PROBLEM TO BE SOLVED: To automate the pay-out of an initial pile by a reclaimer ranging from the start of grounding of a bucket to the end of pay-out even when a large number of reclaimers are used in a bulk material storage yard.;SOLUTION: The number of cutout stages of a pile to be cut out by the reclaimers and the heights of benches at each cutout stage are obtained from the height of the pile and the wheel diameters of the reclaimers, the initial biting positions of wheels in the longitudinal, lateral, and height directions of the pile for each cutout stage are obtained, and the wheels of the reclaimers are set sequentially from the cutout stage on a pile top side for performing delivery. The method of calculating the initial biting position is shown here. θis an angle to minimize the biting amount of the wheel. The wheel is temporarily stopped before the biting position, and moved while rotating the wheel. When a rotational load becomes a prescribed value or higher, the initial set is determined to be completed.;COPYRIGHT: (C)2003,JPO
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