A material taking head control method, ship unloader and electronic device

Abstract

The application designs a material taking head control method, an unloading machine and electronic equipment. The material taking head control method comprises the following steps: determining a transverse movement speed and a feed amount of the material taking head based on an expected full load rate of the material taking head; and controlling the material taking head to take material according to the transverse movement speed and the feed amount, wherein the expected full load rate is a ratio of a material amount taken by the material taking head at the transverse movement speed and the feed amount to a full load material amount of the material taking head. In the embodiment of the application, the material taking head takes material at different transverse cutting speeds and feed amounts under different material surface states, thereby solving the problem of low material taking efficiency when the material taking head takes material at a fixed feed amount in the prior art.

Description

Technical Field

[0001] This application belongs to the field of artificial intelligence, specifically relating to a material handling head control method, a ship unloader, and electronic equipment. Background Technology

[0002] Fully automated ship unloaders are gradually replacing manually operated large ship unloading equipment. Existing chain bucket continuous ship unloaders, when operating at a fixed depth, are easily affected by the rise and fall of the material surface. When the rise and fall of the material surface is large, the unloader's material unloading efficiency is low. Summary of the Invention

[0003] Therefore, the purpose of this application is to provide a material handling head control method, a ship unloader, and electronic equipment to improve the problem of low material handling head efficiency in existing ship unloaders.

[0004] The embodiments of this application are implemented as follows:

[0005] In a first aspect, embodiments of this application provide a material handling head control method, the method comprising: determining the traverse speed and feed rate of the material handling head based on the expected full load rate of the material handling head; controlling the material handling head to handle material according to the traverse speed and the feed rate; wherein the expected full load rate is the ratio of the amount of material handled by the material handling head at the traverse speed and the feed rate to the full load amount of the material handling head.

[0006] In this embodiment, the efficiency of the unloader is determined by the full load rate of the reclaiming head. The higher the full load rate of the reclaiming head, the greater the ratio of the amount of material (such as ore) picked up by the reclaiming head to the full load capacity. Therefore, the full load rate of the reclaiming head is higher. However, during the process of the reclaiming head grabbing ore, the full load rate of the chain bucket (where the reclaiming head is located on the chain bucket, and after the reclaiming head picks up the material, the picked-up ore will be loaded into the chain bucket, and the full load capacity of the reclaiming head is equal to the volume of the chain bucket) is determined by the transverse cutting speed of the reclaiming head across the material surface and the depth of the reclaiming head buried below the material surface when picking up the material. When the ratio between the ore picked up by the reclaiming head with the corresponding transverse speed and feed rate and the capacity of the chain bucket can reach the expected full load rate, the amount of material picked up by the reclaiming head can be increased, thereby increasing the full load rate of the reclaiming head.

[0007] In one possible implementation of the first aspect embodiment, a formula for determining the traverse speed and feed rate of the take-up head based on the expected full load rate of the take-up head includes: ; wherein, the Characterizing the expected load factor, Characterized by pre-calculated constants, Characterizing the feed rate, Characterizes the lateral velocity.

[0008] In this embodiment of the application, based on the formula Given the expected full load rate In this case, determine the traverse speed and feed rate that will enable the feed head to grab the bulk ore to meet the expected full load rate. The required transverse speed and feed rate of the material handling head can be determined based on different unloader models to achieve the expected full load efficiency. This allows for a universal method to calculate the required transverse speed and feed rate of the material handling head when grabbing bulk ore to meet the expected full load rate for different unloader models.

[0009] In one possible implementation of the first aspect embodiment, before determining the traverse speed and feed rate of the material picker head based on the expected full load rate of the picker head, the method further includes: acquiring multiple point cloud data of all material surfaces picked up by the material picker head; wherein each point cloud data includes a material surface height value; calculating the standard deviation of the multiple material surface height values ​​corresponding to the multiple point cloud data; wherein the standard deviation is negatively correlated with the degree of material surface undulation; and determining that the standard deviation is lower than a preset threshold.

[0010] In this embodiment, the material handling efficiency of the unloader is strongly related to the flatness of the material surface. When the material surface is flat during the material handling process, the efficiency of the material handling process is relatively stable, and the set expected full load rate is easy to achieve. However, when the material surface is uneven, that is, in a state of ups and downs, when the material surface of the material handling head is in a concave position, the feed amount of the material handling head buried below the material surface is likely to be shallow, which leads to the amount of material taken out in the concave position not meeting the expected full load rate. To avoid low material handling efficiency due to uneven material surfaces, multiple point cloud data of all ore loaded in the compartments of the transport equipment are collected, and the standard deviation of multiple material surface height values ​​corresponding to multiple point cloud data is calculated. If the standard deviation is lower than a preset threshold, it can be determined that the flatness of the entire material surface is relatively high. When the material flatness is relatively high, the amount of material handled by the material handling head with the corresponding lateral movement speed and feed rate can more easily meet the expected full load rate, thereby improving the unloading efficiency of the ship unloader.

[0011] In one possible implementation of the first aspect embodiment, after calculating the standard deviation of the multiple material surface height values ​​corresponding to the multiple point cloud data, the method further includes: determining that the standard deviation is not lower than the preset threshold; controlling the material picker to pick up material according to the undulation state of the material surface within the current picking range of the material picker, so that the standard deviation of the multiple material surface height values ​​corresponding to the multiple point cloud data on all material surfaces after picking up material is lower than the preset threshold.

[0012] In this embodiment, since the efficiency of the material grabbing head in grabbing ore is low when the material surface is uneven, in order to improve the efficiency of the material grabbing head in grabbing ore when the material surface is uneven, the undulation state of the material surface within the current grabbing range is judged, and the material grabbing head is controlled to grab material based on different undulation states, so that the material surface after grabbing is in a flat state, thereby enabling the material grabbing head to grab material on a flat material surface and improving the efficiency of the material grabbing head in grabbing ore.

[0013] In one possible implementation of the first aspect embodiment, controlling the material picker to pick up material based on the undulation state of the current material surface includes: determining the undulation state of the material surface within the current picking range; and controlling the material picker to pick up material with a first lateral movement speed and a first feed rate when the undulation state of the material surface within the current picking range is in a convex state.

[0014] In this embodiment, since a higher feed rate is not required in the convex state, in order to improve the recovery of the material surface from the convex state to the flat state in the undulating state, the material picker head is controlled to pick up the material with a relatively low first lateral speed and a relatively deep first feed rate, so that the material surface currently in the convex state can be restored to flatness more quickly.

[0015] In one possible implementation of the first aspect embodiment, after determining the undulation state of the material surface within the current material picking range, the method further includes: if it is determined that the undulation state of the material surface within the current material picking range is a concave state, controlling the picking head to pick up material with a second lateral movement speed and a second feed rate; wherein the first lateral movement speed is less than the second lateral movement speed, and the first feed rate is greater than the second feed rate.

[0016] In this embodiment, since a high lateral speed is not required when the material is in a concave state, in order to improve the recovery of the material surface from a concave state to a flat state when the material surface is undulating, the material is picked up by controlling the material picker with a relatively high second lateral speed and a relatively shallow second feed amount, which enables the material surface currently in a concave state to recover to a flat state more quickly.

[0017] In one possible implementation of the first aspect embodiment, the first traverse speed is the minimum speed that the take-up head can achieve, and the first feed rate is the maximum feed rate that the take-up head can achieve.

[0018] In this embodiment of the application, when the material surface in the current material picking range is in a raised state, the first lateral movement speed is the minimum speed that the picking head can reach, and the first feed amount is the maximum feed amount that the picking head can reach, so that the raised material surface can be restored to a flat state more quickly.

[0019] In one possible implementation of the first aspect embodiment, the second traverse speed is the maximum speed that the take-up head can achieve, and the second feed rate is the minimum feed rate that the take-up head can achieve.

[0020] In this embodiment of the application, when the material surface in the current material picking range is in a convex state, the second lateral movement speed is the maximum speed that the picking head can reach, and the second feed amount is the minimum feed amount that the picking head can reach, which can make the concave material surface recover to a flat state more quickly.

[0021] In one possible implementation of the first aspect embodiment, determining the undulation state of the material surface within the current material extraction range includes: calculating a target average value of multiple material surface height values ​​corresponding to multiple point cloud data on all material surfaces; determining whether the average value of multiple material surface height values ​​in the point cloud data of the material surface within the current material extraction range is greater than the target average value; wherein, if the average value of multiple material surface height values ​​in the point cloud data of the material surface within the current material extraction range is greater than the target average value, the undulation state of the material surface within the current material extraction range is determined to be a convex state; if the average value of multiple material surface height values ​​in the point cloud data of the material surface within the current material extraction range is less than the target average value, the undulation state of the material surface within the current material extraction range is determined to be a concave state.

[0022] In this embodiment, since the range of ore that each picking head can grasp is limited, each picking area has a corresponding current picking range. If the standard deviation of multiple height values ​​is not lower than a preset threshold, indicating that the material surface is undulating, the picking head's grasping efficiency may not meet the expected full load rate. Therefore, by observing the undulation state within the current picking range of each picking head, each picking head can restore its picking range to a flat state, thereby improving the efficiency of restoring the undulating material surface to a flat state and thus improving the picking head's picking efficiency.

[0023] In one possible implementation of the first aspect embodiment, after controlling the material picker to pick up material based on the fluctuation state of the material surface within the current picking range of the material picker, the method further includes: controlling the material picker to pick up material based on the expected full load rate.

[0024] In this embodiment of the application, when the standard deviation of the height values ​​of multiple point cloud data of all material surfaces recovers from a state greater than a preset threshold to a state less than a preset threshold, in order to improve the unloading efficiency of the unloader, the lateral movement speed and feed rate that enable the material handling head to grab the bulk ore that meets the expected full load rate are determined based on the expected full load rate, and the material handling head is controlled based on the obtained lateral movement speed and feed rate, which can improve the material handling efficiency of the material handling head, thereby improving the unloading efficiency of the unloader.

[0025] Secondly, embodiments of this application provide a ship unloader, the ship unloader comprising: a material handling head; a controller configured to determine the lateral movement speed of the material handling head across the current material surface based on the expected full load rate of the material handling head input by a user; determine the feed amount of the material handling head burying below the current material surface according to the lateral movement speed; and be configured to control the material handling head to handle material at the lateral movement speed and the feed amount.

[0026] Thirdly, embodiments of this application provide an electronic device, the electronic device including a processor and a memory, the processor being coupled to the memory, the processor being configured to execute a computer program stored in the memory to implement the method provided by any possible implementation of the first aspect embodiment and / or in combination with the first aspect embodiment. It should be understood that the second and third aspects of the embodiments of the present invention are consistent with the technical solutions of the first aspect of the embodiments of the present invention, and the beneficial effects obtained by each aspect and the corresponding feasible implementation are similar, and will not be repeated here.

[0027] Other features and advantages of this application will be set forth in the following description. The objectives and other advantages of this application can be realized and obtained through the structures specifically pointed out in the written description and the accompanying drawings. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. The above and other objects, features, and advantages of this application will become clearer through the accompanying drawings.

[0029] Figure 1 A flowchart illustrating a material handling head control method provided in an embodiment of this application is shown.

[0030] Figure 2 This diagram illustrates an optimal trajectory for a material handling head provided in an embodiment of this application.

[0031] Figure 3 This diagram illustrates the principle of a material handling head control method provided in an embodiment of this application.

[0032] Figure 4 A schematic diagram of the structure of a ship unloader provided in an embodiment of this application is shown.

[0033] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown. Detailed Implementation

[0034] The technical solutions of the embodiments of this application will now be described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. The following embodiments are provided as examples to more clearly illustrate the technical solutions of this application, and should not be used to limit the scope of protection of this application. Those skilled in the art will understand that, without conflict, the following embodiments and features can be combined with each other.

[0035] It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, relational terms such as "first," "second," etc., in the description of this application are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one…" does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0036] Given that fully automated ship unloaders are gradually replacing manually operated large ship unloading machinery for material handling, the efficiency requirements for material handling operations of ship unloaders are also increasing. In existing fully automated ship unloaders, the material handling head uses a fixed feed rate (i.e., the depth to which the material handling head is embedded below the material surface) during material handling operations. Its material handling efficiency is easily affected by the unevenness of the material surface. When the material surface has significant unevenness, the material handling efficiency is low when using a fixed feed rate. Therefore, this application provides a novel material handling head control method to solve the problem of low material handling efficiency caused by using a fixed feed rate in existing ship unloaders.

[0037] The following will combine Figure 1 This application describes the material handling head control method provided in its embodiments. This method can be used to control a ship unloader to handle material, wherein the ship unloader includes a material handling head and a controller. The material handling head is located on a chain bucket. After the material handling head handles material (such as ore), the handled material is loaded into the chain bucket, and the full load capacity of the material handling head is equal to the volume of the chain bucket. The controller is configured to control the material handling head to handle material.

[0038] The material handling head control method provided in this application embodiment can be used not only to control the unloader to handle material, but also to control other equipment with material handling functions similar to the unloader, such as cargo unloaders.

[0039] Step S101: Based on the expected full load rate of the take-up head, determine the traverse speed and feed rate of the take-up head.

[0040] In this embodiment, the material handling head is used for material handling, for example, for grabbing bulk mineral materials, such as sand, gravel, and coal. After grabbing the mineral material, the material handling head loads it into the chain bucket. The full load capacity of the material handling head (equivalent to the capacity of the chain bucket) is... Its unit can be (Lift), (cubic decimeters) Units of volume, such as cubic meters, can be set according to requirements and are not limited here. The efficiency of the unloader is determined by the full load rate of the reclaiming head. The higher the full load rate of the reclaiming head, the greater the ratio between the volume of bulk ore grabbed by the reclaiming head in a single grab and the full load capacity of the reclaiming head. Therefore, the higher the full load rate of the reclaiming head, the higher the efficiency of the unloader. However, during the process of the reclaiming head grabbing ore, the full load rate of the chain bucket is determined by the lateral cutting speed of the reclaiming head across the material surface and the depth of the reclaiming head buried below the material surface when grabbing ore. As long as the ratio between the ore grabbed by the reclaiming head at the corresponding lateral speed and feed rate and the capacity of the chain bucket can reach the expected full load rate, the expected unloading efficiency can be achieved.

[0041] In one implementation, a formula for determining the transverse speed and feed rate of the take-up head based on the expected load factor of the take-up head includes: .

[0042] in, Characterizing the expected load factor, Characterized by pre-calculated constants, Characterizing the feed rate, Characterizes lateral velocity.

[0043] In this implementation method, the traverse speed and feed rate that enable the feed head to grab bulk ore at the expected full load rate can be determined by... To calculate, based on the pre-set expected load factor With formula Given the expected full load rate In this case, the calculated feed rate With lateral speed The product between them makes Established means that the volume of bulk ore grabbed by the feed head meets the expected full load rate.

[0044] Since a ship unloader is a multi-axis linkage system, it contains multiple chain buckets, each with a feeding head. The feeding head on each chain bucket grabs the ore and loads it into the corresponding chain bucket. After each chain bucket is loaded, it is lifted from the ship's hold and driven to a designated position. The lifting speed of the chain buckets is generally fixed. Different ship unloaders can use different lifting speeds for the chain buckets. Because different ship unloaders have different chain bucket sizes and different numbers of chain buckets, in one implementation... .

[0045] in, Characterizing the expected load factor, This refers to the length of the material handling head in the chain bucket loaded on the ship unloader. The number of chain buckets carried by the ship unloader. Characterizes the full load capacity (volume of the chain bucket) of a single feed head. Characterizes the lifting speed of the bucket in the lifting drive chain of the ship unloader.

[0046] In this implementation method, different ship unloaders have different models of chain buckets, different ship unloaders are equipped with different numbers of chain buckets, and the lifting speeds used by different ship unloaders for lifting drive chain buckets are also different. Therefore, based on the lifting speed, number of chain buckets, and chain bucket length of different ship unloaders, the required lateral movement speed and feed rate of the material handling head can be calculated to achieve the expected full load efficiency of different ship unloaders. This allows for a common method to calculate the lateral movement speed and feed rate required for the material handling head of different ship unloaders to meet the expected full load rate when grabbing bulk ore.

[0047] Furthermore, since, under the condition of meeting the expected full load rate, as long as the product of the feed rate and traverse speed of the reclaiming head satisfies the above formula, the ore grabbed by the reclaimer can meet the preset expected full load rate. In order to ensure that the area swept by the reclaiming head during the material-grabbing process is maximized per unit time, in one embodiment, please refer to [the following description is provided]. Figure 2 , Figure 2 A schematic diagram of the optimal trajectory of the pick-up head is shown. The optimal trajectory during the pick-up process is such that the velocity direction of the pick-up center point is perpendicular to one diagonal of the pick-up head, and the angle between the long side of the pick-up head and the direction of movement of the pick-up head is an acute angle. Under the condition that the pick-up head can guarantee the maximum area of ​​the material surface swept by the material per unit time, the relationship between the feed rate and the cross-cutting speed of the pick-up head is: ,in, The length of the material taking head, The width of the material taking head, Characterizing the expected load factor, The number of chain buckets carried by the ship unloader. This characterizes the full load capacity of the feed head (the volume of the chain bucket). Characterizes the lifting speed of the buckets in the lifting drive chain of the ship unloader. Characterizing the feed rate, Characterizes lateral velocity.

[0048] This implementation method maximizes the area that the material handling head traverses on the material surface, thereby improving the efficiency of the material handling head in grabbing the ore.

[0049] Step S102: Control the material handling head to pick up material based on the traverse speed and feed rate.

[0050] The expected full load rate is the ratio of the amount of material taken by the take-up head with its traverse speed and feed rate to the full load of the take-up head.

[0051] In this embodiment of the application, after determining the lateral movement speed and feed rate of the feeding head, the feeding head is controlled to grab the ore at the lateral movement speed and feed rate, and the ore is placed in the corresponding chain bucket.

[0052] The material handling efficiency of a ship unloader is strongly correlated with the flatness of the bulk ore surface. If the surface is flat during handling, the efficiency is relatively stable, and the set target load rate is easily achieved. However, if the surface is uneven, with varying elevations, the cutting depth of the unloader head when gripping the ore in the recessed areas is likely to be shallow, resulting in insufficient material to meet the target load rate.

[0053] In one implementation, in order to avoid the low efficiency of the material grabbing head in grabbing ore due to uneven material surface, before performing the above step S101, the material grabbing head control method further includes: collecting multiple point cloud data of all material surfaces grabbed by the material grabbing head; calculating the standard deviation of multiple material surface height values ​​corresponding to multiple point cloud data; and determining that the standard deviation is lower than a preset threshold.

[0054] Among them, the standard deviation is negatively correlated with the degree of material surface undulation, and the standard deviation of each point cloud data containing the material surface height value is determined to be lower than the preset threshold.

[0055] In this implementation, the collected point cloud data consists of point cloud data of all the ore loaded in the compartments of the transport equipment. Each point cloud data contains a corresponding material surface height value. The standard deviation of the multiple material surface height values ​​represents the dispersion of the multiple material surface height values. If the standard deviation is smaller, it indicates that the dispersion of the multiple material surface heights is small, that is, the material surface height values ​​are relatively average, indicating high material surface flatness. If the standard deviation is larger, it indicates that the dispersion of the multiple material surface heights is large, that is, the material surface height values ​​fluctuate more, indicating low material surface flatness. When the standard deviation is lower than a preset threshold, it can be considered that the material surface flatness is high, and the efficiency of the material handling process is relatively stable, that is, the set expected full load rate is easily achieved.

[0056] In calculating multiple material surface height values, the set of material surface height values ​​is first obtained, and its expression is: Based on the set of material surface height values, the mean value of the material surface height values ​​is first obtained. The expression for the mean value is: Based on the standard deviation calculation formula Then, the standard deviation of multiple material surface heights is calculated.

[0057] Furthermore, bulk mineral materials are easily affected by inertia during transportation, and their surfaces are prone to unevenness. In one implementation, after calculating the standard deviation of multiple material surface height values ​​corresponding to multiple point cloud data, the material head control method further includes: determining that the standard deviation is not lower than a preset threshold; and controlling the material head to perform material extraction based on the undulation of the material surface within the current extraction range of the material head, so that the standard deviation of multiple material surface height values ​​corresponding to multiple point cloud data on the entire material surface after extraction is lower than the preset threshold.

[0058] In this implementation, since the range of ore that each reclaiming head can grasp is limited, each reclaiming range has a corresponding current reclaiming range. If the standard deviation of multiple height values ​​is not lower than a preset threshold, it indicates that the material surface is in a state of ups and downs, which may cause the reclaiming head's grasping efficiency to fail to meet the expected full load rate. Therefore, by controlling the reclaiming head's reclaiming operation based on the ups and downs of its current reclaiming range, the reclaiming head is instructed to perform corresponding reclaiming actions on uneven material surfaces until the standard deviation of multiple material surface height values ​​is lower than the preset threshold, i.e., the material surface returns to a flat state. Then, based on the expected full load rate, the required lateral movement speed and feed rate of the reclaiming head to meet the expected reclaiming volume are calculated to ensure that the unloader maintains a high unloading efficiency.

[0059] Since the material surface is uneven, the material surface undulation within the current picking range of the picking head may be either convex or concave. In one embodiment, the method for controlling the picking head to pick up material based on the current material surface undulation can be: determining the current material surface undulation; if the current material surface undulation is convex, controlling the picking head to pick up material with a first traverse speed and a first feed rate.

[0060] In this implementation, when the current material handling area where the material handling head is located is convex, the first lateral movement speed is a relatively low lateral movement speed, and the first feed amount is a relatively deep feed amount. Usually, the feed amount of the material handling head is set to a high state and the lateral movement speed is set to a low state, which can make the current material handling area become flatter more quickly.

[0061] In another embodiment, after determining the undulation state of the material surface within the current material picking range, the material picking head control method further includes: if it is determined that the undulation state of the material surface within the current material picking range is a concave state, controlling the material picking head to pick up material with a second lateral movement speed and a second feed rate; wherein, the first lateral movement speed is less than the second lateral movement speed, and the first feed rate is greater than the second feed rate.

[0062] In this implementation, when the current material handling area where the material handling head is located is concave, it is generally possible to make the material handling head feed rate lower and the traverse speed higher so that the current material handling area becomes flatter more quickly.

[0063] Furthermore, regardless of whether the undulation within the current material handling range is concave or convex, the material handling head is controlled to restore the undulating material surface to a flat state with the corresponding feed rate and lateral movement speed, depending on the different undulation conditions.

[0064] In order to restore the undulating material surface to a flat state with higher efficiency when the material surface in the current material picking range is in a convex state, as a possible implementation method, the first traverse speed is the minimum speed that the picking head can achieve, and the first feed rate is the maximum feed rate that the picking head can achieve.

[0065] In this implementation, when the material surface in the current material picking range is in a raised state, the first lateral movement speed is the minimum speed that the picking head can reach, and the first feed amount is the maximum feed amount that the picking head can reach, which can make the raised material surface return to a flat state more quickly.

[0066] Furthermore, in order to restore the undulating material surface to a flat state with higher efficiency when the material surface in the current material picking range is in a concave state, as a possible implementation, the second traverse speed is the maximum speed that the picking head can achieve, and the second feed rate is the minimum feed rate that the picking head can achieve.

[0067] In this implementation, when the material surface in the current material picking range is in a convex state, the second lateral movement speed is the maximum speed that the picking head can reach, and the second feed amount is the minimum feed amount that the picking head can reach, which can make the concave material surface recover to a flat state more quickly.

[0068] As one possible implementation, the method for determining the undulation state of the material surface within the current material picking range can be: calculating the target average value of multiple material surface height values ​​corresponding to multiple point cloud data on all material surfaces; determining whether the average value of multiple material surface height values ​​in the point cloud data of the material surface within the current material picking range is greater than the target average value; wherein, if the average value of multiple material surface height values ​​in the point cloud data of the material surface within the current material picking range is greater than the target average value, the undulation state of the material surface within the current material picking range is determined to be a convex state, and if the average value of multiple material surface height values ​​in the point cloud data of the material surface within the current material picking range is less than the target average value, the undulation state of the material surface within the current material picking range is determined to be a concave state.

[0069] In this implementation, the target average value of multiple material surface height values ​​is the average value of the height values ​​contained in the point cloud data of all the ore loaded in the compartment of the transport equipment. If the average value of multiple material surface height values ​​in the point cloud data of the material surface within the current picking range is greater than the target average value, it indicates that the height of the material surface within the current picking range where the picking head is located is higher than the height of the entire material surface, and thus the material surface state within the current picking range is a convex state. Similarly, if the average value of multiple material surface height values ​​in the point cloud data of the material surface within the current picking range is less than the target average value, it indicates that the height of the material surface within the current picking range where the picking head is located is lower than the height of the entire material surface, and thus the material surface state within the current picking range is a concave state. By comparing the magnitude of the average value of multiple material surface height values ​​in the point cloud data of the material surface within the current picking range with the target average value, the undulation state of the material surface within the current picking range can be determined more accurately.

[0070] When the standard deviation of the height values ​​of multiple point cloud data across the entire material surface recovers from a state greater than a preset threshold to a state less than a preset threshold, in order to improve the unloading efficiency of the ship unloader, in one implementation method, after controlling the material retrieving head to pick up material based on the undulation state of the material surface within the current picking range of the material retrieving head, the material retrieving head control method further includes: controlling the material retrieving head to pick up material based on the expected full load rate. In this implementation method, its implementation is consistent with the implementation of steps S101 and S102, both of which determine the lateral movement speed and feed rate that enable the material retrieving head to grab bulk ore that meets the expected full load rate based on the expected full load rate, and control the material retrieving head to pick up material based on the obtained lateral movement speed and feed rate, so as to improve the unloading efficiency of the ship unloader.

[0071] As one possible implementation method, when the full load rate of the chain bucket is lower than the expected full load rate, in order to restore the full load rate of the chain bucket to the expected full load rate, when it is necessary for the feed head to pick up material from a lower layer of the material surface, the feed rate of the feed head is increased so that the feed head can penetrate deeper into the material surface to grab more ore, thereby increasing the full load rate of the chain bucket to the expected full load rate.

[0072] As one possible implementation method, in order to restore the full load rate of the chain bucket to the expected full load rate when the full load rate of the chain bucket is lower than the expected full load rate, one possible implementation method is to increase the lateral movement speed of the feeding head when it grabs the same layer of ore, so that the feeding head can grab the same layer of ore faster, thereby increasing the full load rate of the chain bucket to the expected full load rate.

[0073] To better understand the above-described feed head control method, a schematic diagram of one possible implementation is shown below. Figure 3 As shown, firstly, multiple point cloud data of the entire material surface picked up by the material picker are collected, and then the standard deviation of the material surface height value corresponding to the multiple point cloud data is calculated.

[0074] When the standard deviation is determined to be below the preset threshold, it indicates that the entire material surface is in a flat state. Based on the expected full load rate of the pick-up head, the corresponding traverse speed and feed rate are determined, and the pick-up head is controlled to pick up material based on the obtained traverse speed and feed rate.

[0075] If the standard deviation is not lower than a preset threshold, the entire material surface is characterized as being in an undulating state. To improve the material handling efficiency of the picker head, the undulating material surface needs to be restored to a flat state first. By judging the undulation state within the current material handling range, if the undulation state within the current material handling range is convex, the picker head is controlled to pick up material with a first traverse speed and a first feed rate; if the undulation state within the current material handling range is concave, the picker head is controlled to pick up material with a second traverse speed and a second feed rate. Furthermore, if the standard deviation of multiple material surface height values ​​corresponding to multiple point cloud data of the entire material surface is lower than a preset threshold, the entire material surface is characterized as being restored to a flat state. In this state, based on the expected full load rate of the picker head, the corresponding traverse speed and feed rate are determined, and the picker head is controlled to pick up material based on the obtained traverse speed and feed rate.

[0076] like Figure 4 As shown, this application embodiment provides a ship unloader 100, such as Figure 4 As shown, the ship unloader includes a material handling head 110 and a controller 120. The material handling head 110 is connected to the controller 120, which is configured to determine the lateral speed of the material handling head across the current material surface based on the expected full load rate of the material handling head input by the user; determine the feed amount of the material handling head into the portion below the current material surface based on the lateral speed; and be configured to control the material handling head to handle material at the lateral speed and feed amount. The controller 120 may be a processor.

[0077] Among them, the aforementioned ship unloader 100 includes, but is not limited to, L-type chain bucket continuous ship unloaders.

[0078] The controller 120 is also configured to acquire multiple point cloud data of the entire material surface picked up by the pick-up head before determining the traverse speed and feed rate of the pick-up head based on the expected full load rate of the pick-up head; wherein each point cloud data contains a material surface height value; calculate the standard deviation of the multiple material surface height values ​​corresponding to the multiple point cloud data; wherein the standard deviation is negatively correlated with the degree of material surface undulation; and determine that the standard deviation is lower than a preset threshold.

[0079] In one implementation, the controller 120 is further configured to collect multiple point cloud data of the entire material surface picked up by the material picker; wherein each point cloud data contains a material surface height value; calculate the standard deviation of the multiple material surface height values ​​corresponding to the multiple point cloud data; wherein the standard deviation is negatively correlated with the degree of material surface undulation; and determine that the standard deviation is lower than a preset threshold.

[0080] In one implementation, the controller 120 is further configured to determine that the standard deviation is not lower than a preset threshold; and to control the material picker to pick up material according to the undulation state of the material surface within the current picking range of the material picker, so that the standard deviation of the multiple material surface height values ​​corresponding to the multiple point cloud data on the entire material surface after picking up material is lower than the preset threshold.

[0081] In one embodiment, the controller 120 is specifically configured to determine the undulation state of the material surface within the current material picking range; when the undulation state of the material surface within the current material picking range is a convex state, the picking head is controlled to pick up material with a first lateral movement speed and a first feed amount.

[0082] In one embodiment, the controller 120 is further configured to control the material take-up head to take up material with a second lateral movement speed and a second feed rate when it is determined that the undulation state of the material surface within the current material take-up range is in a concave state; wherein, the first lateral movement speed is less than the second lateral movement speed, and the first feed rate is greater than the second feed rate.

[0083] In one implementation, the first traverse speed is the minimum speed that the take-up head can reach, and the first feed rate is the maximum feed rate that the take-up head can reach.

[0084] In one implementation, the second traverse speed is the maximum speed that the take-up head can reach, and the second feed rate is the minimum feed rate that the take-up head can reach.

[0085] In one implementation, the controller 120 is specifically configured to calculate a target average value of multiple material surface height values ​​corresponding to multiple point cloud data on all material surfaces; determine whether the average value of multiple material surface height values ​​in the point cloud data of the material surface within the current material picking range is greater than the target average value; wherein, if the average value of multiple material surface height values ​​in the point cloud data of the material surface within the current material picking range is greater than the target average value, the undulation state of the material surface within the current material picking range is determined to be a convex state, and if the average value of multiple material surface height values ​​in the point cloud data of the material surface within the current material picking range is less than the target average value, the undulation state of the material surface within the current material picking range is determined to be a concave state.

[0086] In one implementation, the controller 120 is also configured to control the material handling head to handle material based on the expected full load rate. The ship unloader 100 provided in this application embodiment has the same implementation principle and technical effects as the aforementioned method embodiment. For the sake of brevity, any parts not mentioned in the device embodiment can be referred to the corresponding content in the aforementioned method embodiment.

[0087] This application also provides an electronic device, such as... Figure 5 As shown, the electronic device 200 includes: a transceiver 210, a memory 220, a communication bus 230, and a processor 240.

[0088] The transceiver 210, the memory 220, and the processor 240 are electrically connected directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected through one or more communication buses 230 or signal lines. The transceiver 210 is used to send and receive data. The memory 220 is used to store computer programs. The processor 240 is used to execute executable modules stored in the memory 220, such as computer programs stored in the memory. For example, the processor 240 is used to implement the above... Figure 1 The method shown.

[0089] The memory 220 may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.

[0090] Processor 240 may be an integrated circuit chip with signal processing capabilities. The aforementioned processor can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), a microprocessor, etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. Alternatively, processor 240 can also be any conventional processor.

[0091] The aforementioned electronic equipment 200 includes, but is not limited to, the aforementioned ship unloader 100. If the electronic equipment 200 includes the aforementioned ship unloader 100, then the electronic equipment 200 also includes the material handling head 110, etc.

[0092] This application embodiment also provides a non-volatile computer-readable storage medium (hereinafter referred to as the storage medium) storing a computer program, which is executed by a computer such as the electronic device 200 described above to perform the material handling head control method described above.

[0093] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0094] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0095] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0096] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for controlling a material handling head, characterized in that, The method includes: Based on the expected full load rate of the feed head, determine the traverse speed and feed rate of the feed head; The material handling head is controlled to pick up material based on the lateral speed and the feed rate; Wherein, the expected full load rate is the ratio of the amount of material taken by the take-up head with the lateral speed and the feed rate to the full load amount of the take-up head; Before determining the traverse speed and feed rate of the take-up head based on the expected load rate of the take-up head, the method further includes: Collect multiple point cloud data of the entire material surface picked up by the material picking head; wherein, each point cloud data includes the material surface height value; Calculate the standard deviation of multiple material surface height values ​​corresponding to the multiple point cloud data; wherein, the standard deviation is negatively correlated with the degree of material surface undulation; If the standard deviation is not lower than a preset threshold; Based on the undulation state of the material surface within the current material picking range of the picking head, the picking head is controlled to pick up material so that the standard deviation of multiple material surface height values ​​corresponding to multiple point cloud data on the entire material surface after picking up material is lower than the preset threshold. The process of controlling the material-retrieving head to retrieve material based on the undulation of the material surface within the current retrieving range includes: Determine the undulation state of the material surface within the current material picking range; When the material surface within the current material handling range is in a convex state, the material handling head is controlled to handle the material with a first lateral movement speed and a first feed rate. If it is determined that the material surface within the current material handling range is in a concave state, the material handling head is controlled to handle the material by a second lateral movement speed and a second feed rate; wherein, the first lateral movement speed is less than the second lateral movement speed, and the first feed rate is greater than the second feed rate.

2. The method according to claim 1, characterized in that, Formulas for determining the traverse speed and feed rate of the take-up head based on the expected full load rate of the take-up head include: ;in, Characterizing the expected load factor, Characterized by pre-calculated constants, Characterizing the feed rate, Characterizes the lateral velocity.

3. The method according to claim 1, characterized in that, The first lateral speed is the minimum speed that the take-up head can reach, and the first feed rate is the maximum feed rate that the take-up head can reach.

4. The method according to claim 1, characterized in that, The second lateral speed is the maximum speed that the take-up head can reach, and the second feed rate is the minimum feed rate that the take-up head can reach.

5. The method according to claim 1, characterized in that, Determining the undulation state of the material surface within the current material handling range includes: Calculate the target average value of multiple material surface height values ​​corresponding to multiple point cloud data on all material surfaces; Determine whether the average value of multiple material surface height values ​​in the point cloud data of the material surface within the current material picking range is greater than the target average value; wherein, if the average value of multiple material surface height values ​​in the point cloud data of the material surface within the current material picking range is greater than the target average value, the undulation state of the material surface within the current material picking range is determined to be a convex state, and if the average value of multiple material surface height values ​​in the point cloud data of the material surface within the current material picking range is less than the target average value, the undulation state of the material surface within the current material picking range is determined to be a concave state.

6. The method according to claim 1, characterized in that, After controlling the material picker to pick up material based on the undulation of the material surface within the current picking range of the material picker, the method further includes: The material handling head is controlled to pick up material based on the expected full load rate.

7. A ship unloader, characterized in that, The ship unloader includes: Material feeding head; The controller is configured to determine the traverse speed of the pick-up head across the current material surface based on the expected full load rate of the pick-up head input by the user; determine the feed amount of the pick-up head to be buried below the current material surface based on the traverse speed; and be configured to control the pick-up head to pick up material with the traverse speed and the feed amount. Specifically, before determining the traverse speed and feed rate of the take-up head based on the expected full load rate of the take-up head, the controller is further configured to: Collect multiple point cloud data of the entire material surface picked up by the material picking head; wherein, each point cloud data includes the material surface height value; Calculate the standard deviation of multiple material surface height values ​​corresponding to the multiple point cloud data; wherein, the standard deviation is negatively correlated with the degree of material surface undulation; If the standard deviation is not lower than a preset threshold; Based on the undulation state of the material surface within the current material picking range of the picking head, the picking head is controlled to pick up material so that the standard deviation of multiple material surface height values ​​corresponding to multiple point cloud data on the entire material surface after picking up material is lower than the preset threshold. The process of controlling the material-retrieving head to retrieve material based on the undulation of the material surface within the current retrieving range includes: Determine the undulation state of the material surface within the current material picking range; When the material surface within the current material handling range is in a convex state, the material handling head is controlled to handle the material with a first lateral movement speed and a first feed rate. If it is determined that the material surface within the current material handling range is in a concave state, the material handling head is controlled to handle the material by a second lateral movement speed and a second feed rate; wherein, the first lateral movement speed is less than the second lateral movement speed, and the first feed rate is greater than the second feed rate.

8. An electronic device, characterized in that, include: Memory and processor; The memory is used to store computer programs; The processor is used to invoke the material handling head control method as described in any one of claims 1-6.

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