CN105417197A - Automatic material taking method of bucket wheel machine - Google Patents

Automatic material taking method of bucket wheel machine Download PDF

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Publication number
CN105417197A
CN105417197A CN201510969892.0A CN201510969892A CN105417197A CN 105417197 A CN105417197 A CN 105417197A CN 201510969892 A CN201510969892 A CN 201510969892A CN 105417197 A CN105417197 A CN 105417197A
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bucket wheel
feeding
point
cantilever
material taking
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CN105417197B (en
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路万林
赵菁
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Wisdri Engineering and Research Incorporation Ltd
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Wisdri Engineering and Research Incorporation Ltd
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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
    • B65G65/28—Piling or unpiling loose materials in bulk, e.g. coal, manure, timber, not otherwise provided for
    • 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
    • B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

The invention provides an automatic material taking method of a bucket wheel machine. The automatic material taking method comprises the following steps that when the rotation circumference bottom of a bucket wheel and the bottom plane of a material taking layer are tangential, the contour line of the material pile outline at the height of the point of tangency between the rotation circumference of the bucket wheel and the material pile slope is obtained; under the condition that the rotation circumference bottom of the bucket wheel and the bottom plane of the material taking layer are tangential, the coordination of the point of tangency of the bucket wheel is determined according to the horizontal rotation track of the bucket wheel around the rotation center of a cantilever, the point of tangency of the contour line and the largest excavation depth of the bucket wheel; and the walking displacement of a material taking machine, the rotation angle of the cantilever and the pitch angle of the cantilever are reasoned out backward, so as to control the material taking machine to take materials automatically. According to the automatic material taking method, by reference to the three-dimensional profile data of the material pile, the action parameters of the material taking machine are reasoned out backward according to the material taking point of tangency, the unmanned material taking control of the bucket wheel machine is realized, the idle sweeping and bucket stalling of the material taking machine can be avoided, and the material taking efficiency is improved to the greatest degree on the premise of not damaging the bucket wheel.

Description

Bucket wheel machine automatic material taking method
Technical field
The present invention relates to a kind of stacker reclaimer method, specifically, relate to a kind of bucket wheel machine automatic material taking method.
Background technology
At present in iron and steel raw material field, power plant's coal yard, harbour bulk cargo stock yard use bucket-wheel stacker reclaimer to carry out the handling of bulk material mostly, along with the application of the raising of automatization level and informationization, digitizing technique, the unmanned control of stacker-reclaimer is being devoted in stock ground.The 3D modelling of stock ground stockpile is the prerequisite realizing unmanned control, current study hotspot by the 3D modelling of the method establishment stock ground stockpiles such as laser-scan, but, at stockpile feeding technical elements, majority is the action parameter adopting sensing measurement means to remove to correct reclaimer, and sensing measuring method is only a kind of correction control method, first there is deviation in feeding, reduce deviation by programming control again, in reclaiming process, may have time and sweep and vexed bucket phenomenon.So far, also do not utilize stockpile three-dimensional modeling data to carry out stockpile feeding, thus prevent sky from sweeping the method with vexed bucket phenomenon.
Summary of the invention
The invention provides a kind of bucket wheel machine automatic material taking method, sweeping the problem with vexed bucket phenomenon in order to solving correlation technique hollow with stockpile three-dimensional modeling data.
According to an aspect of the present invention, provide a kind of bucket wheel machine automatic material taking method, comprise the following steps: obtain bottom bucket wheel rotation circumference and when feeding layer baseplane is tangent, the contour line of the stockpile profile of bucket wheel rotation circumference and point of contact, stockpile inclined-plane At The Height; Bottom bucket wheel rotation circumference and feeding layer baseplane is tangent, according to the level convolution track of bucket wheel around suspending arm rotary center and described isocontour point of contact and bucket wheel maximum digging depth, determine the coordinate of bucket wheel point of penetration; Anti-release reclaimer walking displacement, cantilever convolution angle and cantilever luffing angle, thus control reclaimer automatic material taking.
Preferably, obtaining described isocontour step is: determine layering quantity and layers apart length; Select the feeding bed of material, obtain the floor height of the selected bed of material, and calculate the luffing angle of cantilever; In conjunction with the three-D profile data of stockpile, when obtaining tangent with feeding layer baseplane bottom bucket wheel rotation circumference, the contour line of the stockpile profile of bucket wheel rotation circumference and point of contact, stockpile inclined-plane At The Height.
Preferably, the step obtaining the coordinate of described point of penetration is: according to the level convolution track of bucket wheel around suspending arm rotary center and described isocontour point of contact is counter pushes away bucket wheel reclaimer position in orbit, bucket wheel reclaimer is made to offset △ x displacement to stockpile direction according to bucket wheel maximum digging depth, thus make the level convolution track of bucket wheel around suspending arm rotary center and contour line form multiple intersection point, select from the coordinate of the nearest intersection point of bucket wheel current location as bucket wheel feeding point of penetration.
Preferably, anti-release reclaimer walking displacement, cantilever convolution angle and cantilever luffing angle, thus the step controlling reclaimer automatic material taking is: control bucket wheel reclaimer walking and cantilevered action, make bucket wheel carry out feeding from the point of penetration calculated, complete and once horizontally rotate feeding; Judge whether the selected bed of material reaches layers apart length, if this feeding layer does not reach layers apart length, then bucket wheel reclaimer is offset △ x displacement again near stockpile direction, continue feeding in the selected bed of material, this step of iteration is until reach layers apart length; After this feeding layer reaches layers apart length, carry out feeding to lower one deck of this feeding layer, iteration is until the feeding layer of the bottom completes feeding.
Preferably, when stockpile is longer, stockpile is divided into multiple material section, after having dug the material of all layers of this material section, then takes the material of next material section according to the order of every layer.
Preferably, bottom bucket wheel rotation circumference and H iwhen At The Height feeding layer baseplane is tangent, cantilever luffing angle computing formula is as follows:
Sinγ i＝(R+H i-H 0)/L
Wherein, H 0it is the height on cantilever pitching width between centers ground;
H iit is the height of the i-th feeding layer bottom surface;
L is the length of cantilever pitching center to bucket wheel centre of gration;
R is bucket wheel rotation radius;
γ icantilever luffing angle.
Preferably, bottom bucket wheel rotation circumference and H iwhen At The Height feeding layer baseplane is tangent, the point of contact height on bucket wheel rotation circumference and stockpile inclined-plane is:
H i+2Rsin 2(θ/2)
Wherein, H iit is the height of i-th layer of bottom surface;
θ is the stocking angle of material;
R is bucket wheel rotation radius.
Preferably, bottom bucket wheel rotation circumference and H iwhen the feeding layer baseplane of At The Height is tangent, the level convolution equation of locus of bucket wheel around suspending arm rotary center in described contour line plane is:
( x - x i ) 2 + y 2 = r 2 ( x ≤ x i , y ≥ 0 , r = L 2 - ( H i - H 0 + R ) 2 + R · sin θ )
Wherein, x is the distance of reclaimer distance rail end point;
Y is the horizontal throw of bucket wheel perpendicular to track;
X iwhen getting i-th layer of material, suspending arm rotary center initial horizontal coordinate in orbit;
L is the length of cantilever pitching center to bucket wheel centre of gration;
H iit is the height of the i-th feeding layer bottom surface;
H 0it is the height on cantilever pitching width between centers ground.
Pass through the present invention, stockpile 3D modelling is utilized to calculate the point of penetration of stockpile automatic material taking, the action parameters such as anti-release suspending arm rotary angle, cantilever pitching are lower, reclaimer travel distance, take full advantage of stockpile three-dimensional modeling data, achieve the unmanned control that bucket wheel reclaimer carries out stockpile feeding.
Accompanying drawing explanation
Be described embodiment by combining accompanying drawing below, above-mentioned characteristic sum technological merit of the present invention will become apparent and easy understand.
Fig. 1 is the diagram of circuit of the bucket wheel machine automatic material taking method according to the embodiment of the present invention;
Fig. 2 is according to the isocontour diagram of circuit of the determination of the embodiment of the present invention;
Fig. 3 is the diagram of circuit of the determination point of penetration coordinate according to the embodiment of the present invention;
Fig. 4 is the diagram of circuit of the feeding according to the embodiment of the present invention;
Fig. 5 is the control flow chart of the bucket wheel machine automatic material taking method according to the embodiment of the present invention;
Fig. 6 is the relation schematic diagram of stockpile according to the embodiment of the present invention and bucket wheel;
Fig. 7 is the isocontour schematic diagram of stockpile 3D modelling according to the embodiment of the present invention;
Fig. 8 is according to level convolution track around suspending arm rotary center in contour line plane of the bucket wheel of the embodiment of the present invention and isocontour point of contact schematic diagram;
Fig. 9 is can the schematic diagram 1 of reconnaissance according to the incision of the bucket wheel feeding of the embodiment of the present invention;
Figure 10 is can the schematic diagram 2 of reconnaissance according to the incision of the bucket wheel feeding of the embodiment of the present invention.
Detailed description of the invention
The embodiment of bucket wheel machine automatic material taking method of the present invention is described below with reference to the accompanying drawings.Those of ordinary skill in the art can recognize, when without departing from the spirit and scope of the present invention, can revise with various different mode or its combination to described embodiment.Therefore, accompanying drawing is illustrative with being described in essence, instead of for limiting the protection domain of claim.In addition, in this manual, accompanying drawing draws not in scale, and identical Reference numeral represents identical part.
Provide a kind of bucket wheel machine automatic material taking method in the present embodiment, as shown in Figure 1, the method comprises:
Step S10, obtains bottom bucket wheel rotation circumference and when feeding layer baseplane is tangent, the contour line of the stockpile profile of bucket wheel rotation circumference and point of contact, stockpile inclined-plane At The Height;
Step S20, bottom bucket wheel rotation circumference and feeding layer baseplane is tangent, according to the level convolution track of bucket wheel around suspending arm rotary center and isocontour point of contact and bucket wheel maximum digging depth, determines the coordinate of bucket wheel point of penetration;
Step S30, anti-release reclaimer walking displacement, cantilever convolution angle and cantilever luffing angle, thus control reclaimer automatic material taking.
Fig. 5 is that bucket wheel machine carries out the control flow chart of feeding to a certain material section, describes each step in detail below in conjunction with Fig. 5.
When bucket wheel machine feeding, cantilever can along track travel to the correct position of stockpile, and carry out the adjustment of luffing angle, bucket wheel is longitudinally being adjusted to suitable position, cantilever circles round around suspending arm rotary center, bucket wheel then rotates around the rotation center of self, and in cantilever convolution process, bucket wheel carries out material extracting operation.First step S10 determines bottom bucket wheel rotation circumference tangent with feeding layer baseplane, and bucket wheel rotation circumference and stockpile inclined-plane tangent time critical conditions, the methods such as laser-scan are utilized to obtain the 3D modelling of stockpile, in conjunction with the height at point of contact, stockpile inclined-plane, obtain the stockpile profile contour line of point of contact, stockpile inclined-plane At The Height.
Step S20 is when circling round according to cantilever level, bucket wheel and contour line produce tangent critical condition, determine bucket wheel and isocontour point of contact, again according to bucket wheel maximum digging depth, by time tangent for bottom bucket wheel rotation circumference and feeding layer baseplane, bucket wheel offsets a section around the level at suspending arm rotary center convolution track to stockpile direction and moves in contour line plane, and level convolution track and contour line intersect, thus obtain the best point of penetration coordinate of bucket wheel.
Bucket wheel machine feeding relies on reclaimer along the walking in a horizontal state of track, the level convolution of cantilever, the rotation of bucket wheel completes material extracting operation, and step S30 releases reclaimer walking displacement, cantilever convolution angle according to best point of penetration coordinate is counter, cantilever luffing angle, thus control reclaimer automatic material taking.
By bucket wheel machine method for fetching of the present invention, reclaimer sky can be avoided to sweep and vexed bucket, under the prerequisite not damaging bucket wheel, improve feeding efficiency to greatest extent, take full advantage of stockpile three-dimensional modeling data, achieve the unmanned control that bucket wheel reclaimer carries out stockpile feeding.
As shown in Figure 2, in one alternate embodiment, step S10 also comprises:
Step S102, determines layering quantity and layers apart length;
Step S104, selects the feeding bed of material, obtains the floor height of the selected bed of material, and calculates the luffing angle of cantilever;
Step S106, in conjunction with the three-D profile data of stockpile, when obtaining tangent with feeding layer baseplane bottom bucket wheel rotation circumference, the contour line of the stockpile profile of bucket wheel rotation circumference and point of contact, stockpile inclined-plane At The Height.
Illustrate each step below, step S102, determine layering quantity n, can be not more than the layering of bucket wheel radius according to every layer thickness, namely n is the >=smallest positive integral of H/0.5R, or specifies every layer thickness scope voluntarily, such as 2 ~ 3 meters, then determine layering quantity n according to the actual height H of stockpile.Because the feeding of reclaimer is limited in scope, need according to stockpile length and reclaimer performance determination layers apart length, reach layers apart length and represent and take this layer of material.For longer stockpile, every layer of feeding length is no more than 5 meters, convolution number of times is no less than 10 times, ensures that cantilever does not collide with lower floor material, that is to say, stockpile is divided into multiple material section, after certain one deck of a certain material section reaches layers apart length, carry out lower one deck feeding, after the n layer material taking this material section, namely complete feeding task, then perform next material section feeding task according to order from top to bottom; For shorter stockpile, can layering not segmentation, namely take one deck above and take off one deck again, take n layer material, namely complete feeding task.
Step S104, selects i-th layer to start feeding, obtains this layer of floor height H i, calculate cantilever luffing angle.During feeding, cantilever needs according to bed depth adjustment luffing angle, as shown in Figure 6, according to the height H on cantilever pitching width between centers ground 0, cantilever pitching center calculates cantilever luffing angle γ to the length L of bucket wheel centre of gration, bucket wheel radius R i, its computing formula is as follows:
Sinγ i＝(R+H i-H 0)/L
According to cantilever luffing angle γ i, cantilever rotates to an angle from current angular, arrives this pitch angle γ i, make the bottom surface of the bottom of bucket wheel rotation circumference and this layer tangent.
Step S106, according to the height H of i-th layer of bottom surface i, the stocking angle θ of material, bucket wheel radius R calculate the tangent line height on bucket wheel rotation circumference and stockpile inclined-plane, can extrapolate from Fig. 6, its computing formula is as follows:
H i+2Rsin 2(θ/2)
According to this tangent line height, in conjunction with stockpile three-D profile data, the contour line of the bucket wheel rotation circumference of i-th layer and the tangent line At The Height on stockpile inclined-plane can be obtained, as shown in Figure 7, S ibe the contour line of the tangent line At The Height on i-th layer of bucket wheel rotation circumference and stockpile inclined-plane.Stockpile three-D profile data can upgrade after completing feeding task, for next feeding task is prepared.Certain stockpile three-D profile data also often can complete and once rotate feeding just renewal three-D profile data, do not describe in detail herein.
In one alternate embodiment, as shown in Figure 3, step S20 also comprises:
Step S202, according to the level convolution track of bucket wheel around suspending arm rotary center and described isocontour point of contact is counter pushes away bucket wheel reclaimer position in orbit;
Step S204, bucket wheel reclaimer is made to offset △ x displacement to stockpile direction according to bucket wheel maximum digging depth, thus make the level convolution track of bucket wheel around suspending arm rotary center and contour line form multiple intersection point, select from the coordinate of the nearest intersection point of bucket wheel current location as bucket wheel feeding point of penetration.
As shown in Figure 8, step S202, bottom bucket wheel rotation circumference and H iwhen the feeding layer baseplane of At The Height is tangent, with alternative manner search bucket wheel at contour line S ilevel convolution track around suspending arm rotary center in plane and contour line S ipoint of contact P i, the level convolution equation of locus of cantilever is:
( x - x i ) 2 + y 2 = r 2 ( x ≤ x i , y ≥ 0 , r = L 2 - ( H i - H 0 + R ) 2 + R · sin θ )
Wherein, abscissa x is the distance of reclaimer distance rail end point, and ordinate y is the horizontal throw of bucket wheel perpendicular to track, x ifor suspending arm rotary center initial horizontal coordinate in orbit, L is the length of cantilever pitching center to bucket wheel centre of gration, H 0for the height on cantilever pitching width between centers ground.Alternative manner can be adopted to search out bucket wheel at contour line S by this equation ilevel convolution track around suspending arm rotary center in plane and contour line S ipoint of contact Pi, by this point of contact Pi, anti-release bucket wheel reclaimer position in orbit.
Step S204, by bucket wheel at contour line S ilevel convolution track around suspending arm rotary center in plane is to offseting △ x distance near stockpile direction, this convolution track and contour line S iintersection point be P bj, P ej, select, from any close to bucket wheel current location as bucket wheel feeding point of penetration, when setting departure distance △ x, the maximum digging depth of bucket wheel should be considered, prevent sky from sweeping and vexed bucket.As shown in Figure 9, as j=1, the incision of this bed of material first time convolution feeding can selected element be P b1and P e1, compare P b1and P e1with the distance of bucket wheel current location, select from any close to bucket wheel current location as bucket wheel feeding point of penetration.
In one alternate embodiment, as shown in Figure 4, step S30 also comprises:
Step S302, controls bucket wheel reclaimer walking and cantilevered action, makes bucket wheel carry out feeding from the point of penetration calculated, complete and once horizontally rotate feeding;
Step S304, judge whether the selected bed of material reaches layers apart length, if this feeding layer does not reach layers apart length, then bucket wheel reclaimer is offset △ x displacement again near stockpile direction, continue feeding in the selected bed of material, this step of iteration is until reach layers apart length;
Step S306, after this feeding layer reaches layers apart length, carries out feeding to lower one deck of this feeding layer, and iteration is until the feeding layer of the bottom completes feeding.
As shown in Figure 9, step S302 is according to point of penetration P bjor P ejanti-release reclaimer walking position x jwith the rotation angle range α of cantilever j~ β j, control bucket wheel and once to circle round feeding, as j=1, reclaimer to be walked x from current location 1place.If from P during this bed of material convolution feeding b1incision, then cantilever is screwed into angle [alpha] from current angular convolution 1place, and start from α 1to β 1direction rotates feeding.If from P during this bed of material convolution feeding e1incision, then cantilever is screwed into angle beta from current angular convolution 1place, and start from β 1to α 1direction rotates feeding.
As shown in Figure 10, step S304 judges whether i-th layer of feeding reaches layers apart length, if so, then performs step S306, if not, then j=j+1, returns step S204, reclaimer moves △ x to stockpile direction again, and as j=2, reclaimer to be walked x from current location 2place.If from P during this bed of material convolution feeding b2incision, then cantilever is screwed into angle [alpha] from current angular convolution 2place, and start from α 2to β 2direction rotates feeding.If from P during this bed of material convolution feeding e2incision, then cantilever is screwed into angle beta from current angular convolution 2place, and start from β 2to α 2direction rotates feeding.
Step S306, after reaching layers apart length, judge whether all bed of materials taking this material section, if so, then terminate feeding, if not, then i=i+1, returns step S104, carries out changing a layer feeding.
When after solid accumulation, the stocking angle θ of material is known, and in one alternate embodiment, before material extracting operation, the action parameter by reclaimer and cantilever thereof calculates, thus realizes reclaimer automatic material taking.
In sum, by bucket wheel machine automatic material taking method of the present invention, following technique effect is achieved:
1., in conjunction with stockpile three-D profile data, by the anti-action parameter releasing reclaimer of feeding point of penetration, realize the unmanned control of bucket wheel machine feeding;
2. adopt method for fetching of the present invention, reclaimer sky can be avoided to sweep and vexed bucket, under the prerequisite not damaging bucket wheel, improve feeding efficiency to greatest extent.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (8)

1. a bucket wheel machine automatic material taking method, is characterized in that, comprises the following steps:
Obtain bottom bucket wheel rotation circumference and when feeding layer baseplane is tangent, the contour line of the stockpile profile of bucket wheel rotation circumference and point of contact, stockpile inclined-plane At The Height;
Bottom bucket wheel rotation circumference and feeding layer baseplane is tangent, according to the level convolution track of bucket wheel around suspending arm rotary center and described isocontour point of contact and bucket wheel maximum digging depth, determine the coordinate of bucket wheel point of penetration;
Anti-release reclaimer walking displacement, cantilever convolution angle and cantilever luffing angle, thus control reclaimer automatic material taking.
2. method according to claim 1, is characterized in that, obtains described isocontour step to be:
Determine layering quantity and layers apart length;
Select the feeding bed of material, obtain the floor height of the selected bed of material, and calculate the luffing angle of cantilever;
In conjunction with the three-D profile data of stockpile, when obtaining tangent with feeding layer baseplane bottom bucket wheel rotation circumference, the contour line of the stockpile profile of bucket wheel rotation circumference and point of contact, stockpile inclined-plane At The Height.
3. method according to claim 1, is characterized in that, the step obtaining the coordinate of described point of penetration is:
According to the level convolution track of bucket wheel around suspending arm rotary center and described isocontour point of contact is counter pushes away bucket wheel reclaimer position in orbit;
Bucket wheel reclaimer is made to offset △ x displacement to stockpile direction according to bucket wheel maximum digging depth, thus make the level convolution track of bucket wheel around suspending arm rotary center and contour line form multiple intersection point, select from the coordinate of the nearest intersection point of bucket wheel current location as bucket wheel feeding point of penetration.
4. method according to claim 1, is characterized in that, anti-release reclaimer walking displacement, cantilever convolution angle and cantilever luffing angle, thus the step controlling reclaimer automatic material taking is:
Control bucket wheel reclaimer walking and cantilevered action, make bucket wheel carry out feeding from the point of penetration calculated, complete and once horizontally rotate feeding;
Judge whether the selected bed of material reaches layers apart length, if this feeding layer does not reach layers apart length, then bucket wheel reclaimer is offset △ x displacement again near stockpile direction, continue feeding in the selected bed of material, this step of iteration is until reach layers apart length;
After this feeding layer reaches layers apart length, carry out feeding to lower one deck of this feeding layer, iteration is until the feeding layer of the bottom completes feeding.
5. method according to claim 4, is characterized in that, when stockpile is longer, stockpile is divided into multiple material section, after having dug the material of all layers of this material section, then takes the material of next material section according to the order of every layer.
6. method according to claim 1, is characterized in that, bottom bucket wheel rotation circumference and H iwhen At The Height feeding layer baseplane is tangent, cantilever luffing angle computing formula is as follows:
Sinγ i＝(R+H i-H 0)/L
Wherein, H 0it is the height on cantilever pitching width between centers ground;
H iit is the height of the i-th feeding layer bottom surface;
L is the length of cantilever pitching center to bucket wheel centre of gration;
R is bucket wheel rotation radius;
γ icantilever luffing angle.
7. method according to claim 1, is characterized in that, bottom bucket wheel rotation circumference and H iwhen At The Height feeding layer baseplane is tangent, the point of contact height on bucket wheel rotation circumference and stockpile inclined-plane is:
H i+2Rsin 2(θ/2)
Wherein, H iit is the height of i-th layer of bottom surface;
θ is the stocking angle of material;
R is bucket wheel rotation radius.
8. method according to claim 1, is characterized in that, bottom bucket wheel rotation circumference and H iwhen the feeding layer baseplane of At The Height is tangent, the level convolution equation of locus of bucket wheel around suspending arm rotary center in described contour line plane is:
( x - x i ) 2 + y 2 = r 2 , ( x ≤ x i , y ≥ 0 , r = L 2 - ( H i - H 0 + R ) 2 + R · sin θ )
Wherein, x is the distance of reclaimer distance rail end point;
Y is the horizontal throw of bucket wheel perpendicular to track;
X iwhen getting i-th layer of material, suspending arm rotary center initial horizontal coordinate in orbit;
L is the length of cantilever pitching center to bucket wheel centre of gration;
H iit is the height of the i-th feeding layer bottom surface;
H 0it is the height on cantilever pitching width between centers ground.
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CN106081648A (en) * 2016-05-31 2016-11-09 中国神华能源股份有限公司 The recognition methods of Neosinocalamus affinis and device for reclaimer feeding
CN106707956A (en) * 2017-02-15 2017-05-24 京能（锡林郭勒）发电有限公司 Intelligent and fully-automatic stacker-reclaimer control device
CN106966185A (en) * 2017-04-14 2017-07-21 中国神华能源股份有限公司 For the method for core pile, system, reclaimer and stacker
CN108502483A (en) * 2018-02-09 2018-09-07 中国神华能源股份有限公司 Feeding control method and device for reclaimer
CN109835726A (en) * 2017-11-29 2019-06-04 中冶宝钢技术服务有限公司 A kind of conjunction stacker reclaimer method
CN111302084A (en) * 2020-03-11 2020-06-19 华能国际电力股份有限公司大连电厂 Constant-flow material taking control system and method for bucket wheel type material taking machine
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CN112407979A (en) * 2020-11-11 2021-02-26 中冶东方工程技术有限公司 Automatic material taking method and system based on stock yard scanning imaging
CN113003149A (en) * 2021-02-24 2021-06-22 中冶南方工程技术有限公司 Control method for automatic material taking of cantilever type bucket-wheel stacker-reclaimer
CN113463720A (en) * 2021-06-30 2021-10-01 广西柳工机械股份有限公司 System and method for identifying contact material of loader bucket
CN114084585A (en) * 2021-11-12 2022-02-25 北京华能新锐控制技术有限公司 Straight-going material taking method and device of bucket-wheel stacker-reclaimer
CN114803391A (en) * 2022-05-12 2022-07-29 北京华能新锐控制技术有限公司 Unattended automatic material taking method for bucket wheel machine of intelligent fuel system
CN116380081A (en) * 2023-05-29 2023-07-04 湖南锐异智能科技有限公司 Material taking path planning method, equipment and storage medium for bucket wheel reclaimer
RU2806464C1 (en) * 2020-07-17 2023-11-01 Чжуне Чантянь Интернешнал Энджиниринг Ко., Лтд System and method of material collection

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CN106081648A (en) * 2016-05-31 2016-11-09 中国神华能源股份有限公司 The recognition methods of Neosinocalamus affinis and device for reclaimer feeding
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CN106966185A (en) * 2017-04-14 2017-07-21 中国神华能源股份有限公司 For the method for core pile, system, reclaimer and stacker
CN109835726A (en) * 2017-11-29 2019-06-04 中冶宝钢技术服务有限公司 A kind of conjunction stacker reclaimer method
CN108502483A (en) * 2018-02-09 2018-09-07 中国神华能源股份有限公司 Feeding control method and device for reclaimer
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CN111302084A (en) * 2020-03-11 2020-06-19 华能国际电力股份有限公司大连电厂 Constant-flow material taking control system and method for bucket wheel type material taking machine
CN111674954A (en) * 2020-07-17 2020-09-18 中冶长天国际工程有限责任公司 Material taking system and method
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CN114084585A (en) * 2021-11-12 2022-02-25 北京华能新锐控制技术有限公司 Straight-going material taking method and device of bucket-wheel stacker-reclaimer
CN114803391A (en) * 2022-05-12 2022-07-29 北京华能新锐控制技术有限公司 Unattended automatic material taking method for bucket wheel machine of intelligent fuel system
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CN116380081A (en) * 2023-05-29 2023-07-04 湖南锐异智能科技有限公司 Material taking path planning method, equipment and storage medium for bucket wheel reclaimer
CN116380081B (en) * 2023-05-29 2023-09-19 湖南锐异智能科技有限公司 Material taking path planning method, equipment and storage medium for bucket wheel reclaimer

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