CN-122009852-A - Multi-process unified control method and system for stacker-reclaimer based on dynamic obstacle avoidance rule

CN122009852ACN 122009852 ACN122009852 ACN 122009852ACN-122009852-A

Abstract

The invention relates to the technical field of bulk storage and storage, in particular to a multi-process unified control method and system of a stacker-reclaimer based on a dynamic obstacle avoidance rule. The method comprises the steps of receiving configuration information of a stacker-reclaimer, generating a rule set and a unified parameter set according to the configuration information, controlling the stacker-reclaimer to execute the stacker-reclaimer based on the rule set and the unified parameter set, judging decision according to an operation state, an environment state and the rule set, generating an equipment control instruction if a preset trigger condition is met, executing the equipment control instruction, controlling the stacker-reclaimer to execute corresponding actions, and controlling the stacker-reclaimer to repeatedly execute the stacker-reclaimer until the stacker-reclaimer is completed, so that unified control of multiple processes of the stacker-reclaimer is realized. According to the invention, the environment is perceived in real time through the operable space parameters, and the intelligent decision is made through the path planning engine, so that the actual working condition of the stock yard can be dynamically adapted, the stacking process has high fault tolerance and adaptability, and the reliability, precision and stock yard utilization rate of the operation are greatly improved.

Inventors

DUAN JIMING
WANG YULIN
LIU DONGMING
DUAN JIAN
WU RONGYANG
CHEN YANG

Assignees

大连华锐智能化科技有限公司
大连华锐重工集团股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260130

Claims (8)

1. A stacker-reclaimer multi-process unified control method based on a dynamic obstacle avoidance rule is characterized by comprising the following steps: Receiving configuration information of a stacking operation, and generating a rule set and a unified parameter set according to the configuration information; controlling a stacker-reclaimer to execute a stacking operation based on the rule set and the unified parameter set; acquiring the operation state and the environment state of the stacker-reclaimer in real time; decision judgment is carried out according to the operation state, the environment state and the rule set, and if a preset trigger condition is met, an equipment control instruction is generated; Executing the equipment control instruction to control the stacker-reclaimer to execute corresponding actions; And controlling the stacker-reclaimer to repeatedly execute the stacking operation until the stacking operation is completed, so as to realize the unified control of multiple processes of the stacker-reclaimer.
2. The method for uniformly controlling multiple processes of the stacker-reclaimer based on the dynamic obstacle avoidance rule according to claim 1, wherein the obtaining of the configuration information comprises: Selection instructions for a target template from a predefined plurality of process templates, the process templates being associated with the rule set, the rule set containing at least one rule for defining device behavior logic; the rule set is generated by combining selection instructions of a plurality of atomic rules in an atomic rule base, wherein the atomic rule base comprises a plurality of atomic rules, and each atomic rule corresponds to a basic stacking control logic and a control target.
3. The stacker-reclaimer multi-process unified control method based on dynamic obstacle avoidance rules of claim 1, wherein the unified parameter set comprises: the material stacking base parameters are used for defining the stacking operation space range; Layer sequence target height parameters for defining each layer stack height target; An operable space parameter for dynamically characterizing an operable space; Path vector parameters for defining a device movement path; Other parameters for defining the targets of the stacking job.
4. The stacker-reclaimer multi-process unified control method based on the dynamic obstacle avoidance rule according to claim 3, wherein the layer sequence target height parameter is an ordered array, and the stacking mode is uniformly controlled by positive and negative attributes of array element values in the ordered array; when the array element value is positive, starting a fixed-point stacking mode to reach a target height defined by the array element value, and triggering stepping; When the array element value is negative, a continuous stacking mode is started, and the front blocking perceived in real time is used as a condition for triggering steering.
5. The method for uniformly controlling multiple processes of a stacker-reclaimer based on a dynamic obstacle avoidance rule according to claim 3, wherein the operable space parameter is a dynamically updated graph data structure for representing the reachable state of equipment vertices on each height layer in a stacker-reclaimer area, and the maintenance of the operable space parameter specifically comprises: Recording the vertex position of the equipment with the piled material; Periodically reconstructing a closed boundary of the occupied space based on the device setpoint position; and updating available state identifiers of all the equipment vertexes according to the closed boundary, and marking the vertexes positioned in the closed boundary as unavailable.
6. The unified control method of multiple processes of a stacker-reclaimer based on dynamic obstacle avoidance rules of claim 1, wherein the decision making specifically comprises: Receiving a policy intent output by the rule set; and calculating an equipment control instruction for controlling the action of the stacker-reclaimer through collision detection and decision logic based on the strategy intention and the environmental state.
7. The method for uniformly controlling multiple processes of the stacker-reclaimer based on the dynamic obstacle avoidance rule according to claim 6, wherein the equipment control instruction comprises a target position, a moving speed, a rotation angle and a pitching angle of equipment movement.
8. The stacker-reclaimer multi-process unified control system based on the dynamic obstacle avoidance rule, which is realized by the stacker-reclaimer multi-process unified control method based on the dynamic obstacle avoidance rule according to any one of claims 1 to 7, is characterized by comprising a rule base, a decision module and a control module, wherein: The rule base is used for storing a unified parameter set and a rule set; The decision module is used for making decision judgment according to the operation state and the environment state acquired in real time and the rule set loaded from the rule base in the stacking operation process, and generating a device control instruction when the trigger condition is met; and the control module is used for executing the equipment control instruction to control the stacker-reclaimer to execute corresponding actions.

Description

Multi-process unified control method and system for stacker-reclaimer based on dynamic obstacle avoidance rule Technical Field The invention relates to the technical field of bulk material storage, in particular to a multi-process unified control method and system of a stacker-reclaimer based on a dynamic obstacle avoidance rule. Background In the field of bulk material storage, a stacker-reclaimer is core equipment for stacking and extracting bulk materials such as coal, ore and the like. To meet the needs of homogenization and classified storage, various stacking processes have been developed, such as Chevron (Chevron) stacking, cone (Cone) stacking, and layering (Strata) stacking. Although the forms of the processes are different, the automatic control of the processes can be basically categorized into two basic modes of continuous stacking and fixed-point stacking. At present, the main technical scheme for realizing the process automation is that a set of special control programs are required to be independently designed, written and debugged for each specific stacking process and even different variants of the same process. For example, herringbone stacking (continuous mode) requires writing one set of logic for real-time reversing, while conical stacking (fixed-point mode) requires developing another set of logic for height and stepping monitoring. The control cores of the two modes are different and cannot be reused. A conventional paradigm of process-procedure suffers from inherent, difficult to overcome structural drawbacks: (1) The system is highly redundant, the development and maintenance cost is high, and each new process means that a new set of programs is developed from zero, so that the control system is filled with code 'chimneys' with repeated functions but mutually incompatible functions. The method not only causes software to be bloated, but also makes maintenance, upgrading and troubleshooting of the system extremely complex, requires technicians to master a plurality of sets of logic at the same time, and significantly increases the cost of the whole life cycle. (2) The flexibility and extensibility are severely inadequate, control logic is Hard-Coded (Hard-Coded) in the program. When the working requirements change, such as adjusting process parameters, switching modes or introducing new processes, the underlying program code must be modified or even redeveloped, and quick response cannot be realized through simple configuration. The system is thus stiff and difficult to accommodate with the increasingly frequent process change demands of modern bulk handling sites. (3) The intelligent level is low, and the self-adaption capability is lacking, and the existing scheme is seriously dependent on a preset and fixed path program. The system cannot sense and understand the dynamic change of the working environment (such as the accurate shape of the existing stockpile), so that real-time and intelligent path planning and decision making can not be performed to cope with the emergency, and the fault tolerance, adaptability and reliability are fundamentally limited. It is therefore desirable to provide a highly versatile, intelligent and scalable control architecture that unifies multiple heterogeneous stocker processes into a single set of simple sense-decision-action loops through multi-layer technological innovations. Disclosure of Invention According to the technical problems, the invention provides a stacker-reclaimer multi-process unified control method and system based on a dynamic obstacle avoidance rule. The method comprises the steps of receiving configuration information, generating or calling a rule set according to the configuration information, executing a stacking operation by control equipment based on the rule set and a uniform parameter set, acquiring operation and environment states in real time, and carrying out decision judgment by a path planning engine according to the states and the rule set to generate an equipment control instruction so as to adapt to various processes through parameter configuration. The invention adopts the following technical means: A multi-process unified control method for a stacker-reclaimer based on a dynamic obstacle avoidance rule comprises the steps of receiving configuration information of a stacker-reclaimer, generating a rule set and a unified parameter set according to the configuration information, controlling the stacker-reclaimer to execute the stacker-reclaimer based on the rule set and the unified parameter set, acquiring an operation state and an environment state of the stacker-reclaimer in real time, making decision judgment according to the operation state, the environment state and the rule set, generating a device control instruction if a preset trigger condition is met, executing the device control instruction, controlling the stacker-reclaimer to execute corresponding actions, and controlling the stacker-reclaimer to repeate