CN-121998548-A - Dry bulk material continuous stacking method based on standardized stack

CN121998548ACN 121998548 ACN121998548 ACN 121998548ACN-121998548-A

Abstract

The invention relates to a continuous stacking method of dry bulk materials based on a standardized stack, which comprises the following steps of S1, determining a stacking operation flow of the dry bulk materials according to port operation standards or operation regulations, S2, obtaining attributes of the dry bulk materials and operation equipment, S3, constructing a standardized stack shape of the materials according to the attributes of the dry bulk materials by taking the minimum stacking occupation area as a target, S4, planning a stacking three-dimensional space path of the operation equipment according to the stacking continuity principle and the space attributes of the operation equipment according to the standardized stack shape of the materials, S5, converting path planning information into equipment operation information and instructions according to the stacking three-dimensional space path, and executing a stacking task of the dry bulk materials by the operation equipment, and S6, embedding the whole set of flow into a stacker control system to realize the automation of stacking of a dry bulk material wharf. The invention can realize standardized stacking scheme formulation and equipment operation continuity of the dry bulk materials, improve the stacking operation efficiency and improve the storage yard utilization rate.

Inventors

CHENG KAI
XU YAJUN
YANG JICHAO
SUN JUNFENG
ZOU YANCHUN
CAO YIZHOU
XU JIUJUN

Assignees

中交第二航务工程勘察设计院有限公司

Dates

Publication Date: 20260508
Application Date: 20260115

Claims (10)

1. The method for continuously stacking the dry bulk materials based on the standardized stack is characterized by comprising the following steps of: s1, determining a dry bulk material piling operation flow according to port operation specifications or operation regulations; S2, acquiring attributes of the dry bulk materials and the operation equipment; s3, according to the attribute of the dry bulk materials, taking the minimum stacking occupied area as a target, and constructing a material standardized stack shape under the condition that the material laying angle is met; S4, planning a stacking three-dimensional space path of the operation equipment according to the standard stacking shape of the materials, the stacking continuity principle and the space attribute of the operation equipment; s5, converting path planning information into equipment operation information and instructions according to the three-dimensional space path of the stacking material, and executing a stacking task of the dry bulk materials by the operation equipment; s6, embedding the whole set of processes of the steps S1-S5 into a stacker-reclaimer control system to realize the automation of the stacking of the dry bulk cargo wharf.
2. The method for continuously stacking dry bulk materials based on standardized stacks according to claim 1, wherein in the step S1, the dry bulk material entering port stacking process specifically includes the steps of unloading dry bulk materials transported to a port by a ship or a train by a ship unloader or a dumper, horizontally transporting the dry bulk materials by a belt, and stacking the dry bulk materials in a port yard by a bucket-wheel stacker.
3. The method for continuously stacking dry bulk materials based on standardized stacks according to claim 1, wherein in the step S2, the attribute information of the dry bulk materials includes the type of the materials, the weight of the materials, the dry density of the materials, the moisture content of the materials and the repose angle of the materials, the operation equipment is stacking equipment, and the attribute information of the equipment includes the length of a large arm of a bucket wheel, the discharging rate of the bucket wheel, the rotation angle range of a rotating mechanism, the pitching angle range of a pitching mechanism and the effective moving distance of a cart.
4. The method for continuously stacking dry bulk materials based on standardized stacking according to claim 1, wherein in the step S3, the standardized stacking is constructed by abstracting an actual stacking model into a theoretical stacking model in order to meet the requirements of the dry bulk materials.
5. The method for continuously stocking dry bulk materials based on standardized stacks according to claim 4, wherein the theoretical stacking model comprises targets and constraints; the normalized stack theoretical model comprises a first objective function, which is specifically expressed as follows: wherein, min is the minimum symbol, Representing the floor area of the stacking model and the length of a large arm of a bucket wheel of equipment The equipment moving distance L and the maximum rotation angle of the piling operation equipment The calculation formula is determined as follows: the constraint aims to maximize the stacking of dry bulk materials with the minimum storage yard floor area; the standardized stack type theoretical model comprises the following constraint conditions, and the constraint conditions are specifically expressed as follows: Stacking volume constraints: the storage volume constraint condition indicates that the current storage volume of the material is required to meet the requirements of the weight, the density and the water content of the material, wherein V indicates the storage volume of the material, M indicates the weight of the material, The dry density of the material is represented by the formula, The water content of the materials is represented, Representing dynamic bulk density; Stacking angle of repose constraint: the stacking angle constraint condition indicates that the theoretical model angle of repose takes the minimum value of the stacking angles of the materials with different particle diameters, namely, the stacking under the limit angle of repose is satisfied, wherein, Represents the stacking angle of materials with different particle diameters, Indicating that the theoretical model uses a repose angle; Single layer stacking constraints: the single-layer stacking constraint condition represents a unit cone stack naturally formed at a resting angle under a single-layer stacking condition, wherein, Represents the radius of the bottom surface of the unit stack, Indicating the stacking height of the individual layers, Is the angle of repose; hierarchical stacking constraints: the layered stack constraint represents a constraint relationship between stack widths of different layers, wherein, Indicating the index of the number of stacking layers, Represent the first Layer stack width; the constraint represents a constraint relationship between the stack lengths of the different layers, wherein, Represent the first The width of the layer stack, The constraint represents a limiting relationship between the stack heights of the tiers, wherein, Indicating the number of stacked layers, Representing the highest height that the device pitch mechanism allows for stacking; theoretical model stack constraint conditions: The theoretical model stacking body constraint condition indicates that the theoretical model stacking volume is required to meet the actual material stacking volume requirement, wherein, Representing the length of a device bucket-wheel stacking path; stacking path length constraint: the constraint condition of the length of the stacking path represents the spatial dimension relation between the bucket wheel stacking path and different stacks when the operation equipment completes multi-layer stacks, wherein Indicating that the equipment operation is a boom rotation angle.
6. The method for continuously stacking dry bulk materials based on standardized stack type according to claim 1, wherein in the step S4, a three-dimensional space path of the stacking of the working equipment is planned, and the specific steps are as follows: S401, obtaining the layering stacking length according to a standardized stacking theoretical model Width of the container Height of ; S402, according to the blanking initial position (0, ) Determining the position of a space coordinate origin, and constructing a space rectangular coordinate system by taking the length direction of a storage yard as an X axis, the width direction as a Y axis and the height direction as a Z axis; s403, determining the initial blanking point of each layer of stack and the rotation angle of the equipment operation large arm ; S404, stacking according to a single-layer stacking sector-shaped rotary stacking the multi-layer stack follows the foldback travelling principle to sequentially align with the first Stacking the layers of materials until each layer of stacking is completed.
7. The method for continuously stacking dry bulk materials based on standardized stack type according to claim 6, wherein in S404, the multi-layer stack follows the turn-back travelling principle as the travelling mode of the travelling mechanism of the device at different stacking layers, if i is odd, the travelling direction of the travelling mechanism of the device is positive X-axis direction, and if i is even, the travelling direction of the travelling mechanism of the device is negative X-axis direction.
8. The method for continuously stacking dry bulk materials based on standardized stacks according to claim 1, wherein in S404, the single-layer stacking sector-shaped rotary stacking is performed as follows: S404a, determining minimum rotation angle of equipment boom Maximum rotation angle The advancing direction of the stacking; S404b according to the first Layer stack end position, determination of the first Layer initial blanking points; S404c, when When the equipment travelling mechanism moves along the positive direction of the X axis, the rotating mechanism rotates according to the angular velocity From the minimum rotation angle To the maximum rotation angle Rotated when the rotation mechanism rotates to the maximum rotation angle When the travelling mechanism advances along the X-axis direction ; S404d, rotating the mechanism according to the angular velocity From the maximum rotation angle Toward a minimum rotation angle Rotated when the rotation mechanism rotates to a minimum rotation angle When the travelling mechanism advances along the X-axis direction ; S404e, repeating S404a-S404d until the first step is completed Stacking layer materials; S404f, when When the equipment travelling mechanism moves along the X-axis negative direction, the pitching mechanism lifts the pitching angle, the initial rotation direction of the rotating mechanism is determined by the blanking end point of the 1 st layer, and if the blanking end point of the 1 st layer is close to the X-axis, the rotation angle is the minimum rotation angle To the maximum rotation angle Rotation, otherwise, by maximum rotation angle Toward a minimum rotation angle And the rotation and the operation modes are the same.
9. The method according to claim 1, wherein in step S5, the three-dimensional space path of the bulk material is converted into equipment operation information and instructions, and the equipment operation information and instructions include blanking point position, rotation angle, rotation angular velocity, traveling direction, traveling velocity, etc., and the task of stacking the bulk material is performed by the operation equipment.
10. The method for continuously stacking dry bulk materials based on the standardized stack type according to claim 1, wherein in the step S6, a stacking plan is formulated through the steps S1-S6, and then the mechanical equipment is controlled by the PLC controller to perform instruction operation to realize the stacking operation of the stacker-reclaimer, so as to realize the automation of the stacking of the dry bulk wharf.

Description

Dry bulk material continuous stacking method based on standardized stack Technical Field The invention relates to the field of dry bulk port automation, in particular to a dry bulk material continuous stacking method based on standardized stacks. Background In recent years, along with the continuous rising of global trade, a dry bulk cargo dock becomes a core hub of a bulk cargo multi-type intermodal system and plays core functions of stockpiling, transferring and the like. However, the conventional dry bulk wharf mainly relies on manual work, and the stacking scheme is highly dependent on manual experience. When the throughput is large, the stacking tasks are more, the stacking scheme is slow to be established by virtue of the manual experience, and the upper space of the storage yard is difficult to effectively utilize, so that the utilization rate of the storage yard is low. Meanwhile, in the stacking process, the operation modes of the stacker-reclaimer are different, the operation efficiency of frequently pitching or breakpoint stacking modes is low, and the energy waste is easy to cause. Disclosure of Invention The technical problem to be solved by the invention is to provide a dry bulk material continuous stacking method based on a standardized stack, which can realize the standardized stacking scheme formulation and equipment operation continuity of the dry bulk material, improve the stacking operation efficiency and improve the storage yard utilization rate. The technical scheme adopted by the invention for solving the technical problems is that a dry bulk material continuous stocking method based on a standardized stack type is constructed, and comprises the following steps: s1, determining a dry bulk material piling operation flow according to port operation specifications or operation regulations; S2, acquiring attributes of the dry bulk materials and the operation equipment; s3, according to the attribute of the dry bulk materials, taking the minimum stacking occupied area as a target, and constructing a material standardized stack shape under the condition that the material laying angle is met; S4, planning a stacking three-dimensional space path of the operation equipment according to the standard stacking shape of the materials, the stacking continuity principle and the space attribute of the operation equipment; s5, converting path planning information into equipment operation information and instructions according to the three-dimensional space path of the stacking material, and executing a stacking task of the dry bulk materials by the operation equipment; s6, embedding the whole set of processes of the steps S1-S5 into a stacker-reclaimer control system to realize the automation of the stacking of the dry bulk cargo wharf. According to the scheme, in the step S1, the process of loading and stacking the dry bulk materials into the port comprises the steps that the dry bulk materials transported to the port through a ship or a train are subjected to ship unloading operation or car dumper unloading operation by a ship unloader, are horizontally transported by a belt, and are stacked in a port yard by a bucket wheel stacker reclaimer. According to the above scheme, in the step S2, the attribute information of the dry bulk cargo material includes the type of the material, the weight of the material, the dry density of the material, the moisture content of the material, and the angle of repose of the material, the operation equipment is stacking equipment, and the attribute information of the equipment includes the length of the large arm of the bucket wheel, the discharging rate of the bucket wheel, the rotation angle range of the rotation mechanism, the pitching angle range of the pitching mechanism, and the effective moving distance of the cart. According to the above scheme, in the step S3, a standardized stack shape is constructed, which abstracts an actual stacking model into a theoretical stacking model in order to meet the requirement of dry bulk materials. According to the scheme, the theoretical stacking model comprises the following targets and constraints, and comprises the following steps: the normalized stack theoretical model comprises a first objective function, which is specifically expressed as follows: wherein, min is the minimum symbol, Representing the floor area of the stacking model and the length of a large arm of a bucket wheel of equipmentThe equipment moving distance L and the maximum rotation angle of the piling operation equipmentThe calculation formula is determined as follows: the constraint aims to maximize the stacking of dry bulk materials with the minimum storage yard floor area; the standardized stack type theoretical model comprises the following constraint conditions, and the constraint conditions are specifically expressed as follows: Stacking volume constraints: the storage volume constraint condition indicates that the current storage volume of the mate