Method, device and equipment for controlling material taking head to enter and exit from bin and storage medium

Abstract

The invention provides a material taking head in-out warehouse control method, device and equipment and a storage medium, and the method comprises the steps: obtaining a real-time distance parameter between a material taking head and an obstacle region, determining a current in-out warehouse risk level according to the real-time distance parameter and risk level division threshold information, and matching a target anti-collision execution strategy based on the current in-out warehouse risk level. An anti-collision control instruction is generated according to the target anti-collision execution strategy, so that the ship unloader controls the taking head to enter and exit from the warehouse according to the anti-collision control instruction; according to the method, the position of the material taking head can be accurately determined by acquiring the real-time distance parameter between the material taking head and the obstacle area, the current warehouse entering and exiting risk level is determined according to the real-time distance parameter and the risk level division threshold information instead of purely relying on artificial experience, the risk can be judged in advance when the material taking head approaches the obstacle, and the risk judgment accuracy is improved. According to the method, pre-collision early warning is achieved, different control measures are taken at different risk levels instead of shutdown adjustment, and the loading and unloading efficiency can be improved while safety is guaranteed.

Description

Technical Field

[0001] The present application relates to the field of production control, and particularly to a method, device, equipment and storage medium for controlling the entry and exit of a material taking head into and out of a bin. Background Art

[0002] With the development of port loading and unloading automation technology, the chain bucket continuous ship unloader is increasingly widely used in bulk cargo terminals. It realizes the continuous transportation of bulk materials in the cabin through a chain bucket lifting mechanism. The core working component, the material taking head, needs to frequently enter and exit the hatch for cyclic operation. In the traditional operation mode, the spatial positioning of the material taking head mainly depends on manual operation experience, and the protection technology mainly uses a mechanical pull rope limit switch by arranging pull rope triggering devices around the lifting mechanism frame. When the pull rope contacts the edge of the hatch, the limit switch is triggered to act, and then the equipment is controlled to stop.

[0003] The existing equipment only protects the counterweight bucket of the lifting mechanism, and can only perform physical buffering after a collision, unable to achieve pre-collision warning. On the other hand, during the loading and unloading process, the safety protection process of the material taking head can only stop work according to a unified operation, which will reduce the efficiency of the loading and unloading process. Summary of the Invention

[0004] The purpose of the embodiments of the present invention is to provide a method, device, equipment and storage medium for controlling the entry and exit of a material taking head into and out of a bin to solve the above problems.

[0005] The present invention provides a method for controlling the entry and exit of a material taking head. The method for controlling the entry and exit of the material taking head includes: obtaining real-time distance parameters between the material taking head and an obstacle area; determining the current risk level of entry and exit of the bin according to the real-time distance parameters and risk level division threshold information; matching a target anti-collision execution strategy based on the current risk level of entry and exit of the bin, and generating an anti-collision control instruction according to the target anti-collision execution strategy, so that the ship unloader controls the entry and exit of the material taking head according to the anti-collision control instruction.

[0006] In an embodiment of the present invention, obtaining real-time distance parameters between the material taking head and an obstacle area includes: obtaining a plurality of ranging parameters of at least two laser ranging sensors, where the at least two laser ranging sensors are uniformly arranged around the material taking head with the material taking head as the center; performing weighted average calculation on the plurality of ranging parameters according to the weight ratio of each laser ranging sensor to obtain real-time distance parameters, and the weight ratio of each laser ranging sensor is determined according to the relative angle between the installation position of the laser ranging sensor and the hatch.

[0007] In an embodiment of the present invention, the risk level division threshold information includes a first safety threshold and a second safety threshold. Determining the current in-and-out bin risk level according to the real-time distance parameter and the risk level division threshold information includes: if the real-time distance parameter is greater than or equal to the first safety threshold, it is determined that there is no risk for the current in-and-out bin; if the real-time distance parameter is less than the first safety threshold and the real-time distance parameter is greater than or equal to the second safety threshold, it is determined that the current in-and-out bin risk level is a secondary risk; if the real-time distance parameter is less than the second safety threshold, it is determined that the current in-and-out bin risk level is a primary risk, and the first safety threshold is greater than the second safety threshold.

[0008] In an embodiment of the present invention, matching a target anti-collision execution strategy based on the current in-and-out bin risk level includes: if the current in-and-out bin risk level is a primary risk, the target anti-collision execution strategy includes sending an emergency stop control signal and giving a primary warning at the terminal, and the primary warning includes an audible and visual alarm, a text prompt, and a voice prompt; if the current in-and-out bin risk level is a secondary risk, the target anti-collision execution strategy includes sending a deceleration control signal and giving a secondary warning at the terminal, and the secondary warning includes a text prompt; the text prompt at least includes the real-time distance parameter between the current material taking head and the obstacle area and the current in-and-out bin running speed parameter.

[0009] In an embodiment of the present invention, after sending an emergency stop control signal and giving a primary warning at the terminal, the material taking head in-and-out bin control method further includes: obtaining the deformation parameters of each buffer mechanism, and the buffer mechanisms are uniformly arranged around the material taking head with the material taking head as the center; if there is at least one buffer mechanism among the buffer mechanisms whose deformation parameter exceeds the preset safety deformation threshold, execute a secondary protection strategy, and the secondary protection strategy includes any one of cutting off the power source or triggering reverse braking.

[0010] In an embodiment of the present invention, before determining the current in-and-out bin risk level according to the real-time distance parameter and the risk level division threshold information, the material taking head in-and-out bin control method further includes: obtaining initial level division threshold information, hatch type information, hatch image information, and environmental wind speed parameters; determining the abnormal hatch deformation state according to the hatch type information and the hatch image information, and the abnormal hatch deformation state includes that the hatch is deformed and the hatch is normal; correcting the initial level division threshold information according to the abnormal hatch deformation state and the environmental wind speed parameter to obtain the risk level division threshold information.

[0011] In an embodiment of the present invention, modifying the initial level division threshold information according to the abnormal hatch deformation state and the environmental wind speed parameter includes: If the abnormal hatch deformation state is that the hatch deforms and the environmental wind speed parameter is greater than or equal to the preset wind speed threshold, then modify the initial level division threshold information according to the first preset correction coefficient and the second preset correction coefficient to obtain the risk level division threshold information; If the abnormal hatch deformation state is that the hatch deforms and the environmental wind speed parameter is less than the preset wind speed threshold, then modify the initial level division threshold information according to the first preset correction coefficient to obtain the risk level division threshold information; If the abnormal hatch deformation state is that the hatch is normal and the environmental wind speed parameter is greater than or equal to the preset wind speed threshold, then modify the initial level division threshold information according to the second preset correction coefficient to obtain the risk level division threshold information; If the abnormal hatch deformation state is that the hatch is normal and the environmental wind speed parameter is less than the preset wind speed threshold, then determine the initial level division threshold information as the risk level division threshold information.

[0012] An embodiment of the present invention further provides a control device for the material taking head to enter and exit the bin. The control device for the material taking head to enter and exit the bin includes: a distance determination module, configured to obtain the real-time distance parameter between the material taking head and the obstacle area; a risk determination module, configured to determine the current risk level for entering and exiting the bin according to the real-time distance parameter and the risk level division threshold information; a collision prevention execution module, configured to match the target collision prevention execution strategy based on the current risk level for entering and exiting the bin, and generate a collision prevention control instruction according to the target collision prevention execution strategy, so that the ship unloader controls the entry and exit of the material taking head according to the collision prevention control instruction.

[0013] An embodiment of the present invention further provides an electronic device, including: one or more processors; a storage device, configured to store one or more programs, when the one or more programs are executed by the one or more processors, enabling the electronic device to implement the method for controlling the entry and exit of the material taking head as described in any one of the above embodiments.

[0014] An embodiment of the present invention further provides a computer-readable storage medium, on which computer-readable instructions are stored. When the computer-readable instructions are executed by a processor of the computer, the computer is enabled to execute the method for controlling the entry and exit of the material taking head as described in any one of the above embodiments.

[0015] A method, device, equipment and storage medium for controlling the entry and exit of a material taking head in an embodiment of the present invention. By obtaining the real-time distance parameter between the material taking head and the obstacle area, determining the current risk level of entry and exit based on the real-time distance parameter and the threshold information of risk level division, matching the target anti-collision execution strategy based on the current risk level of entry and exit, and generating an anti-collision control instruction according to the target anti-collision execution strategy, so that the ship unloader controls the entry and exit of the material taking head according to the anti-collision control instruction; by obtaining the real-time distance parameter between the material taking head and the obstacle area, the position of the material taking head can be accurately determined, no longer relying solely on manual experience, but determining the current risk level of entry and exit according to the real-time distance parameter and the threshold information of risk level division. By setting different risk level thresholds, the risk can be judged in advance when the material taking head approaches the obstacle, realizing pre-collision warning, and taking different control measures at different risk levels, rather than directly stopping work for adjustment, which can improve the efficiency of the loading and unloading process while ensuring safety.

[0016] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts. In the drawings:

[0018] Figure 1 is a schematic diagram of an exemplary system architecture shown in an exemplary embodiment of the present application;

[0019] Figure 2 is a flowchart of a method for controlling the entry and exit of a material taking head shown in an exemplary embodiment of the present application;

[0020] Figure 3 is a schematic diagram of a material taking head device shown in an exemplary embodiment of the present application;

[0021] Figure 4 is a flowchart of a specific method for controlling the entry and exit of a material taking head shown in an exemplary embodiment of the present application;

[0022] Figure 5 is a schematic diagram of a device for controlling the entry and exit of a material taking head shown in an exemplary embodiment of the present application;

[0023] Figure 6 is a schematic diagram of the structure of a computer system of an electronic device shown in an exemplary embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] The embodiments of the present invention will be described below with reference to the accompanying drawings and specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, rather than for limiting the protection scope of the present invention.

[0025] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner. Therefore, only the components related to the present invention are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components in actual implementation. The form, quantity, and proportion of each component in actual implementation can be arbitrarily changed, and the layout pattern of the components may also be more complex.

[0026] In the following description, a large number of details are explored to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0027] The "and / or" mentioned in this application describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after.

[0028] Figure 1 is a schematic diagram of an exemplary system architecture shown in an exemplary embodiment of this application.

[0029] Refer to Figure 1As shown in the figure, the system architecture may include a material handling head 101 and a computer device 102. Among them, the material handling head 101 includes at least two laser ranging sensors, which are evenly arranged around the material handling head with the material handling head 101 as the center, and includes a buffer mechanism, and each buffer mechanism is evenly arranged around the material handling head with the material handling head 101 as the center. The computer device 102 may be at least one of a microcomputer, an embedded computer, an industrial computer, a network computer, etc. The computer device 102 determines the current risk level of entering and leaving the warehouse by obtaining the real-time distance parameter between the material handling head 101 and the obstacle area, matches the target anti-collision execution strategy according to the real-time distance parameter and the risk level division threshold information, and generates an anti-collision control instruction according to the target anti-collision execution strategy, so that the ship unloader controls the entry and exit of the material handling head 101 according to the anti-collision control instruction.

[0030] Schematically, the computer device 102 determines the current risk level of entering and leaving the warehouse by obtaining the real-time distance parameter between the material handling head 101 and the obstacle area, matches the target anti-collision execution strategy based on the current risk level of entering and leaving the warehouse, and generates an anti-collision control instruction according to the target anti-collision execution strategy, so that the ship unloader controls the entry and exit of the material handling head 101 according to the anti-collision control instruction; in this application, by obtaining the real-time distance parameter between the material handling head 101 and the obstacle area, the position of the material handling head 101 can be accurately determined, no longer relying solely on manual experience, but determining the current risk level of entering and leaving the warehouse according to the real-time distance parameter and the risk level division threshold information. By setting different risk level thresholds, the risk can be judged in advance when the material handling head 101 approaches the obstacle, realizing pre-collision warning, and taking different control measures at different risk levels, rather than directly stopping work for adjustment, which can improve the efficiency of the loading and unloading process while ensuring safety.

[0031] Figure 2 It is a flowchart of a method for controlling the entry and exit of a material handling head shown in an exemplary embodiment of the present application. This method for controlling the entry and exit of a material handling head can be executed by a computing processing device, and this computing processing device can be Figure 1 the computer device 102 shown in Figure 2 As shown, the flowchart of this method for controlling the entry and exit of a material handling head at least includes steps S210 to S230, which are introduced in detail as follows:

[0032] In step S210, obtain the real-time distance parameter between the material handling head and the obstacle area.

[0033] In an embodiment of the present application, obtain a plurality of ranging parameters of at least two laser ranging sensors, and perform weighted average calculation on the plurality of ranging parameters according to the weight ratio of each laser ranging sensor to obtain the real-time distance parameter.

[0034] Among them, at least two of the above laser distance sensors are evenly arranged around the material taking head with the material taking head as the center, and the weight ratio of each of the above laser distance sensors is determined according to the relative angle between the installation position of the laser distance sensor and the hatch.

[0035] In some preferred embodiments of the present application, as Figure 3 shown, Figure 3 is a schematic diagram of a material taking head device shown in an exemplary embodiment of the present application. Four laser distance sensors are provided, installed at intervals of 90 degrees on the front, rear, left, and right sides. The detection angle coverage range of each laser distance sensor needs to partially overlap to ensure 360-degree monitoring in the horizontal direction. Each laser distance sensor synchronously collects multiple ranging parameters between the material taking head and the hatch or the obstacle area at a fixed frequency to form a real-time data stream.

[0036] In some preferred embodiments of the present application, through an attitude sensor or other attitude sensing devices, the relative angle between the traveling direction of the material taking head and the center line of the hatch is obtained in real time, and the weight ratio of each laser distance sensor is determined according to the relative angle. Among them, the weight of each laser distance sensor is proportional to the cosine value of the angle between it and the positive direction of the hatch. In some embodiments, when the relative angle between any laser distance sensor and the hatch is less than 30°, its weight ratio is set to more than 80%.

[0037] The effective ranging data is weighted and averaged according to the weight coefficient, and the real-time distance parameter is the sum of the products of the ranging parameters of each laser distance sensor and the weight ratio of the corresponding laser distance sensor.

[0038] In step S220, the current risk level of entering and leaving the bin is determined according to the real-time distance parameter and the risk level division threshold information.

[0039] In step S230, a target anti-collision execution strategy is matched based on the current risk level of entering and leaving the bin, and an anti-collision control instruction is generated according to the target anti-collision execution strategy, so that the ship unloader controls the entry and exit of the material taking head according to the anti-collision control instruction.

[0040] In an embodiment of the present application, the risk level division threshold information includes a first safety threshold and a second safety threshold, and the first safety threshold is greater than the second safety threshold.

[0041] In an embodiment of the present application, if the real-time distance parameter is greater than or equal to the first safety threshold, it is determined that there is no risk in the current entry and exit of the bin.

[0042] In one embodiment of the present application, if the real-time distance parameter is less than the first safety threshold and greater than or equal to the second safety threshold, and the current risk level of entering and leaving the warehouse is determined to be a secondary risk, the target anti-collision execution strategy includes sending a deceleration control signal and giving a secondary warning at the terminal, and the secondary warning includes a text prompt.

[0043] In one embodiment of the present application, if the real-time distance parameter is less than the second safety threshold and the current risk level of entering and leaving the warehouse is determined to be a primary risk, the target anti-collision execution strategy includes sending an emergency stop control signal and giving a primary warning at the terminal, and the primary warning includes an audible and visual alarm, a text prompt, and a voice prompt.

[0044] In one embodiment of the present application, after sending the emergency stop control signal and giving the primary warning at the terminal, it further includes obtaining the deformation parameters of each buffer mechanism. The buffer mechanisms are evenly arranged around the material taking head with the material taking head as the center. If the deformation parameter of at least one buffer mechanism among the buffer mechanisms exceeds the preset safety deformation threshold, a secondary protection strategy is executed, and the secondary protection strategy includes cutting off the power source or triggering reverse braking, either one.

[0045] As Figure 3 shown, Figure 3 is a schematic diagram of a material taking head device shown in an exemplary embodiment of the present application. Four buffer mechanisms are provided, installed at intervals of 90 degrees on the upper left, upper right, lower left, and lower right sides and at intervals with a laser distance sensor. Each buffer mechanism is provided with a deformation parameter detection sensing device.

[0046] In one embodiment of the present application, the text prompt at least includes the real-time distance parameter between the current material taking head and the obstacle area and the current operating speed parameter of entering and leaving the warehouse.

[0047] In one embodiment of the present application, before determining the current risk level of entering and leaving the warehouse according to the real-time distance parameter and the risk level division threshold information, initial level division threshold information, hatch type information, hatch image information, and environmental wind speed parameters are obtained. According to the hatch type information and the hatch image information, the abnormal state of hatch deformation is determined, and the initial level division threshold information is corrected according to the abnormal state of hatch deformation and the environmental wind speed parameter to obtain the risk level division threshold information.

[0048] In one embodiment of the present application, the abnormal state of hatch deformation includes that the hatch is deformed and the hatch is normal.

[0049] In an embodiment of the present application, if the abnormal hatch deformation state is that the hatch is deformed and the environmental wind speed parameter is greater than or equal to the preset wind speed threshold, the initial grade division threshold information is corrected according to the first preset correction coefficient and the second preset correction coefficient to obtain the risk grade division threshold information.

[0050] In an embodiment of the present application, if the abnormal hatch deformation state is that the hatch is deformed and the environmental wind speed parameter is less than the preset wind speed threshold, the initial grade division threshold information is corrected according to the first preset correction coefficient to obtain the risk grade division threshold information.

[0051] In an embodiment of the present application, if the abnormal hatch deformation state is that the hatch is normal and the environmental wind speed parameter is greater than or equal to the preset wind speed threshold, the initial grade division threshold information is corrected according to the second preset correction coefficient to obtain the risk grade division threshold information.

[0052] In an embodiment of the present application, if the abnormal hatch deformation state is that the hatch is normal and the environmental wind speed parameter is less than the preset wind speed threshold, the initial grade division threshold information is determined as the risk grade division threshold information.

[0053] In an embodiment of the present application, the hatch type information can obtain the preset parameters of the hatch from the database or the operation interface, including the shape, standard size, material and structural strength. The hatch point cloud data or image is collected in real time by laser scanning or camera. In some implementable environments, the surface fitting is performed on the hatch point cloud data scanned by laser to generate a standard geometric model, and then the local maximum deviation value between the actual point cloud and the standard model is calculated. If there is a local depression or overall inclination, it is determined that the hatch is deformed. For a special-shaped hatch, a segmented fitting strategy can be adopted to calculate the deformation amount in different regions. Among them, the first preset correction coefficient is the deformation abnormal correction coefficient. If the hatch is normal, the first preset correction coefficient is 1. If the hatch is deformed, the first preset correction coefficient is 1.5. The second preset correction coefficient is the wind speed correction coefficient. If the environmental wind speed parameter is greater than or equal to the preset wind speed threshold of 5 meters per second, the second preset correction coefficient is 1.2.

[0054] The present application incorporates the hatch structure characteristics, real-time deformation state, and environmental wind speed into a unified decision-making model, and realizes the adaptive adjustment of the threshold with the risk level by quantifying the correction coefficient, balancing safety and operation efficiency, and can avoid misjudgment or missed judgment.

[0055] It should be noted that the above deformation monitoring process can also determine whether there is deformation through simple comparison of images, which can simplify the process calculation amount and improve the decision-making efficiency. Secondly, the implementation parameters, the first preset correction coefficient, the second preset correction coefficient, and the preset wind speed threshold in the above specific implementation environment are only exemplary numerical values of the embodiments of the present application, and do not limit the adjustment and definition of parameters in the actual application process.

[0056] As Figure 4 shown, Figure 4 is a flowchart of a specific method for controlling the entry and exit of the material taking head shown in an exemplary embodiment of the present application. First, after the device is started, the laser rangefinder obtains data in real time and sends the data to the central control unit. The above laser rangefinder is consistent with the laser ranging sensor in the above embodiment.

[0057] Judge whether the current distance is greater than the safety distance. If the current distance is greater than or equal to the safety distance, control is maintained at the current speed, where the safety distance is the same as the first safety threshold in the above embodiment.

[0058] If the current distance is less than the safety distance, further judge whether the current distance is within the deceleration threshold range. If the current distance is within the deceleration threshold range, control is maintained at the current speed, where the maximum value within the deceleration threshold range is the same as the second safety threshold in the above embodiment.

[0059] If the current distance is less than the minimum value of the deceleration threshold range, adjust the speed according to the proportionality coefficient. If the emergency stop area is not entered after the adjustment is completed, update the user interface. If the emergency stop area is entered after the adjustment is completed, send an emergency stop signal. At this time, if a collision occurs, the buffer spring absorbs the collision energy. If no collision occurs, update the user interface.

[0060] A method, device, equipment and storage medium for controlling the entry and exit of a material taking head in an embodiment of the present invention, by obtaining real-time distance parameters between the material taking head and the obstacle area, determining the current risk level of entry and exit based on the real-time distance parameters and the risk level division threshold information, matching a target anti-collision execution strategy based on the current risk level of entry and exit, and generating an anti-collision control instruction according to the target anti-collision execution strategy, so that the ship unloader controls the entry and exit of the material taking head according to the anti-collision control instruction; the present application can accurately determine the position of the material taking head by obtaining the real-time distance parameters between the material taking head and the obstacle area, without relying solely on manual experience, and determines the current risk level of entry and exit based on the real-time distance parameters and the risk level division threshold information. By setting different risk level thresholds, the risk can be judged in advance when the material taking head approaches the obstacle, pre-collision warning can be realized, and different control measures can be taken at different risk levels, rather than directly stopping work for adjustment, which can improve the efficiency of the loading and unloading process while ensuring safety.

[0061] The following describes the device embodiments of the present application, which can be used to execute the control method for the loading and unloading of the picking head in the above embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the embodiments of the control method for the loading and unloading of the picking head in the above of the present application.

[0062] Figure 5 FIG. is a schematic diagram of a device for controlling the loading and unloading of a picking head shown in an exemplary embodiment of the present application. This device can be applied to Figure 1 the implementation environment shown, and is specifically configured in the computer device 102. This device can also be applicable to other exemplary implementation environments and is specifically configured in other devices. The implementation environment applicable to this device is not limited in this embodiment.

[0063] As Figure 5 shown, the exemplary device for controlling the loading and unloading of a picking head includes: a distance determination module 501, a risk determination module 502, and an anti-collision execution module 503.

[0064] Among them, the distance determination module 501 is used to obtain the real-time distance parameter between the picking head and the obstacle area; the risk determination module 502 is used to determine the current loading and unloading risk level according to the real-time distance parameter and the risk level division threshold information; the anti-collision execution module 503 is used to match the target anti-collision execution strategy based on the current loading and unloading risk level, and generate an anti-collision control instruction according to the target anti-collision execution strategy, so that the ship unloader controls the loading and unloading of the picking head according to the anti-collision control instruction.

[0065] The embodiment of the present application also provides an electronic device, including: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, enabling the electronic device to implement the control method for the loading and unloading of the picking head provided in the above various embodiments.

[0066] Figure 6 FIG. is a schematic diagram of the computer system of the electronic device shown in an exemplary embodiment of the present application. It should be noted that Figure 6 the computer system 600 of the electronic device shown is only an example, and should not bring any limitations to the functions and usage scopes of the embodiments of the present application.

[0067] As Figure 6As shown, computer system 600 includes a Central Processing Unit (CPU) 601, which can perform various appropriate actions and processes according to programs stored in a Read-Only Memory (ROM) 602 or programs loaded from a storage section into a Random Access Memory (RAM) 603, such as executing the methods in the above embodiments. In the RAM 603, various programs and data required for system operations are also stored. The CPU 601, ROM 602, and RAM 603 are connected to each other via a bus. An Input / Output (I / O) interface 605 is also connected to the bus 604.

[0068] The following components are connected to the I / O interface 605: an input section 606 including a keyboard, a mouse, etc.; an output section 607 including, for example, a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), etc. and a speaker, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section performs communication processing via a network such as the Internet. A drive is also connected to the I / O interface 605 as needed. A removable medium 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 610 as needed so that a computer program read from it can be installed into the storage section 608 as needed.

[0069] Specifically, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 609, and / or installed from the removable medium 611. When the computer program is executed by a Central Processing Unit (CPU) 601, various functions defined in the system of the present application are executed.

[0070] It should be noted that the computer-readable medium shown in the embodiments of the present application may be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. A computer-readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable computer program. Such a propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium may be transmitted by any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0071] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. Among them, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the above module, program segment, or part of code contains one or more executable instructions for implementing the 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 from that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, and the combination of blocks in the block diagram or flowchart, may be implemented by a dedicated hardware-based system for performing the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions.

[0072] In the corresponding drawings of the above embodiments, connection lines may represent the connection relationships between various components, to represent more constituent signal paths and / or one or more ends of some lines have arrows to represent the main information flow direction. As a kind of identifier, the connection lines are not a limitation to the solution itself, but using these lines in combination with one or more exemplary embodiments helps to more easily connect circuits or logic units. Any represented signal (determined by design requirements or preferences) may actually include one or more signals that can be transmitted in any one direction and can be implemented in any appropriate type of signal scheme.

[0073] The units involved in the embodiments described in this application can be implemented in software or in hardware. The described units can also be provided in a processor. Among them, the names of these units do not, in some cases, constitute a limitation to the units themselves.

[0074] Another aspect of this application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the foregoing method is implemented. The computer-readable storage medium can be included in the electronic device described in the above embodiments, or can exist alone without being assembled into the electronic device.

[0075] It should be noted that although several modules or units of devices for action execution are mentioned in the foregoing detailed description, such a division is not mandatory. In fact, according to the embodiments of this application, the features and functions of two or more of the above-described modules or units can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0076] Through the description of the above embodiments, those skilled in the art can easily understand that the exemplary embodiments described herein can be implemented by software or by a combination of software and necessary hardware. Therefore, the technical solutions according to the embodiments of this application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiments of this application.

[0077] Note that the present application can be used in numerous general-purpose or special-purpose computing system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, and so on.

[0078] Those skilled in the art will readily conceive of other embodiments of the present application after considering the specification and practicing the embodiments disclosed herein. The present application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of the present application and include known common general knowledge or conventional technical means in the technical field not disclosed in the present application.

[0079] It should be understood that the above content is only a preferred exemplary embodiment of the present application and is not used to limit the implementation of the present application. Those of ordinary skill in the art can easily make corresponding modifications or alterations according to the main concept and spirit of the present application. Therefore, the protection scope of the present application should be the protection scope required by the claims.

Claims

1. A method for controlling the entry and exit of a material taking head, characterized in that: The method for controlling the material taking head to enter and exit the warehouse comprises: Get the real-time distance parameters between the material taking head and the obstacle area; Determine the current warehouse entry and exit risk level according to the real-time distance parameter and the risk level classification threshold information; The target anti-collision execution strategy is matched based on the current risk level of entering and exiting the warehouse, and an anti-collision control instruction is generated according to the target anti-collision execution strategy, so that the ship unloader controls the entry and exit of the material head according to the anti-collision control instruction.

2. The method for controlling the material taking head to enter and exit the warehouse according to claim 1, characterized in that: The real-time distance parameters between the material taking head and the obstacle area include: Acquire multiple distance measurement parameters of at least two laser distance measurement sensors, wherein the at least two laser distance measurement sensors are evenly arranged around the material taking head with the material taking head as the center; The multiple distance measurement parameters are weighted averaged according to the weight ratio of each laser distance measurement sensor to obtain a real-time distance parameter, and the weight ratio of each laser distance measurement sensor is determined according to the relative angle between the installation position of the laser distance measurement sensor and the hatch.

3. The method for controlling the material taking head to enter and exit the warehouse according to claim 1, characterized in that: The risk level classification threshold information includes a first safety threshold and a second safety threshold. Determining the current warehouse entry and exit risk level according to the real-time distance parameter and the risk level classification threshold information includes: If the real-time distance parameter is greater than or equal to the first safety threshold, it is determined that there is no risk in entering or exiting the warehouse at present; If the real-time distance parameter is less than the first safety threshold, and the real-time distance parameter is greater than or equal to the second safety threshold, the current warehouse entry and exit risk level is determined to be a level 2 risk; If the real-time distance parameter is less than the second safety threshold, it is determined that the current risk level of entering and exiting the warehouse is a level one risk, and the first safety threshold is greater than the second safety threshold.

4. The method for controlling the material taking head to enter and exit the warehouse according to claim 3, characterized in that: The target collision avoidance execution strategy based on the current entry and exit risk level matching includes: If the current risk level of entering or exiting the warehouse is level one, the target collision avoidance execution strategy includes sending an emergency stop control signal and performing a level one warning at the terminal, wherein the level one warning includes an audible and visual alarm, a text prompt, and a voice prompt; If the current risk level of entering or exiting the warehouse is level 2 risk, the target collision avoidance execution strategy includes sending a deceleration control signal and performing a level 2 warning at the terminal, wherein the level 2 warning includes a text prompt; The text prompt at least includes the real-time distance parameter between the current material taking head and the obstacle area and the current in-and-out warehouse running speed parameter.

5. The method for controlling the material taking head to enter and exit the warehouse according to claim 4, characterized in that: After sending the emergency stop control signal and issuing a first-level warning at the terminal, the material taking head in and out of the warehouse control method also includes: Obtaining deformation parameters of each buffer mechanism, wherein each buffer mechanism is evenly arranged around the material taking head with the material taking head as the center; If the deformation parameter of at least one buffer mechanism among the buffer mechanisms exceeds the preset safety deformation threshold, a secondary protection strategy is executed, and the secondary protection strategy includes cutting off the power source or triggering reverse braking.

6. The method for controlling the material taking head to enter and exit the warehouse according to claim 1, characterized in that: Before determining the current in-and-out warehouse risk level according to the real-time distance parameter and the risk level classification threshold information, the material taking head in-and-out warehouse control method further includes: Obtaining initial classification threshold information, hatch type information, hatch image information, and ambient wind speed parameters; Determine an abnormal hatch deformation state according to the hatch type information and the hatch image information, wherein the abnormal hatch deformation state includes hatch deformation and hatch normal; The initial level classification threshold information is modified according to the abnormal hatch deformation state and the environmental wind speed parameter to obtain risk level classification threshold information.

7. The method for controlling the material taking head to enter and exit the warehouse according to claim 6, characterized in that: The modification of the initial level classification threshold information according to the abnormal hatch deformation state and the ambient wind speed parameter includes: If the hatch deformation abnormal state is that the hatch is deformed, and the ambient wind speed parameter is greater than or equal to the preset wind speed threshold, the initial level division threshold information is corrected according to the first preset correction coefficient and the second preset correction coefficient to obtain the risk level division threshold information; If the hatch deformation abnormal state is that the hatch is deformed, and the ambient wind speed parameter is less than the preset wind speed threshold, the initial level division threshold information is corrected according to the first preset correction coefficient to obtain the risk level division threshold information; If the hatch deformation abnormal state is that the hatch is normal, and the ambient wind speed parameter is greater than or equal to the preset wind speed threshold, the initial level division threshold information is corrected according to the second preset correction coefficient to obtain the risk level division threshold information; If the hatch deformation abnormal state is that the hatch is normal, and the environmental wind speed parameter is less than the preset wind speed threshold, the initial level division threshold information is determined as the risk level division threshold information.

8. A material taking head in and out of the warehouse control device, characterized in that: The material taking head in and out of the warehouse control device comprises: The distance determination module is used to obtain the real-time distance parameters between the material taking head and the obstacle area; A risk determination module is used to determine the current entry and exit risk level according to the real-time distance parameter and the risk level classification threshold information; The anti-collision execution module is used to match the target anti-collision execution strategy based on the current risk level of entering and exiting the warehouse, and generate an anti-collision control instruction according to the target anti-collision execution strategy, so that the ship unloader can control the entry and exit of the material head according to the anti-collision control instruction.

9. An electronic device, characterized in that: include: one or more processors; A storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, enables the electronic device to implement the material taking head in and out of the warehouse control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: Computer-readable instructions are stored thereon, and when the computer-readable instructions are executed by a processor of a computer, the computer is enabled to execute the method for controlling the material taking head to enter and exit the bin as described in any one of claims 1 to 7.

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