A material automatic loading method, system and related device

Abstract

The present application provides a method for automated material loading, including: obtaining material tonnage data and loading information; the loading information includes compartment volume data, vehicle location information and vehicle moving speed; calculating material density based on material tonnage data and loading information; determining the remaining tonnage of materials to be loaded and the remaining compartment volume at the current moment based on material density and vehicle location information; determining the matching degree based on the vehicle moving speed and the material dropping speed; updating the material dropping height and material dropping speed based on the matching degree until all materials are loaded. The present application can avoid loading failures due to changes in material properties, effectively ensure that materials are not spilled during loading, avoid eccentric loading, and ensure that materials are loaded evenly, thereby effectively improving material loading efficiency. The present application also provides an automated material loading system, a computer-readable storage medium and a terminal, which have the above-mentioned beneficial effects.

Description

Technical Field

[0001] The present application relates to the field of automation, and in particular to a material automated loading method, system and related devices. Background Art

[0002] In the actual production process, the automatic control process of vehicle loading often depends on factors such as the vehicle's load, volume, and material type, and the constraints include overweight, overheight, and uneven loading. Therefore, in the process of controlling the automatic loading of materials, it is necessary to make real-time corrections and restrictions on the loading of materials based on the volume of the carriage, the characteristics of the spatial geometry, etc., so as to accurately complete the material loading process.

[0003] In some more complex production environments, the density of materials will change with time, temperature, and type. For example, when loading coal, the density of coal is often affected by air temperature and humidity, and different types of coal will also vary greatly. If the same rules are used for loading, various problems will often occur in the coal loading process due to the difference in volume and weight. Either the volume of the same weight of coal increases due to the decrease in density and it is not fully loaded in the end, or the volume of the same weight of coal decreases due to the increase in density and it is loaded early, resulting in uneven loading. Summary of the invention

[0004] The purpose of the present application is to provide an automated material loading method, an automated material loading system, a computer-readable storage medium and a terminal, which can realize automated material loading.

[0005] In order to solve the above technical problems, the present application provides a material automatic loading method, and the specific technical solution is as follows:

[0006] Obtaining material tonnage data and loading information; the loading information includes compartment volume data, vehicle location information and vehicle moving speed;

[0007] Calculate material density according to the material tonnage data and the loading information;

[0008] Determine the remaining tonnage of materials to be loaded and the remaining compartment volume at the current moment according to the material density and the vehicle position information;

[0009] Determine the matching degree between the vehicle moving speed and the material dropping speed according to the remaining tonnage of materials to be loaded and the remaining compartment volume;

[0010] The material drop height and drop speed are updated according to the matching degree until all materials are loaded.

[0011] Optionally, also include:

[0012] The drop height and the drop speed are adjusted according to the real-time vehicle position information and the vehicle moving speed.

[0013] Optionally, calculating the material density according to the material tonnage data and the loading information includes:

[0014] The reduction in tonnage is determined based on the difference between the total tonnage of the vehicle and the remaining tonnage in the quantitative warehouse;

[0015] Determine the volume reduction based on the vehicle structural volume;

[0016] The density of the material is determined based on the reduced tonnage and the reduced volume.

[0017] Optionally, after determining the material density according to the reduced tonnage and the reduced volume, the method further includes:

[0018] Enter the stage of loading the vehicle head, and determine the height of the vehicle compartment through LiDAR measurement;

[0019] Setting the initial height of the chute to be lower than the height of the carriage;

[0020] When it is detected that the material dropping speed enters a stable speed range, the chute is lifted to a preset height; wherein the preset height is related to the tonnage and density of the material in a full warehouse state.

[0021] Optionally, after the chute is raised to a preset height, the method further comprises:

[0022] Entering the mid-end loading stage, the estimated end time of material dropping is determined according to the current material dropping speed and the material tonnage data;

[0023] Determine the end time of the vehicle traveling to the rear end according to the vehicle travel speed and the position of the chute;

[0024] If the material dropping end time is earlier than the driving end time, the descending height is determined according to the material density and the current remaining volume of the carriage, and the height of the chute is reduced according to the descending height;

[0025] If the material dropping end time is later than the driving end time, the lifting height is determined according to the material density and the current remaining volume of the carriage, and the chute height is increased according to the lifting height.

[0026] Optionally, after the remaining volume of the carriage is 0, it also includes:

[0027] Entering the stage of loading at the rear of the vehicle, the telescopic length of the chute is determined according to the remaining material amount, and the chute is adjusted to the telescopic length.

[0028] The present application also provides a material automatic loading system, comprising:

[0029] An information acquisition module is used to acquire material tonnage data and loading information; the loading information includes compartment volume data, vehicle location information and vehicle moving speed;

[0030] A density calculation module, used for calculating the material density according to the material tonnage data and the loading information;

[0031] A vehicle information determination module, used to determine the remaining tonnage of materials to be loaded and the remaining compartment volume at the current moment according to the material density and the vehicle position information;

[0032] A speed determination module, used to determine the matching degree between the vehicle moving speed and the material dropping speed according to the remaining tonnage of materials to be loaded and the remaining compartment volume;

[0033] The loading module is used to update the material drop height and drop speed according to the matching degree until all the materials are loaded.

[0034] Optionally, also include:

[0035] The loading adjustment module is used to adjust the drop height and the drop speed according to the real-time vehicle position information and the vehicle moving speed.

[0036] The present application also provides a computer-readable storage medium having a computer program stored thereon, and the computer program implements the steps of the above-mentioned method when executed by a processor.

[0037] The present application also provides a terminal, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps of the above method when calling the computer program in the memory.

[0038] The present application provides a method for automated material loading, comprising: acquiring material tonnage data and loading information; the loading information comprising compartment volume data, vehicle position information and vehicle moving speed; calculating material density according to the material tonnage data and the loading information; determining the remaining tonnage of materials to be loaded and the remaining compartment volume at the current moment according to the material density and the vehicle position information; determining the matching degree between the vehicle moving speed and the material dropping speed according to the remaining tonnage of materials to be loaded and the remaining compartment volume; and updating the material dropping height and material dropping speed according to the matching degree until all materials are loaded.

[0039] This application first calculates the material density based on the material tonnage data and the obtained loading information, and then adjusts the material drop height and drop speed in real time based on the spatial geometric characteristics and volume of the loading, so as to avoid loading failure due to changes in material properties, effectively ensure that the material is not spilled during the loading process, avoid overloading, and ensure that the material is loaded evenly, thereby effectively improving the material loading efficiency.

[0040] The present application also provides an automated material loading system, a computer-readable storage medium and a terminal, which have the above-mentioned beneficial effects and will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0042] Figure 1 A flow chart of a method for automated material loading provided in an embodiment of the present application;

[0043] Figure 2 This is a schematic diagram of the structure of a C80 truck;

[0044] Figure 3 A schematic diagram of the structure of an automated material loading system is provided in an embodiment of the present application. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0046] Please refer to Figure 1 , Figure 1 A flowchart of a material automatic loading method provided in an embodiment of the present application is provided, and the method includes:

[0047] S101: Obtain material tonnage data and loading information;

[0048] S102: Calculating material density according to the material tonnage data and the loading information;

[0049] S103: Determine the remaining tonnage of materials to be loaded and the remaining compartment volume at the current moment according to the material density and the vehicle position information;

[0050] S104: Determine the matching degree between the vehicle moving speed and the material dropping speed according to the remaining tonnage of materials to be loaded and the remaining compartment volume;

[0051] S105: updating the material drop height and drop speed according to the matching degree until all materials are loaded onto the vehicle.

[0052] This embodiment first obtains material tonnage data and loading information. The material tonnage data refers to the weight of the material to be loaded. The material includes but is not limited to any material that actually needs to be loaded, such as coal, cereal crops, etc. The loading information includes the compartment volume data, vehicle position information, and vehicle moving speed. It should be noted that the compartment volume data may depend on the structure of the loading vehicle, that is, it may include the volume of each structure itself. Figure 2 As shown, Figure 2 The structure diagram of the C80 truck can include several structures such as a chute, a trapezoidal bottom, and a circular bottom. The obtained compartment volume data can include the volume of the chute, the trapezoidal bottom, and the circular bottom. At the same time, the sum of the volumes of each part of the structure is the maximum volume of this loading. The loading information also includes the vehicle position information, that is, the vehicle can move slowly during the loading process to make the material drop more evenly. Correspondingly, the loading information can also include the vehicle moving speed.

[0053] In S102, the material density needs to be calculated, that is, the material density needs to be calculated based on the material tonnage data and loading information determined in S101. Figure 2 For example, this step may include the following processes:

[0054] S1021: Determine the reduction in tonnage based on the difference between the total tonnage of the vehicle and the remaining tonnage of the fixed-volume warehouse;

[0055] S1022: Determine the reduced volume according to the vehicle structure volume;

[0056] S1023: Determine material density based on the reduced tonnage and the reduced volume.

[0057] like Figure 2 As shown in the figure, when the coal descending speed slows down, it can be considered that the chute has been filled with the falling coal. At this time, the coal tonnage reduced from the quantitative bin is composed of the following parts:

[0058] Coal in the chute - can be considered as fully loaded, with a fixed volume;

[0059] The volume of the square-shaped coal material that is higher than the carriage can be calculated using the square-shaped volume calculation formula;

[0060] Coal in the carriage;

[0061] The volume of the coal just below the chute up to the front baffle of the car can be obtained by calculating the volume of this part of the car and subtracting the volume of foreign matter in the box;

[0062] The volume formula of coal overflowing from the right side of the chute can be calculated using the angle formula.

[0063] In summary, the total tonnage of coal that has been reduced from the quantitative warehouse is:

[0064] T 减少吨位 =T 总吨位 -T 定量仓剩余吨位

[0065] The total volume reduction is:

[0066] V 减少体积 =V 溜槽内容积 +V 四棱台体积 +V 箱内体积 +V 外溢体积

[0067] Therefore, the density calculation formula is:

[0068] It can be seen that the material density can be calculated by the above process.

[0069] After that, it is necessary to determine the remaining tonnage of materials to be loaded and the remaining compartment volume at the current moment based on the material density and vehicle position information. The remaining tonnage of materials to be loaded and the remaining compartment volume are both used to calculate the time the materials still need to be loaded, so as to determine the matching degree in S104 based on the vehicle moving speed and the material dropping speed. The matching degree refers to whether the material loading speed is too fast. It is easy to understand that if the material dropping speed is too fast and the vehicle moving speed is relatively slow, it cannot adapt to the material dropping speed, which will lead to uneven material dropping distribution. Therefore, if the vehicle moves faster, the dropping height / speed is increased, and if the dropping speed is faster, the dropping height and material loading speed are reduced.

[0070] It should be noted that during the loading process, the height and speed of the material drop can be adjusted according to the real-time vehicle position information and vehicle moving speed. If the material drop is finished first, it proves that there is space at the end of the carriage. The remaining amount at the end of the carriage can be judged according to the driving speed, and the drop rate can be reduced by lowering the chute height, extending the drop time, so that the material can fill the carriage as much as possible.

[0071] If the vehicle reaches the end first, it means that there is some material left, and the chute height needs to be raised to increase the material dropping rate and reduce the material dropping time. This process continues until all the materials are loaded.

[0072] The embodiment of the present application first calculates the material density based on the material tonnage data and the obtained loading information, and then adjusts the material drop height and drop speed in real time in combination with the spatial geometric characteristics and volume of the loading, so as to avoid loading failure due to changes in material properties, effectively ensure that the material is not spilled during the loading process, avoid overloading, and ensure that the material is loaded evenly, thereby effectively improving the material loading efficiency.

[0073] Based on the above embodiment, as a preferred embodiment, the entire loading process can be further divided into three stages, namely, the front loading stage, the middle loading node and the rear loading stage. The specific process can be as follows:

[0074] After determining the material density, the loading stage can begin. To prevent material spillage, the initial height of the chute should be lower than the height of the carriage. The specific process is implemented by following the steps below:

[0075] The first step is to enter the stage of loading the vehicle head and determine the height of the vehicle compartment through laser radar measurement;

[0076] Step 2: Setting the initial height of the chute to be lower than the height of the carriage;

[0077] Step 3: When it is detected that the material dropping speed enters the stable speed range, the chute is lifted to a preset height; wherein the preset height is related to the tonnage and density of the material in the full warehouse state.

[0078] Until the unloading rate reaches a stable state, it enters the mid-end loading stage.

[0079] In the mid-end loading stage, the material dropping rate is relatively smooth, so there is a relatively stable material dropping rate, through which an estimated material dropping end time node is calculated. Then, the time point when the vehicle reaches the rear of the vehicle is calculated based on the vehicle's driving speed and chute position.

[0080] Judge the time of two nodes. If the material dropping ends first, it means there is space at the end of the carriage. The remaining amount is determined according to the driving speed. If the load exceeds the unbalanced threshold, the material dropping rate is reduced by lowering the chute height to extend the material dropping time.

[0081] If the vehicle reaches the end first, it means that there is material left. At this time, the chute height needs to be raised to increase the material drop rate and reduce the drop time. The length of the rising or falling chute can be calculated based on the material density and the remaining volume of the carriage.

[0082] After the remaining volume of the carriage is 0, the rear loading stage begins, and the telescopic length of the chute is determined according to the remaining material amount, and the chute is adjusted to the telescopic length. At this time, the weight tonnage of the reserved bin is 0, and all the remaining coal is concentrated in the chute, and the internal volume of the chute is a fixed value, so the telescopic length of the chute can be calculated by the internal volume and the remaining volume of the carriage.

[0083] An automated material loading system provided in an embodiment of the present application is introduced below. The automated material loading system described below and the automated material loading method described above can refer to each other.

[0084] The present application also provides a material automatic loading system, comprising:

[0085] An information acquisition module is used to acquire material tonnage data and loading information; the loading information includes compartment volume data, vehicle location information and vehicle moving speed;

[0086] A density calculation module, used for calculating the material density according to the material tonnage data and the loading information;

[0087] A vehicle information determination module, used to determine the remaining tonnage of materials to be loaded and the remaining compartment volume at the current moment according to the material density and the vehicle position information;

[0088] A speed determination module, used to determine the matching degree between the vehicle moving speed and the material dropping speed according to the remaining tonnage of materials to be loaded and the remaining compartment volume;

[0089] The loading module is used to update the material drop height and drop speed according to the matching degree until all the materials are loaded.

[0090] Based on the above embodiments, as a preferred embodiment, it also includes:

[0091] The loading adjustment module is used to adjust the drop height and the drop speed according to the real-time vehicle position information and the vehicle moving speed.

[0092] The present application also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed, the steps provided in the above embodiment can be implemented. The storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0093] The present application also provides a terminal, which may include a memory and a processor, wherein a computer program is stored in the memory, and when the processor calls the computer program in the memory, the steps provided in the above embodiment may be implemented. Of course, the terminal may also include various network interfaces, power supplies and other components.

[0094] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. For the system provided in the embodiment, since it corresponds to the method provided in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0095] Specific examples are used herein to illustrate the principles and implementation methods of the present application, and the description of the above embodiments is only used to help understand the method and core ideas of the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

[0096] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A material automatic loading method, characterized in that: include: Obtaining material tonnage data and loading information; the loading information includes compartment volume data, vehicle location information and vehicle moving speed; Calculate material density according to the material tonnage data and the loading information; Determine the remaining tonnage of materials to be loaded and the remaining compartment volume at the current moment according to the material density and the vehicle position information; Determine the matching degree between the vehicle moving speed and the material dropping speed according to the remaining tonnage of materials to be loaded and the remaining compartment volume; The material drop height and drop speed are updated according to the matching degree until all materials are loaded; Among them, the calculation of material density based on the material tonnage data and the loading information includes: determining the reduced tonnage based on the difference between the total tonnage of the vehicle and the remaining tonnage of the quantitative bin; determining the reduced volume based on the structural volume of the vehicle; and determining the material density based on the reduced tonnage and the reduced volume.

2. The material automatic loading method according to claim 1, characterized in that: Also includes: The drop height and the drop speed are adjusted according to the real-time vehicle position information and the vehicle moving speed.

3. The material automatic loading method according to claim 1, characterized in that: After determining the material density according to the reduced tonnage and the reduced volume, the method further comprises: Enter the stage of loading the vehicle head, and determine the height of the vehicle compartment through LiDAR measurement; Setting the initial height of the chute to be lower than the height of the carriage; When it is detected that the material dropping speed enters a stable speed range, the chute is lifted to a preset height; wherein the preset height is related to the tonnage and density of the material in a full warehouse state.

4. The material automatic loading method according to claim 3 is characterized in that: After the chute is raised to a preset height, the method further comprises: Entering the mid-end loading stage, the estimated end time of material dropping is determined according to the current material dropping speed and the material tonnage data; Determine the end time of the vehicle traveling to the rear end according to the vehicle travel speed and the position of the chute; If the material dropping end time is earlier than the driving end time, the descending height is determined according to the material density and the current remaining volume of the carriage, and the height of the chute is reduced according to the descending height; If the material dropping end time is later than the driving end time, the lifting height is determined according to the material density and the current remaining volume of the carriage, and the chute height is increased according to the lifting height.

5. The material automatic loading method according to claim 4, characterized in that: After the remaining volume of the carriage is 0, it also includes: Entering the stage of loading at the rear of the vehicle, the telescopic length of the chute is determined according to the remaining material amount, and the chute is adjusted to the telescopic length.

6. A material automatic loading system, characterized in that: include: An information acquisition module is used to acquire material tonnage data and loading information; the loading information includes compartment volume data, vehicle location information and vehicle moving speed; A density calculation module, used for calculating the material density according to the material tonnage data and the loading information; A vehicle information determination module, used to determine the remaining tonnage of materials to be loaded and the remaining compartment volume at the current moment according to the material density and the vehicle position information; A speed determination module, used to determine the matching degree between the vehicle moving speed and the material dropping speed according to the remaining tonnage of materials to be loaded and the remaining compartment volume; A loading module is used to update the material drop height and drop speed according to the matching degree until all materials are loaded; Among them, the density calculation module is specifically used to determine the reduced tonnage according to the difference between the total tonnage of the vehicle and the remaining tonnage of the quantitative bin; determine the reduced volume according to the structural volume of the vehicle; and determine the material density according to the reduced tonnage and the reduced volume.

7. The material automatic loading system according to claim 6, characterized in that: Also includes: The loading adjustment module is used to adjust the drop height and the drop speed according to the real-time vehicle position information and the vehicle moving speed.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for automated material loading as described in any one of claims 1 to 5 are implemented.

9. A terminal, characterized in that: It comprises a memory and a processor, wherein the memory stores a computer program, and when the processor calls the computer program in the memory, the steps of the automatic material loading method as described in any one of claims 1 to 5 are implemented.

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