CN115727925A - Stacker-reclaimer material stacking height calculation method based on radar level gauge - Google Patents

Abstract

The invention discloses a method for calculating the stacking height of a stacker-reclaimer based on a radar level gauge, which comprises the following steps: s1: judging the material flow according to the numerical value of the cantilever belt scale, classifying materials with different particle sizes and water contents, acquiring the projection length L of inertial throwing of various materials on site, and establishing a database; s2: determining the height D1 of the cantilever from the ground: d1= Sin (In 1) × B + a; the method comprises the following steps that A, the reference height, namely the height from a large machine rotation center to a track, is measured according to a design drawing or a field actual measurement, B, the length of a cantilever is measured according to the design drawing or the field actual measurement, and In1 is the cantilever pitching angle and is measured In real time through a positioning detection device; s3: calculating the actual height H1 of the material: h2= H4-Cot (180 ° -90 ° -In 2) × L; h1= D1-H2. When the transmitting port of the radar detection device is deviated from the top end position of the material pile, the material height compensation can be carried out through the calculation formula, the measurement precision is guaranteed, and accurate and reliable command parameters are provided for the full-automatic remote operation of the material piling and taking machine.

Description

Stacker-reclaimer material stacking height calculation method based on radar level gauge

Technical Field

The invention relates to the technical field of intelligent modification of bulk cargo storage yards, in particular to a method for calculating the stacking height of a stacker-reclaimer based on a radar level gauge.

Background

At present, the domestic bulk cargo yard is subjected to intelligent transformation, and an unmanned and remote full-automatic operation mode of a stacker-reclaimer on site is realized by additionally arranging equipment such as a radar wave detection device, a satellite positioning system and a PLC (programmable logic controller) control system and adopting the technologies such as intelligent stacker path planning, 3D (three-dimensional) image processing of a material pile, namely an operator of a driver cab of a traditional stacker-reclaimer is moved to a remote control room, so that the remote full-automatic stacker-reclaimer operation of the stacker-reclaimer is realized. In the process of remote full-automatic stacking operation, a stacker-reclaimer is required to detect the height of the top of a material pile below a hopper in real time so as to assist the stacker-reclaimer to automatically identify the material pile. The mode that present mainly used stacker-reclaimer detected the stockpile height is the radar range finding method, is about to install near the hopper of stacker cantilever head radar equipment, detects the distance with the stockpile through the radar. Due to the material throwing inertia of the cantilever belt of the stacker-reclaimer, the material throwing distances of materials with different flow rates, different particle sizes and different water contents are different, certain errors exist in the parameters, and the height of a material pile cannot be directly and accurately measured. Therefore, the invention provides a more convenient and accurate calculation method aiming at the problems.

The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art that is already known to a person skilled in the art.

Disclosure of Invention

The invention aims to provide a stacker-reclaimer material stacking height calculating method based on a radar level gauge, and aims to solve the technical problems in the prior art.

In order to achieve the purpose, the invention adopts the following technical scheme:

the invention provides a method for calculating the stacking height of a stacker-reclaimer based on a radar level gauge, which comprises the following steps:

s1: judging the flow of the materials according to the numerical value of the cantilever belt scale, classifying the materials with different particle sizes and water contents, acquiring the projection length L of inertial throwing of various materials on site, and establishing a database;

s2: determining the height D1 of the cantilever from the ground:

d1= Sin (In 1) × B + a; wherein the content of the first and second substances,

a, measuring the reference height, namely the height from a large machine rotation center to a track according to a design drawing or actual measurement on site, B, measuring the cantilever length according to the design drawing or actual measurement on site, and measuring the cantilever pitch angle In1 In real time through a positioning detection device;

s3: calculating the actual height H1 of the material:

H2＝H4-Cot(180°-90°-In2)*L；

H1＝D1-H2；

in2: the material repose angle refers to an included angle between the stacked loose materials and the horizontal plane; l is the projection length of the material inertia throwing; h4, the actually measured height of the radar level indicator; h2, the safe distance between the cantilever and the material pile.

By adopting the technical scheme, the invention has the following beneficial effects:

when the transmitting port of the radar detection device is deviated from the top end position of the material pile, the material height compensation can be carried out through the calculation formula, the measurement precision is guaranteed, and accurate and reliable command parameters are provided for the full-automatic remote operation of the material piling and taking machine.

Drawings

Fig. 1 is a schematic diagram of a method for calculating the stacker-reclaimer stacker height based on a radar level gauge according to an embodiment of the present invention.

Detailed Description

The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

As shown in FIG. 1, the invention provides a method for calculating the stacking height of a stacker-reclaimer based on a radar level gauge, which comprises the following steps:

s1: judging the material flow according to the numerical value of the cantilever belt scale, wherein the flow is obtained through a field equipment belt scale, classifying materials with different particle sizes and water contents, and obtaining data through a scheduling room according to the particle sizes and the water contents (specific gravities); the method comprises the following steps of collecting the projection length L thrown out by inertia of various materials on site: 1. obtaining a scheduling room operation plan to obtain the types and specific gravity of operation materials; 2. the flow is obtained through the belt weigher in the operation process; 3. obtaining the projection length L of the thrown material; establishing a database;

s2: determining the height D1 of the cantilever from the ground:

d1= Sin (In 1) × B + a; wherein the content of the first and second substances,

a, measuring the reference height, namely the height from a large machine rotation center to a track according to a design drawing or on-site actual measurement, B, measuring the cantilever length according to the design drawing or on-site actual measurement, and measuring the cantilever pitching angle In1 In real time through a positioning detection device;

s3: calculating the actual height H1 of the material:

H2＝H4-Cot(180°-90°-In2)*L；

H1＝D1-H2；

in2: the material repose angle refers to an included angle between the stacked loose materials and the horizontal plane; l is the projection length of the material inertia throwing; h4, the actually measured height of the radar level indicator; l1, the distance from the stacker-reclaimer to the material pile; l2, the width of the material pile; h2, the safe distance between the cantilever and the material pile; h3 for auxiliary calculation.

The database established in step S1 in the present application is shown in the following table:

finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (1)

1. A stacker-reclaimer windrow height calculation method based on a radar level gauge is characterized by comprising the following steps:

s1: judging the material flow according to the numerical value of the cantilever belt scale, classifying materials with different particle sizes and water contents, acquiring the projection length L of inertial throwing of various materials on site, and establishing a database;

s2: determining the height D1 of the cantilever from the ground:

d1= Sin (In 1) × B + a; wherein the content of the first and second substances,

a, measuring the reference height, namely the height from a large machine rotation center to a track according to a design drawing or actual measurement on site, B, measuring the cantilever length according to the design drawing or actual measurement on site, and measuring the cantilever pitch angle In1 In real time through a positioning detection device;

s3: calculating the actual height H1 of the material:

H2＝H4-Cot(180°-90°-In2)*L；

H1＝D1-H2；

in2: the material repose angle refers to an included angle between the stacked loose materials and the horizontal plane; l is the projection length of the material inertia throwing; h4, the actually measured height of the radar level indicator; h2, the safe distance between the cantilever and the material pile.

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