Material taking method for conical material pile of C-shaped material yard

The invention discloses a material taking method for a conical material pile in a C-shaped stockyard, which comprises the following steps that: a secondary system issues a starting instruction, a scraper enters a process, after starting, an HMI (Human Machine Interface) upper computer carries out mode selection and enters an automatic material taking process, a 3D (Three Dimensional) scanner scans data to carry out data processing and generates guidance data, and the guidance data is sent to a control system; guiding data are imported after the PLC carries out process judgment, a full-automatic material taking process is carried out, displacement operation is carried out after the position is judged, the material taking action is carried out after the scraper machine is in place, and the direction and angle of the material taking action are determined by recorded values; the boundary value is determined by 3D scanner guidance data; the speed is determined by a PID algorithm; whether the material taking proces