CN117303017A - Method for process selection, digital realization and simulation evaluation of bucket-wheel stacker-reclaimer - Google Patents
Method for process selection, digital realization and simulation evaluation of bucket-wheel stacker-reclaimer Download PDFInfo
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- 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
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- 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
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- 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
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Abstract
The invention belongs to the technical field of process digitization, and provides a method for process selection, digitization realization and simulation evaluation of a bucket-wheel stacker-reclaimer. The method comprises three parts, namely stacking and taking process selection, stacking and taking process digitalization and stacking and taking process evaluation, which are sequentially carried out; and carrying out digital setting of the stacking and taking process based on the selected stacking and taking process, and carrying out stacking and taking process evaluation based on the digital stacking and taking process. Aiming at a plurality of problems such as idle time process, safety accidents caused by too deep footage and the like caused by the problem of selection of the cut-in points in the material taking process, the invention provides a cut-in point selection method by combining the algorithms such as arc mathematical calculation, point in-polygon discrimination algorithm, dichotomy searching for accurate boundaries, coarse calculation and fine calculation of the material pile boundaries and the like. And finally, evaluating and analyzing the implementation algorithm in the simulation platform according to the idle time index.
Description
Technical Field
The invention relates to the technical field of process digitization, in particular to a method for process selection, digitization realization and simulation evaluation of a bucket-wheel stacker-reclaimer.
Background
With the development of technology, industrial automation is becoming a necessary development trend. Bucket-wheel stacker-reclaimers are used as modern large-scale stacker-reclaimers for loading and unloading various bulk materials in a stock yard, and are widely applied to basic industries such as electric power, metallurgy, mines, ports and wharfs and the like. In recent years, large domestic material yards are mainly loaded, unloaded and stored by bucket-wheel stacker-reclaimers, and safety production accidents are easily caused by factors such as fatigue operation of operators due to long-time high-strength operation. Therefore, the application and development of an unattended platform of the bucket-wheel stacker reclaimer are urgent, and process digitization plays an important role in the process.
At present, various domestic material yards are built on unmanned material yards, and in' scintigraphy, bucket-wheel reclaimer unmanned material taking control technology research [ D ]. Yan Shanda, 2021.DOI:10.27440/d.cnki.gysdu.2020.000998 ], some material yards already have the full-automatic operation capability of material piling and taking equipment, but the operation efficiency can only reach 60% of manual operation. Meanwhile, the conventional stacking process comprises the following steps: multiple rows of continuous walking stockpiles, continuous rotating stockpiles, fixed-point walking stockpiles and fixed-point rotating walking combined stockpiles; common material taking processes include: rotary layered sectional material taking, rotary layered non-sectional material taking, continuous walking material taking and fixed-point slope material taking. The variety of material piling and taking processes is quite various, so that an effective method for digitizing the process of the bucket-wheel stacker-reclaimer is provided, and the method plays a vital role in realizing unmanned efficient operation of the bucket-wheel stacker-reclaimer.
The process digitization is based on accurate reconstruction of a three-dimensional model of the material pile data, the existing process digitization method is generally based on the accurate reconstruction, key point calculation of the appearance of each layer of the reactor pile is carried out according to a point cloud layering algorithm or an image edge detection algorithm, calculation is carried out according to coordinates and equipment parameters of each key point, and finally control instructions (forward/backward, shape-moving target values, pitch rising/falling, pitch control values, turning left/right and turning target values) are generated. However, how to select a material taking cut-in point, how to avoid the impact of a large arm of the equipment, how to ensure stable material taking flow and the like are all pain problems to be solved urgently.
The technical scheme of the Chinese patent CN114715628B, namely an unmanned method and a scheduling system of the bucket-wheel stacker-reclaimer, mainly aims at the data acquisition and control scheduling of the whole process. The method mainly comprises the steps of calculating outline key points of each layer of material pile according to acquired point cloud data, sequencing all points, calculating equipment postures according to the track position and other material yard parameters in sequence, generating control instructions, and finally comparing the method with a manual mode according to the running time. However, the stacking and taking processes only consider one type, are not compatible with various commonly used stacking and taking processes, and have certain limitation on the application level; and no relevant discussion is made regarding the point-in-point selection of the take-out process.
The technical scheme of the Chinese patent CN116380081A bucket-wheel reclaimer material taking path planning method, equipment and storage medium aims at a material taking process, and parameters such as an operation starting point, an operation end point, a first rotation angle and a second rotation angle are obtained according to the calculation of the length of a cantilever and an encircling curve, and the material taking path is calculated. However, it does not analyze various material taking processes, and does not specifically analyze and evaluate parameters such as idle time involved in the final process.
The image edge detection calculation method (taking the height of each point of point cloud data as a gray level image, generating an image corresponding to a material pile, and obtaining the boundary of each layer according to an image edge detection algorithm) is used for setting a dependency threshold. When the threshold is not properly set, the generated boundary is interrupted, so that the method cannot acquire complete continuous boundary key points. And if the minimum circumscribed rectangle is adopted to replace each layer boundary, the precision is lost to a certain extent, and a large amount of idle time is generated.
Disclosure of Invention
The invention aims to provide a method for realizing process selection, digitization and simulation evaluation of a bucket-wheel stacker-reclaimer, which has strong universality, high working efficiency and stable material flow. By analyzing various material piling and taking processes, an optimal material piling and taking scheme is selected according to actual field requirements; automatically solving layering accurate boundaries based on algorithms such as Mesh grid point traversal of a material pile model, circular arc intersection, sequential polygon generation and the like; the method for accurately selecting the cut-in point and digitizing the material piling and taking process is provided, and qualitative analysis and quantitative evaluation are carried out on the simulation result in terms of idling time, flow stability and the like. Overcomes the defects of limited digitization method, no precision comparison and the like of the existing stacking and taking technology.
The technical scheme of the invention is as follows: the method for realizing process selection, digitization and simulation evaluation of the bucket-wheel stacker-reclaimer comprises three parts, namely stacker-reclaimer process selection, stacker-reclaimer process digitization and stacker-reclaimer process evaluation, which are sequentially carried out; and carrying out digital setting of the stacking and taking process based on the selected stacking and taking process, and carrying out material taking process evaluation based on the digital stacking and taking process.
The material piling and taking process is selected as follows;
the material piling and taking process comprises the following steps: a plurality of rows of continuous walking stockpiles, continuous rotating stockpiles and fixed-point walking stockpiles; performing principle analysis on each material piling and taking process, and selecting the material piling and taking process;
the first step: judging whether the material pile capacity reaches a threshold value, and performing a second step when the width of the material strip is larger than a threshold value T; otherwise, selecting a scheme of 'fixed-point walking stacking';
and a second step of: judging whether the material conveying amount exceeds a threshold value or is continuous, and adopting continuous rotary stacking when the material conveying amount is unstable; otherwise, adopting a multi-row continuous walking stacker; the unstable material conveying amount means that the relative error of the material conveying amount and the standard requirement value exceeds 20%.
The material taking mode of the bucket-wheel stacker reclaimer comprises the following steps: rotary layered sectional material taking, rotary layered non-sectional material taking and continuous walking material taking;
And a third step of: judging the material pile, wherein the current volume of the material pile reaches more than 60% of the theoretical maximum volume under the length and is a normal material pile; the material pile is a scattered area outside the range of the normal material pile, and the material is taken in a continuous walking material taking mode; otherwise, performing a fourth step;
fourth step: judging the height of the material pile, wherein if the height of the material pile is not higher than the pitching axis of the large arm, the material pile is obtained by adopting 'rotary layering and non-sectional material taking'; otherwise, a mode of 'rotary layered sectional material taking' is selected.
The material piling and taking process digitization specifically comprises the following steps of;
2.1 Calculating the posture of the material machine; comprising two aspects: calculating the position of the bucket wheel according to the posture of the material machine and calculating the posture of the material machine according to the position of the bucket wheel;
setting the ground position as the origin of coordinates when the feeder is in a standby state, wherein the advancing direction of the feeder is the positive direction of an x-axis, the upward direction is the positive direction of a y-axis, and the z-axis and the x-axis and the y-axis follow a right-handed spiral rule; according to the fact that the bucket-wheel stacker reclaimer only runs on a track, three pose data of the central coordinate position, the rotation angle and the pitching angle of the discharger are calculated;
under the condition that all parameters of the material machine are known, the position of a center point of a bucket wheel is known, the material machine can only run on a track, and the Y-axis coordinate and the z-axis coordinate of the center point of the material machine are fixed values, wherein the coordinate of the center point of the material machine is set to be A (x, Y, 0), and Y is a fixed value; the back calculation of the coordinate position of the material machine comprises the steps of calculating the value of x in the coordinate of the center point of the material machine, the rotation angle and the pitching angle of the material machine in the motion process;
The center point of the material machine is overlapped with the rotation center point of the material machine, and the rotation angle of the material machine is calculated according to the coordinates of the center point of the material machine;
the center point of the feeder is A point; the center point of the bucket wheel is the point B; when the coordinates of the bucket wheel are known, the coordinates of the point B are B (m, n, l); d is the arm length of the material machine; Δx is B, A two-point x-axis coordinate difference; Δh is B, A two-point y-axis coordinate difference; Δm is the x-axis coordinate difference between the center point of the feeder and the pitching center point of the feeder; alpha is the rotation angle of the material machine; beta is the pitch angle of the material machine;
x＝m-Δx
calculating to obtain the coordinate position of the bucket wheel according to the posture and the position of the material machine; (x) 0 ,y 0 ,z 0 ) The pitch angle of the hopper is equal to the center position of the hopper, the (m, n, l) is the center position of the hopper wheel, the alpha is the rotation angle, the clockwise is positive number, the anticlockwise is negative number, and the beta is the pitch angle of the hopper; depression is negative, elevation is positive, and d is the length of a large arm of the bucket-wheel stacker-reclaimer:
m＝x 0 +dcosαsin(90 ° -β)
n＝y 0 +dcos(90 ° -β)
l＝z 0 +dsinαsin(90 ° -β)
2.2 Digitizing the stacking process;
the digitizing of the stacking process comprises stacking capacity calculation, layering key point calculation and stacking track generation;
2.3 Digitization of the material taking process;
the digitization of the material taking process is realized by the principles of cutting depth, half-wheel cutting, material height limitation and minimum rotation angle;
A. depth of cut: when the height of the cut-in material layer is smaller than 0.7 times of the diameter of the bucket wheel, the upper layer is considered to be a stable structure, and the risk of collapsing materials is avoided;
B. Half wheel cutting in: selecting an edge of a certain plane to cut when selecting a cutting point, and keeping the length of cutting into the radius of the bucket wheel at most in the horizontal direction;
C. material height limit: when the height of the top of the material pile is larger than or equal to the height of the lowest point of the bucket wheel when the pitch angle of the bucket wheel arm is 0 DEG, the walking direction is defined as the advancing direction during material taking; the height of the top of the material pile is smaller than the height of the lowest point of the bucket wheel when the pitch angle of the bucket wheel arm is 0 DEG, and the running direction of the material machine during material taking is not specified;
D. minimum rotation angle principle: and when the material taking cut-in point is selected, the material taking is started by default selecting the vertex with the minimum rotation angle.
The stacking capacity calculation is judged according to stacking tasks;
when the stacking task is the stack supplementing, the stacking capacity is calculated as follows:
a, defining a region of a range of a material stack to be piled as a drawing region, and calculating a minimum circumscribed rectangle of the drawing region;
dividing the minimum circumscribed rectangle according to the designated grid size;
c, calculating the heights of four vertexes corresponding to each grid, and calculating an average value, wherein the average value is used as the grid height;
d, calculating the volume of the material pile at the grid through the area of the grid and the height of the grid;
1.e adding the volumes of all grids, and finally calculating to obtain the volume of the material pile;
When the stacking task is empty-ground stacking, the stacking capacity is calculated as follows:
selecting a stacking area, and calculating the volume of the materials capable of being stacked in the area according to the width of the material strips, the height of the material stacks and the material repose angle; the specific formula is as follows:
wherein width is the width of the material strip, h is the height of the material pile, and alpha is the material repose angle.
The hierarchical keypoints are calculated as follows:
the height of each layer is calculated and,
1) Calculating key points of multiple rows of continuous walking layering,
the method comprises the following steps of calculating the number of path points and the range of the path points of the layer, which are mentioned in the step A of digitally generating a plurality of rows of continuous walking tracks in the stacking track generation, wherein the specific steps are as follows:
a) per-layer height calculation: and calculating according to the layering number and the standard height of the stock yard stockpiles. Such as: the material field of 12 meters is divided into 4 layers, each layer is 3 meters, and the heights of the corresponding layers are respectively: 3 meters, 6 meters, 9 meters and 12 meters.
B) per-layer boundary calculation: and calculating according to the layer height, the bottom layer boundary and the material repose angle by combining a trigonometric function. The entire stack is trapezoidal at both the front view interface and the side view interface, thereby defining the stack boundary for each layer above.
C) each layer of key point calculation: only the start and end points of each column (the direction of the column is parallel to the track direction, and the length is the length of the stacking area of the layer) need be calculated.
2) Calculating the layering key points of the continuous rotation stacking materials,
a) per-layer height calculation: step 1. A) in the calculation of layering key points of the same multi-row continuous walking stacking;
b) each layer of keypoint calculation: 3.B as in step three in Material track calculation "
3) Calculating the layered key points of the fixed-point walking stacking,
a) per-layer height calculation: step 1. A) in the calculation of layering key points of the same multi-row continuous walking stacking;
b) each layer of keypoint calculation: the process corresponds to a vertical line, the plane coordinates of each layer of points are consistent, only the heights are inconsistent, and the heights are the heights of each layer. The plane coordinates of each point are determined by uniformly sampling grids, a small material pile area (similar to a cone) obtained on each point can be calculated according to the maximum height and the repose angle of the material pile, then the long money of the whole area is uniformly placed according to the bottom radius of the area, and the stacking key points of each layer are constructed.
The stacking track generation is divided according to a stacking and taking process;
2.1 Digital generation of a plurality of rows of continuous walking tracks;
traversing each layer, calculating the number of path points and the range of the path points of the layer, and judging the position of a starting point;
each layer has a plurality of paths, each path is called a group, and a starting point and an ending point of the group are generated; then judging the azimuth of the next path point, the coordinates of the next path point and the point number of the next path point, and repeating the steps until each layer of the layer is traversed;
Repeating step 2.1.A, traversing the next layer; until each layer of the whole material pile is traversed;
2.1. Output generation path;
2.2 Digital generation of continuous rotation stacking tracks;
taking materials from high to low, taking one arc from each layer, returning to the highest position after all the arcs are taken, and starting to take the part corresponding to the one arc;
calculating the height of each layer, calculating the rotation angle range of the layer, judging the position of a starting point and judging the position of an ending point;
2.2. Repeating the step 2.2.A until each arc of the whole material pile is traversed;
2.3 Digitally generating a fixed-point walking stacking track;
2.3.A. The number of piles is increased by 1;
2.3. The number of layers is increased by 1;
calculating the height of each layer of material pile;
calculating belt endpoint coordinates; repeating step 2.3.B when the belt is piled up at the point to the value obtained in step 2.3. C; repeating the step 2.3.A until the number of layers reaches the upper limit; until the whole job task is completed.
The material taking process is evaluated;
the material taking process evaluation standard is bucket wheel idle time, and bucket wheel idle time is calculated: judging the real-time change state of the material pile, timing when the volume of the material pile is unchanged after the material taking process is started, and counting the total idle time after the material taking task is finished;
According to the coordinates Pos (x, y, z) of the center point of the bucket wheel, the radius R of the bucket wheel and the thickness D of the bucket wheel, calculating the coordinates Lpos and Rpos of the two sides of the center point of the bottommost end of the bucket wheel:
Lpos.y＝Rpos.y＝Pos.y-R
Lpos.z＝Pos.z+0.5D
Rpos.z＝Pos.z-0.5D
y represents a second coordinate in the three-dimensional vector; z represents the third coordinate in the three-dimensional vector.
The starting point calculation mode of the material taking is as follows:
step one: calculating the minimum circumscribed rectangle of each layer;
step two: calculating a specific boundary of each layer according to the minimum circumscribed rectangular area;
calculating the gradient direction, judging the area as a male surface or a female surface, and calculating from the male surface;
b, finding out a serial number corresponding to the initial grid, and recording the current horizontal and vertical coordinates;
traversing according to columns, and searching for an end point of each column;
2.D traversing according to rows, searching for a starting point of each column, and repeating the step 2. C;
the judgment mode for searching the starting point and the ending point adopts the following formula:
height index-1 <height index <height index+1
height index-1 >height index >height index+1
height index the index is the index number of a point in the line, which is the height of the index point.
Step three, calculating the material taking track of each layer;
calculating the deepest point of each piece; calculating the depth of a hopper according to the material pile boundary at one side of the material strip near the track, the large arm length and the accurate material pile boundary, and adjusting and calculating the deepest point according to the upper limit of the depth;
B, calculating each starting and ending boundary; generating a material taking circular arc with the length of a large arm as a rotating radius according to the deepest point position and the bucket-wheel stacker-reclaimer position, and calculating two intersection points of the material taking circular arc and a minimum circumscribed rectangle to serve as initial iteration end points and termination iteration end points; iterating from the deepest point to the two ends in a dichotomy mode, and judging each iteration point according to a point in polygon judging algorithm until a point intersecting with the accurate boundary of the material pile is found and used as a starting point and a stopping point of the material taking;
c, connecting to obtain a material taking track of each layer, and connecting all the generated starting points and ending points according to the process rule.
The invention has the beneficial effects that: compared with the prior art, the stacking and taking process selection scheme part in the technical scheme provided by the invention can meet the requirements of most of material yards, has higher universality compared with a single stacking and taking process, and avoids the cost brought by material yard transformation and the difficulty that production cannot be carried out during transformation. Meanwhile, compared with the method for directly carrying out the cut-in point by using the minimum circumscribed rectangle, the cut-in point selection scheme provided by the invention has better balance between the idle time of the material pile and reasonable bucket feeding amount. From the verification of a simulation platform, the digital requirements of the stacking and taking process of the existing bucket-wheel stacker-reclaimer in an unmanned stock ground are basically met.
Drawings
FIG. 1 is a technical flow chart of the present invention;
FIG. 2 is a schematic diagram of a multi-column continuous walking stacker;
FIG. 3 is a schematic diagram of a continuous rotary stacker;
FIG. 4 is a schematic diagram of a fixed-point walking stacker;
FIG. 5 is a schematic diagram of a fixed-point rotary walking combined stacker;
FIG. 6 is a schematic diagram of a rotary layered segmented take-off;
FIG. 7 is a schematic diagram of a rotary layered non-segmented take off;
FIG. 8 is a schematic diagram of a continuous travel take off;
FIG. 9 (a) is a schematic diagram of coordinates calculation when the bucket-wheel stacker reclaimer is turned up;
FIG. 9 (b) is a schematic diagram of the coordinate calculation of the bucket-wheel stacker reclaimer when it is down;
FIG. 10 is a flow chart for generating a multi-column continuous walking track;
FIG. 11 is a flow chart of a continuous rotation stacking track generation;
FIG. 12 is a flow chart of the fixed-point walking stacker track generation;
fig. 13 is a schematic diagram of the boundary calculation of each layer.
Detailed Description
The invention provides a method for selecting, digitally realizing and simulating evaluation of a bucket-wheel stacker-reclaimer process, which is used for carrying out comparison analysis on the advantages and disadvantages, applicable scenes, material pile shapes and the like of various conventional stacking and reclaiming processes.
Aiming at a plurality of problems such as idle time process, safety accidents caused by too deep footage and the like caused by the problem of selection of the cut-in points in the material taking process, the invention provides a cut-in point selection method by combining the algorithms such as arc mathematical calculation, point in-polygon discrimination algorithm, dichotomy searching for accurate boundaries, coarse calculation and fine calculation of the material pile boundaries and the like. And finally, evaluating and analyzing the implementation algorithm in the simulation platform according to the idle time index.
Fig. 1 is a main flow chart of the technical scheme of the present invention. As shown in fig. 1, the present invention mainly includes three parts: and selecting a stacking and taking process, digitizing the stacking and taking process and evaluating the stacking and taking process.
(1) Stacking and reclaiming process selection
In practical production, the bucket-wheel stacker reclaimer has a plurality of common stacking and reclaiming processes, and each process has corresponding advantages and disadvantages, so how to select a proper process is the first step of the whole process.
The stacking mode of the bucket wheel stacker reclaimer is that after the material is discharged from a storage bin, the material is conveyed to a feeder arm from a slope at the right rear of the feeder through a belt, and finally reaches a designated stacking point in a horizontal throwing mode, so that the stacking action is completed. Common stacking processes include: multiple rows of continuous walking stacks (shown in figure 2), continuous rotating stacks (shown in figure 3), fixed-point walking stacks (shown in figure 4) and fixed-point rotating walking combined stacks (shown in figure 5). The comparative tables for each stack process are shown in table 1 below:
table 1 comparison table of stacking process
1) The method comprises the steps of continuously walking and stacking a plurality of rows of materials, firstly, adjusting the posture of a material machine at a starting point, then changing the position of the material machine to enable a bucket wheel to move to the edge of a material pile along the directions of parallelism and track, then changing the rotation angle of the material machine to enable the bucket wheel to be positioned at the edge of a material stacking area of the next row, enabling the running direction of the material machine to move to the edge of the area opposite to the last moving direction, and repeating the steps until one layer is stacked, and then stacking the upper layer.
The process can produce diamond-shaped piles or rectangular piles, and can be used in the operation processes of mixing piles and the like, and raw materials with different components are piled according to the batching requirements. The stacking mode is convenient for adjusting the length and the shape of the stack, and is easy to realize.
2) Continuously rotating and stacking, firstly adjusting the posture of a material machine at a starting point, then changing a material machine rotating mechanism to enable a material machine arm to rotate by a specified angle, circularly repeating the steps until the arc is completed and the stacking work at the height is completed, lifting a bucket wheel to the other height until the stacking work is completed, and circularly repeating the steps until the arc is partially stacked. And (3) running the material machine for a certain distance, and repeating the steps until the material piling work of all the circular arcs is completed.
The process can produce diamond stockpiles or approximate parallelogram stockpiles, and can adjust the set length of the stockpiles in time to obtain the target stockpile effect in the occasion of discontinuous raw material conveying quantity, and the process has high operation efficiency.
However, the process requires a travelling mechanism to be driven at a variable speed, and meanwhile, because a single-group material pile is too high, in order to avoid the condition that a large arm of the material machine collides with the material pile, the process only allows the moving direction of the material machine to be a backward direction.
3) The method comprises the steps of walking a material pile at fixed points, firstly, adjusting the posture of a material machine at a starting point, continuously piling to a certain height, changing posture data of the material machine to enable the height of the material pile to be improved, repeating the steps until one material pile is piled, enabling the material machine to slightly move for a small distance, and repeating the steps until all the material piles are piled.
The process operation does not need to operate a rotating mechanism, is convenient to operate, and has poor flexibility. Dust flies more during the stacking process, so that too high stacks are not suitable to be stacked, the distance between the peaks of each stack cannot be too large, and the material taking operation efficiency is affected.
4) The fixed-point rotary walking combined stacking is realized by firstly adjusting the posture of a material machine on a starting point, continuously stacking to a certain height, changing the posture data of the material machine, starting stacking with the next material stack, and moving the material machine to the next initial point after the stacking is finished. Repeating the previous step until all the piles are piled.
The process operation process simultaneously uses the rotating mechanism and the traveling mechanism of the material machine, and the actions are more frequent. Is suitable for the operation of medium and small capacity stockpiles, and is suitable for being piled into diamond stockpiles. However, fly ash is generated during the piling process, so that too high piles are not piled up.
In summary, the principle analysis is performed on each stacking process, and the selection scheme of the stacking process is provided according to the technical flow chart.
The first step: judging whether the material pile capacity is large enough, and if the material strip width is larger than a threshold value T, performing a second step; otherwise, a scheme of 'fixed-point walking stacking' is selected.
And a second step of: judging whether the material conveying amount is more or continuous, and if the material conveying amount is unstable, adopting continuous rotary stacking; otherwise, a multi-column continuous walking stacking is adopted.
The material taking mode of the bucket-wheel stacker reclaimer is as follows: the material machine drives a shovel material port on the bucket wheel through rotating the bucket wheel, the material is transported to a belt of a large arm of the material machine from a material pile, the belt conveys the material to a central blanking hopper, the material falls onto a material yard conveying belt, and the belt conveys the material to other departments for processing. Common material taking processes include: rotary layered segmented take-off (as shown in fig. 6), rotary layered non-segmented take-off (as shown in fig. 7), continuous walking take-off (as shown in fig. 8), fixed point ramp take-off. The comparative tables for each take off process are shown in table 2 below:
table 2 comparison table of the take-off process
1) The material machine is rotated to take materials in a layered and sectional mode, firstly, the posture of the material machine is adjusted to be at a starting point, then, the large arm of the material machine is rotated to take materials, when the rotation range is reached, the travelling mechanism changes the position once, and after one layer is taken, the layer changing control is carried out. And placing the bucket wheel on the operation starting point of the topmost layer of the second section, and carrying out material taking operation again. After the material taking process finishes the first sectional material taking task, the material taking process moves to the next sectional task through the bucket wheel, and the process is repeated until the material taking task is finished.
The technological operation process requires that three mechanisms of rotation, walking and pitching of the bucket-wheel stacker-reclaimer are all driven by a variable speed with good speed regulation performance.
2) The material is not taken in sections by rotating layering, firstly, the posture of the material machine is adjusted to be at a starting point, then, the large arm of the material machine is rotated to take the material, and when the material machine reaches a rotation range, the travelling mechanism changes the position once until one layer is taken out, and the layer changing control is carried out. And placing the bucket wheel on the starting point of the next layer, and repeating the material taking operation.
The technological operation process has high operation efficiency and is suitable for shorter and shorter stockpiles, so that the large arms of the material machine cannot collide with the stockpiles, and the danger caused by collision of the large arms of the material machine with the stockpiles in the operation process can be avoided.
3) And continuously walking to take materials, firstly adjusting the posture of the material machine at a starting point, then moving the material machine to enable the bucket wheel to move parallel to the track along the running direction of the material machine until the material in the row is taken out, moving the bucket wheel to the next row, and repeating the operations to finish the material piling process.
The process is mostly used for residual small stockpiles outside the normal material taking range, but the operation efficiency is low.
In summary, the principle analysis is performed on each stacking process, and the selection scheme of the material taking process is provided according to the technical flow chart.
The first step: judging whether the material pile is a normal material pile, and taking materials in a continuous walking material taking mode if the material pile is a scattered area outside a normal range; otherwise, the second step is performed.
And a second step of: judging the height of the material pile, and if the height of the material pile is not higher than the pitching axis of the large arm, adopting 'rotary layering and non-segmented material taking', so as to avoid collision between the large arm and the material pile; otherwise, a mode of 'rotary layered sectional material taking' is selected.
(2) Digital realization of material piling and taking process
1) And calculating the posture of the material machine. This section mainly includes two aspects: and calculating the position of the bucket wheel according to the posture of the material machine and calculating the posture of the material machine according to the position of the bucket wheel.
When the feeding machine is in a standby state, the ground position is the origin of coordinates, the advancing direction of the feeding machine is the positive direction of the x axis, the upward direction is the positive direction of the y axis, and the z axis and the x axis and the y axis follow the right-handed spiral rule. Because the bucket-wheel stacker-reclaimer only runs on the track, three pose data of the central coordinate position, the rotation angle and the pitching angle of the discharger can be calculated.
Under the condition that all parameters of the material machine are known, the position of the center point of the bucket wheel is known, and the material machine can only run on a track, so that the Y-axis coordinate and the z-axis coordinate of the center point of the material machine are fixed values, and the center point coordinate of the material machine is set to be A (x, Y, 0). And (Y is a fixed value), the coordinate position back calculation of the material machine is only required to calculate the value of x in the coordinate of the center point of the material machine in the moving process, and the posture is required to calculate the rotation angle and the rotation angle of the material machine.
The center point of the feeder coincides with the rotation center point of the feeder, so that the rotation angle of the feeder can be calculated by the coordinates of the center point of the feeder.
Because the rotation center point of the material machine is different from the pitching center point coordinates of the material machine, the difference between the two center point coordinates needs to be considered when calculating the pitching angle of the material machine.
As shown in fig. 9, point a is the center point of the feeder; and the point B is the center point of the bucket wheel. When the coordinates of the bucket wheel coordinates are known, setting the coordinates of the point B as B (m, n, l); d is the arm length of the material machine; Δx is B, A two-point x-axis coordinate difference; Δh is B, A two-point y-axis coordinate difference; Δm is the difference between the x-axis coordinates of the two center points; alpha is the rotation angle of the material machine; beta is the pitch angle of the material machine.
x＝m-Δx
Similarly, the coordinate position of the bucket wheel can be calculated according to the gesture and the position of the feeder, and the related formula is shown as follows. Wherein, (x) 0 ,y 0 ,z 0 ) The machine is characterized in that the machine is at the center position, (m, n, l) is at the center position of a bucket wheel, alpha is a rotation angle (clockwise is positive number, anticlockwise is negative number), beta is a pitching angle (depression is negative number, pitching is positive number), and d is the length of a large arm of the bucket wheel stacker-reclaimer:
m＝x 0 +dcosαsin(90 ° -β)
n＝y 0 +dcos(90 ° -β)
l＝z 0 +dsinαsin(90 ° -β)
2) The stacking process is realized digitally.
As shown in fig. one, the part mainly comprises the following steps: and (5) calculating the stacking capacity, calculating layering key points and generating a stacking track.
Step one: and (5) calculating the stacking capacity. When there is a stacking task, firstly, we need to perform a capacity estimation on the area to be stacked, and if the task can be satisfied, a range of the size can satisfy the task, so that it needs to perform a prediction first. The step is divided into two cases, namely, stacking is carried out on the existing material stack; the other is empty-ground stacking, and the two calculation modes are different, and are respectively described in detail below.
A. And (5) estimating the pile filling capacity.
First, the volume of the stack is calculated by defining the area of the stack to be stacked. The volume of the material pile is calculated mainly by a grid method. The specific flow is as follows:
a, calculating the minimum circumscribed rectangle of the drawing area;
a.b dividing the rectangle by a specified mesh size;
a.c calculating the heights of four vertexes corresponding to each grid, and calculating an average value, wherein the result is the highest grid height;
a.d calculating the volume of the material pile at the grid through the area of the grid and the height of the grid;
a.e the volumes of all the grids are added and the volume of the stockpile is finally calculated.
B. And estimating the empty space stacking capacity.
And selecting a stacking area, and calculating the volume of the materials capable of stacking in the area according to the width of the material strips, the height of the material stacks and the material repose angle. The specific formula is as follows:
Wherein width is the width of the material strip, h is the height of the material pile, and alpha is the material repose angle.
Step two: stacking track generation
2.1 Digital generation of a plurality of rows of continuous walking tracks;
traversing each layer, calculating the number of path points and the range of the path points of the layer, and judging the position of a starting point;
each layer has a plurality of paths, each path is called a group, and a starting point and an ending point of the group are generated; then judging the azimuth of the next path point, the coordinates of the next path point and the point number of the next path point, and repeating the steps until each layer of the layer is traversed;
repeating step 2.1.A, traversing the next layer; until each layer of the whole material pile is traversed;
2.1. Output generation path;
2.2 Digital generation of continuous rotation stacking tracks;
taking materials from high to low, taking one arc from each layer, returning to the highest position after all the arcs are taken, and starting to take the part corresponding to the one arc;
calculating the height of each layer, calculating the rotation angle range of the layer, judging the position of a starting point and judging the position of an ending point;
2.2. Repeating the step 2.2.A until each arc of the whole material pile is traversed;
2.3 Digitally generating a fixed-point walking stacking track;
2.3.A. The number of piles is increased by 1;
2.3. The number of layers is increased by 1;
calculating the height of each layer of material pile;
calculating belt endpoint coordinates; repeating step 2.3.B when the belt is piled up at the point to the value obtained in step 2.3. C; repeating the step 2.3.A until the number of layers reaches the upper limit; until the whole job task is completed.
3) The material taking process is realized digitally.
The domestic bulk cargo yard is mainly loaded, unloaded and stored by the bucket-wheel stacker reclaimer, and the operation mode is mainly manual operation, and the safety production accidents are easily caused by factors such as fatigue operation, night low-illumination operation and the like in long-time high-strength operation. The serious overload and equipment overturning accidents caused by the partial or complete burial bucket wheel mechanism due to landslide collapse of the material pile material taking surface are typical production safety accidents which occur frequently.
The following factors need to be considered:
A. depth of cut: when the height of the cut-in material layer is smaller than 0.7 times of the diameter of the bucket wheel, the upper layer can be determined to be a stable structure according to multiple tests and experience of operators, and the risk of collapsing the material is avoided;
B. half wheel cutting in: in order to prevent the risk of bucket wheel burial during material taking, selecting the edge of a certain plane to cut in when selecting a cutting point, and keeping the length of cutting in the radius of the bucket wheel at most in the horizontal direction;
C. Material height limit: when the height of the top of the material pile is larger than or equal to the height of the lowest point of the bucket wheel when the pitch angle of the bucket wheel arm is 0 DEG, the walking direction is defined as the advancing direction when the material is taken in order to prevent accidents caused by collision between the material machine arm and the material pile in the material taking process; if the top height of the material pile is smaller than the lowest point height of the bucket wheel when the pitch angle of the bucket wheel arm is 0 DEG, the running direction of the material machine during material taking is not specified;
D. minimum rotation angle principle: in order to reduce the power consumption of the material machine, if no special condition exists, selecting a vertex with a minimum rotation angle by default to start material taking when selecting a material taking cut-in point;
the invention adopts the following calculation mode of the starting point of the material taking by the cutting-in point:
step one: calculating the minimum circumscribed rectangle of each layer;
step two: calculating the specific boundary of each layer according to the minimum circumscribed rectangular area, as shown in the following figure 6;
A. calculating the gradient direction, judging whether the area is a male surface or a female surface, and then starting calculation from the male surface;
B. finding out the serial number corresponding to the initial grid, and recording the current horizontal and vertical coordinates; finding a serial number (i, j) corresponding to a starting object (GameObject), wherein i is an abscissa object index, j is an ordinate object index, and recording the current abscissa (col, row) and the corresponding serial number is the current rank. This is partly because the entire scene is partitioned by different gameobjects, each GameObject corresponding to a transverse and longitudinal sequence number (i, j). Each GameObject is composed of a plurality of small grids, each corresponding to an abscissa (col)
C. Traversing according to the columns, and searching for the ending point of each column;
D. traversing according to the rows, searching a starting point of each column, and repeating the step C;
the judgment mode for searching the starting point and the ending point adopts the following formula:
height index-1 <height index <height index+1
height index-1 >height index >height index+1
and thirdly, calculating the material taking track of each layer.
A. Each deepest point is calculated. And calculating the bucket depth according to the material pile boundary at one side of the material strip near the track, the large arm length and the accurate material pile boundary, and adjusting and calculating the deepest point according to the upper limit of the depth.
B. Each start and end boundary is calculated. And generating a material taking circular arc with the length of the large arm as the rotation radius according to the deepest point position and the bucket-wheel stacker-reclaimer position, and calculating two intersection points of the circular arc and the minimum circumscribed rectangle. As the starting and ending iteration end points. Then, iterating from the deepest point to the two sections respectively in a mode of a dichotomy, wherein each iterated point is judged to be an algorithm in a polygon according to the point "
And judging until a point intersecting with the accurate boundary of the material pile is found and used as the starting point and the ending point of the material taking.
C. And connecting to obtain the material taking track of each layer. All the generated starting points and ending points are connected according to the process rules.
(3) Simulation evaluation of the take-off Process
The idling of the material machine means that in the material taking operation process of the material machine, due to the conditions of deviation of pose data of the material machine or material taking, line changing, layer changing and the like, the material machine keeps the material taking state to rotate the bucket wheel, but the bucket wheel does not contact a material pile or does not complete material taking operation, at the moment, the bucket wheel can generate idling condition, and at the moment, energy consumption is achieved, and no actual operation effect exists, so that the operation efficiency of the bucket wheel stacker-reclaimer during material taking can be improved by reducing the idling time of the bucket wheel.
In the simulation platform, the bucket wheel idle time is calculated by the following steps: and judging the real-time change state of the material pile, timing when the volume of the material pile is unchanged after the material taking process is started, and counting the total idle time after the material taking task is finished. The principle is as follows:
according to the coordinates Pos of the center point of the bucket wheel, the radius R of the bucket wheel and the thickness D of the bucket wheel, calculating the coordinates Lpos and Rpos of the two sides of the center point of the bottommost end of the bucket wheel:
Lpos.y＝Rpos.y＝Pos.y-R
Lpos.z＝Pos.z+0.5DRpos.z＝Pos.z-0.5D。
Claims (8)
1. the method for realizing process selection, digitization and simulation evaluation of the bucket-wheel stacker-reclaimer is characterized by comprising three parts, namely stacking and reclaiming process selection, stacking and reclaiming process digitization and stacking and reclaiming process evaluation, which are sequentially carried out; and carrying out digital setting of the stacking and taking process based on the selected stacking and taking process, and carrying out material taking process evaluation based on the digital stacking and taking process.
2. The method for realizing process selection, digital realization and simulation evaluation of the bucket-wheel stacker-reclaimer according to claim 1, wherein the stacker-reclaimer process selection is specifically as follows;
the material piling and taking process comprises the following steps: a plurality of rows of continuous walking stockpiles, continuous rotating stockpiles and fixed-point walking stockpiles; performing principle analysis on each material piling and taking process, and selecting the material piling and taking process;
The first step: judging whether the material pile capacity reaches a threshold value, and performing a second step when the width of the material strip is larger than a threshold value T; otherwise, selecting a scheme of 'fixed-point walking stacking';
and a second step of: judging whether the material conveying amount exceeds a limit value or is continuous, and adopting continuous rotary stacking when the relative error between the material conveying amount and a required standard value exceeds 20%; otherwise, adopting a multi-row continuous walking stacker;
the material taking mode of the bucket-wheel stacker reclaimer comprises the following steps: rotary layered sectional material taking, rotary layered non-sectional material taking and continuous walking material taking;
and a third step of: judging the material pile, wherein the current volume of the material pile reaches more than 60% of the theoretical maximum volume under the length and is a normal material pile; the material pile is a scattered area outside the range of the normal material pile, and the material is taken in a continuous walking material taking mode; otherwise, performing a fourth step;
fourth step: judging the height of the material pile, wherein if the height of the material pile is not higher than the pitching axis of the large arm, the material pile is obtained by adopting 'rotary layering and non-sectional material taking'; otherwise, a mode of 'rotary layered sectional material taking' is selected.
3. The method for realizing process selection, digitization and simulation evaluation of the bucket-wheel stacker-reclaimer of claim 2, wherein the stacker-reclaimer process digitization specifically comprises the following steps of;
2.1 Material machine attitude calculation, comprising two aspects: calculating the position of the bucket wheel according to the posture of the material machine and calculating the posture of the material machine according to the position of the bucket wheel;
setting the ground position as the origin of coordinates when the feeder is in a standby state, wherein the advancing direction of the feeder is the positive direction of an x-axis, the upward direction is the positive direction of a y-axis, and the z-axis and the x-axis and the y-axis follow a right-handed spiral rule; according to the fact that the bucket-wheel stacker reclaimer only runs on a track, three pose data of the central coordinate position, the rotation angle and the pitching angle of the discharger are calculated;
under the condition that all parameters of the material machine are known, the position of a center point of a bucket wheel is known, the material machine can only run on a track, and the Y-axis coordinate and the z-axis coordinate of the center point of the material machine are fixed values, wherein the coordinate of the center point of the material machine is set to be A (x, Y, 0), and Y is a fixed value; the back calculation of the coordinate position of the material machine comprises the steps of calculating the value of x in the coordinate of the center point of the material machine, the rotation angle and the pitching angle of the material machine in the motion process;
the center point of the material machine is overlapped with the rotation center point of the material machine, and the rotation angle of the material machine is calculated according to the coordinates of the center point of the material machine;
the center point of the feeder is A point; the center point of the bucket wheel is the point B; when the coordinates of the bucket wheel are known, the coordinates of the point B are B (m, n, l); d is the arm length of the material machine; Δx is B, A two-point x-axis coordinate difference; Δh is B, A two-point y-axis coordinate difference; Δm is the x-axis coordinate difference between the center point of the feeder and the pitching center point of the feeder; alpha is the rotation angle of the material machine; beta is the pitch angle of the material machine;
x＝m-Δx
Calculating to obtain the coordinate position of the bucket wheel according to the posture and the position of the material machine; (x) 0 ,y 0 ,z 0 ) The pitch angle of the hopper is equal to the center position of the hopper, the (m, n, l) is the center position of the hopper wheel, the alpha is the rotation angle, the clockwise is positive number, the anticlockwise is negative number, and the beta is the pitch angle of the hopper; depression is negative, elevation is positive, d is the arm length of the feeder:
m＝x 0 +dcosαsin(90 ° -β)
n＝y 0 +dcos(90 ° -β)
l＝z 0 +dsinαsin(90 ° -β)
2.2 Digitizing the stacking process;
the digitizing of the stacking process comprises stacking capacity calculation, layering key point calculation and stacking track generation;
2.3 Digitization of the material taking process;
the digitization of the material taking process is realized by the principles of cutting depth, half-wheel cutting, material height limitation and minimum rotation angle;
A. depth of cut: when the height of the cut-in material layer is smaller than 0.7 times of the diameter of the bucket wheel, the upper layer is considered to be a stable structure, and the risk of collapsing materials is avoided;
B. half wheel cutting in: selecting an edge of a certain plane to cut when selecting a cutting point, and keeping the length of cutting into the radius of the bucket wheel at most in the horizontal direction;
C. material height limit: when the height of the top of the material pile is larger than or equal to the height of the lowest point of a bucket wheel with the pitch angle of the bucket wheel arm being 0 DEG, the walking direction is defined as the advancing direction during material taking; the height of the top of the material pile is smaller than the height of the lowest point of a bucket wheel with the pitch angle of the bucket wheel arm of 0 DEG, and the running direction of the material machine during material taking is not specified;
D. Minimum rotation angle principle: and when the material taking cut-in point is selected, the material taking is started by default selecting the vertex with the minimum rotation angle.
4. The method for realizing process selection, digital realization and simulation evaluation of the bucket-wheel stacker-reclaimer of claim 3, wherein the stacker-reclaimer capacity calculation is determined according to a stacker task;
when the stacking task is the stack supplementing, the stacking capacity is calculated as follows:
a, defining a region of a range of a material stack to be piled as a drawing region, and calculating a minimum circumscribed rectangle of the drawing region;
dividing the minimum circumscribed rectangle according to the designated grid size;
c, calculating the heights of four vertexes corresponding to each grid, and calculating an average value, wherein the average value is used as the grid height;
d, calculating the volume of the material pile at the grid through the area of the grid and the height of the grid;
1.e adding the volumes of all grids, and finally calculating to obtain the volume of the material pile;
when the stacking task is empty-ground stacking, the stacking capacity is calculated as follows:
selecting a stacking area, and calculating the volume of the materials capable of being stacked in the area according to the width of the material strips, the height of the material stacks and the material repose angle; the specific formula is as follows:
wherein width is the width of the material strip, h is the height of the material pile, and alpha is the material repose angle.
5. The method for process selection, digital implementation and simulation evaluation of bucket-wheel stacker-reclaimer as defined in claim 3 or 4, wherein the hierarchical key points are calculated as follows:
the height of each layer is calculated and,
1) The multi-row continuous walking stacking layering key point calculation comprises the following specific steps:
a) per-layer height calculation: calculating according to the layering number and the standard height of the stock yard stockpiles;
b) per-layer boundary calculation: calculating according to the layer height, the bottom layer boundary and the material repose angle by combining a trigonometric function; the whole material pile is trapezoid at the front view interface and the side view interface, so that the material pile boundary of each layer above is determined;
c) each layer of key point calculation: only the starting point and the end point of each column need to be calculated, the direction of the column is parallel to the track direction, and the length is the length of the stacking area of the layer;
2) Calculating the layering key points of the continuous rotation stacking materials,
a) per-layer height calculation: step 1. A) in the calculation of layering key points of the same multi-row continuous walking stacking;
b) each layer of keypoint calculation: calculating each starting and ending boundary; generating a stacking arc with the length of a large arm as a rotating radius according to the deepest point position and the bucket wheel stacker-reclaimer position, and calculating two intersection points of the stacking arc and a minimum circumscribed rectangle to serve as initial iteration end points and termination iteration end points; iterating from the deepest point to the two ends in a dichotomy mode, and judging each iteration point according to a point-in-polygon judging algorithm until a point intersecting with the accurate boundary of the material pile is found and used as the starting point and the ending point of the material pile;
3) Calculating the layered key points of the fixed-point walking stacking,
a) per-layer height calculation: step 1. A) in the calculation of layering key points of the same multi-row continuous walking stacking;
b) each layer of keypoint calculation: the fixed-point walking stacking corresponds to a vertical line, the plane coordinates of each layer of points are consistent, only the heights are inconsistent, and the height is the height of each layer; the plane coordinates of each point are determined by uniformly sampling grids, calculating a small material pile area obtained on each point according to the maximum height and the repose angle of the material pile, and uniformly placing the points according to the bottom radius of the area and the length of the whole area to construct the material pile key points of each layer.
6. The method for realizing process selection, digital realization and simulation evaluation of a bucket-wheel stacker-reclaimer of claim 5, wherein the stacking track generation is divided according to stacking and reclaiming processes;
2.1 Digital generation of a plurality of rows of continuous walking tracks;
traversing each layer, calculating the number of path points and the range of the path points of the layer, and judging the position of a starting point;
each layer has a plurality of paths, each path is called a group, and a starting point and an ending point of the group are generated; then judging the azimuth of the next path point, the coordinates of the next path point and the point number of the next path point, and repeating the steps until each layer of the layer is traversed;
Repeating step 2.1.A, traversing the next layer; until each layer of the whole material pile is traversed;
2.1. Output generation path;
2.2 Digital generation of continuous rotation stacking tracks;
taking materials from high to low, taking one arc from each layer, returning to the highest position after all the arcs are taken, and starting to take the part corresponding to the one arc;
calculating the height of each layer, calculating the rotation angle range of the layer, judging the position of a starting point and judging the position of an ending point;
2.2. Repeating the step 2.2.A until each arc of the whole material pile is traversed;
2.3 Digitally generating a fixed-point walking stacking track;
2.3.A. The number of piles is increased by 1;
2.3. The number of layers is increased by 1;
calculating the height of each layer of material pile;
calculating belt endpoint coordinates; repeating step 2.3.B when the belt is piled up at the point to the value obtained in step 2.3. C; repeating the step 2.3.A until the number of layers reaches the upper limit; until the whole job task is completed.
7. The method for process selection, digital realization and simulation evaluation of the bucket-wheel stacker reclaimer of claim 1, 2, 3, 4 or 6, wherein the reclaiming process evaluation;
the material taking process evaluation standard is bucket wheel idle time, and bucket wheel idle time is calculated: judging the real-time change state of the material pile, timing when the volume of the material pile is unchanged after the material taking process is started, and counting the total idle time after the material taking task is finished;
According to the coordinates Pos (x, y, z) of the center point of the bucket wheel, the radius R of the bucket wheel and the thickness D of the bucket wheel, calculating the coordinates Lpos and Rpos of the two sides of the center point of the bottommost end of the bucket wheel:
Lpos.y＝Rpos.y＝Pos.y-R
Lpos.z＝Pos.z+0.5D
Rpos.z＝Pos.z-0.5D
y represents a second coordinate in the three-dimensional vector; z represents the third coordinate in the three-dimensional vector.
8. The method for process selection, digital implementation and simulation evaluation of bucket-wheel stacker-reclaimer of claim 7, wherein the method for calculating the starting point of reclaiming material is as follows:
step one: calculating the minimum circumscribed rectangle of each layer;
step two: calculating a specific boundary of each layer according to the minimum circumscribed rectangular area;
calculating the gradient direction, judging the area as a male surface or a female surface, and calculating from the male surface;
b, finding out a serial number corresponding to the initial grid, and recording the current horizontal and vertical coordinates;
traversing according to columns, and searching for an end point of each column;
2.D traversing according to rows, searching for a starting point of each column, and repeating the step 2. C;
the judgment mode for searching the starting point and the ending point adopts the following formula:
height index-1 <height index <height index+1
height index-1 >height index >height index+1
height index the index is the index number of a point in the line, which is the height of the index point.
Step three, calculating the material taking track of each layer;
calculating the deepest point of each piece; calculating the depth of a hopper according to the material pile boundary at one side of the material strip near the track, the large arm length and the accurate material pile boundary, and adjusting and calculating the deepest point according to the upper limit of the depth;
B, calculating each starting and ending boundary; generating a material taking circular arc with the length of a large arm as a rotating radius according to the deepest point position and the bucket-wheel stacker-reclaimer position, and calculating two intersection points of the material taking circular arc and a minimum circumscribed rectangle to serve as initial iteration end points and termination iteration end points; iterating from the deepest point to the two ends in a dichotomy mode, and judging each iteration point according to a point in polygon judging algorithm until a point intersecting with the accurate boundary of the material pile is found and used as a starting point and a stopping point of the material taking;
c, connecting to obtain a material taking track of each layer, and connecting all the generated starting points and ending points according to the process rule.
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