 if the position of the bucket wheel reaches the reclaiming boundary of the target area to be taken, control the boom to reduce the rotation speed.
  • Step 1010 control the main machine to move to the next reclaiming position according to the preset stepping distance.
  • Step 1011 rotate the boom in a second direction opposite to the first direction, and control the reclaimer to continue the reclaiming operation of the target to-be-taken area.
  • Steps 107 to 1011 are the operation steps for the reclaimer to perform rotating reclaiming of each layer. After the reclaiming of the current area to be taken is completed, the next layer of reclaiming can be performed, that is, the operations from steps 107 to 1011 are repeated.
  • the embodiment of the present application provides a material reclaiming system
  • the system includes: a laser scanning device disposed on the side of the boom and a control unit disposed on the surface of the large machine.
  • the control unit is configured to perform the following steps: obtaining a model of the material pile; calculating the number of material layers in the area to be taken; dividing the area of the material pile into multiple layers of areas to be taken; The reclaiming entry point of the target area to be taken; calculate the target attitude data corresponding to the reclaiming entry point; control the reclaimer to move to the target attitude; control the arm to rotate according to the preset first direction; judge the bucket wheel in real time.
  • an embodiment of the present application provides a material reclaiming method, and the material reclaiming method is applied to a material reclaimer, and the material reclaimer includes a large machine for walking on a track, a The boom on the large machine and the bucket wheel at the end of the boom; the bucket wheel changes with the position of the large machine and the boom, and the bucket wheel is used to convey the material in the stockpile area to the boom on the belt; the reclaiming method comprises the following steps:
  • Step 201 Obtain the position parameters of each reflection point on the surface of the stockpile area, and calculate the stockpile model, wherein the reflection points are a plurality of points located on the stockpile surface selected according to preset intervals, and the stockpile area approximates a bar.
  • the stock pile area includes a stock pile surface and a peripheral surface that is in contact with the ground in the stock pile area.
  • Step 202 Obtain the maximum height of the surface of the material pile from the ground, and calculate the number of material layers in the area to be taken.
  • Step 203 according to the number of material layers in the to-be-taken area, divide the material-stack area into multiple layers of to-be-taken areas.
  • Step 204 take the area to be taken at the uppermost layer as the target area to be taken, and obtain the cut-in point of the material to be taken from the target area to be taken. point.
  • Step 205 Calculate the target attitude data corresponding to the cut-in point of the reclaiming material, where the target attitude data includes the position of the main machine, the pitch angle of the boom, and the rotation angle of the boom.
  • Step 206 control the reclaimer to move from the initial posture to the target posture, and the target posture corresponds to the target posture data
  • Step 207 under the condition that the pitch angle of the boom remains unchanged, control the boom to rotate according to a preset first direction.
  • Step 208 judging in real time whether the position of the bucket wheel reaches the reclaiming boundary of the target area to be taken.
  • Step 209 if the position of the bucket wheel reaches the reclaiming boundary of the target area to be taken, control the boom to reduce the rotation speed.
  • Step 2010 control the mainframe to move to the next reclaiming position according to the preset stepping distance.
  • Step 2011 Rotate the boom according to a second direction opposite to the first direction, and continue to perform the reclaiming operation of the target area to be taken.
  • the position parameters of each reflection point on the surface of the stockpile area can be obtained by scanning with a laser scanning device, and can also be measured by other devices, which are not specifically limited here.
  • the method provided by the embodiment of the present application can be executed by the control unit or manually. When the control unit is executed, the automation of the reclaiming process is realized, and the safety of personnel and equipment brought about by the existing manual operation of the reclaimer is solved. problem.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Conveyors (AREA)
  • Laser Beam Processing (AREA)

Abstract

L'invention concerne un système et un procédé de récupération, comprenant un dispositif de balayage laser (4) et une unité de commande (5). L'unité de commande (5) est configurée pour effectuer les étapes suivantes : obtention d'un modèle de terril de déchets ; calcul du nombre de couches de matériaux dans une région à récupérer ; division d'une région de terril de déchets en une pluralité de régions à récupérer ; utilisation de ladite région située sur la couche la plus haute comme région cible à récupérer, et obtention d'un point d'entrée de récupération de ladite région cible ; calcul de données d'attitude cible correspondant au point d'entrée de récupération ; commande d'un appareil de récupération pour se déplacer jusqu'à l'attitude cible ; commande d'une flèche (2) pour la faire tourner dans une première direction prédéfinie ; détermination en temps réel si la position d'une roue à godets (3) atteint la limite de récupération de ladite région cible ; dans l'affirmative, commande de la flèche (2) pour réduire la vitesse de rotation ; commande d'un bogie (1) pour qu'il se déplace jusqu'à la position de récupération suivante ; et rotation de la flèche (2) dans une deuxième direction et poursuite de la réalisation d'une opération de récupération. Le système de récupération peut réaliser une opération de récupération automatique et résout le problème de sécurité existant du personnel et de l'équipement provoqué par le fonctionnement manuel de l'appareil de récupération.
PCT/CN2021/091047 2020-07-17 2021-04-29 Système et procédé de récupération Ceased WO2022012116A1 (fr)

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CN114803391B (zh) * 2022-05-12 2023-11-03 北京华能新锐控制技术有限公司 一种智慧燃料系统斗轮机无人值守自动取料方法
CN114906607A (zh) * 2022-05-30 2022-08-16 西门子（中国）有限公司 传送式码垛机的控制方法及传送式码垛机
CN114906607B (zh) * 2022-05-30 2024-05-03 西门子（中国）有限公司 传送式码垛机的控制方法及传送式码垛机
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