Straight-going material taking method and device of bucket-wheel stacker-reclaimer

Abstract

The invention provides a straight-going material taking method and device of a bucket-wheel stacker-reclaimer. The method comprises the following steps of acquiring equipment mechanical parameters and basic operation data of the bucket-wheel stacker-reclaimer, establishing a kinematics model of the bucket-wheel stacker-reclaimer based on a robot kinematics theory, wherein the kinematic model is used for representing the relation between the angle and the position of the bucket-wheel stacker-reclaimer, obtaining point cloud data of a laser scanner, generating a three-dimensional model of a target material pile, and obtaining boundary position information of the target material pile according to the kinematic model, setting straight-going material taking parameters, based on a preset straight-going material taking strategy and the boundary position information of the target material pile, acquiring a straight-going material taking task of the target material pile, and controlling the bucket-wheel stacker-reclaimer to execute a material taking action according to the straight-going material taking task. The problem that the coal pile cutting widths of a forward feeding material taking hopper wheel and a backward material taking hopper wheel are different is solved, and the material taking flow is guaranteed.

Description

technical field [0001] The disclosure belongs to the technical field of bucket-wheel stacker-reclaimer control technology, and in particular relates to a straight-line reclaimer method and device for a bucket-wheel stacker-reclaimer. Background technique [0002] Bucket wheel stacker and reclaimer is a common equipment in the fuel system of thermal power plants. The driver controls the walking, cantilever pitching and turning of the stacker and reclaimer through the operating lever in the driver's cab to achieve the purpose of stacking or reclaiming. There are two commonly used reclaiming methods for bucket wheel stacker reclaimers, namely rotary reclaiming and straight reclaiming, such as figure 1 shown. figure 1 Among them, the dotted line in pile #1 is the movement track of the bucket wheel during rotary reclaiming, and the dotted line in pile #2 is the movement trajectory of the bucket wheel during straight reclaiming. Rotary reclaiming is a purpose of reclaiming by c...

AI Technical Summary

Problems solved by technology

The difficulty lies in the uneven division of the rotation angle during reclaiming, and the large difference in flow rate when retrieving materials forward and backward

If the turning angle difference between each picking point of straight-line picking is the same, as the turning angle gradually increases, the picking flow rate will gradually decrease, which cannot meet the flow demand

Moreover, at the same rotation angle, the width of the cut coal pile is slightly smaller than that of the forward reclaiming. If the forward reclaiming and the backward reclaiming are not screened, the reclaiming flow rate is too small during the backward reclaiming, and it cannot To achieve the purpose of maintaining flow

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