A material taking control method and device and storage medium

Abstract

The application provides a material taking control method and device and a storage medium. The method comprises the following steps: acquiring an actual material taking depth of a material taking head from a material surface, a first speed value of the material taking head, and a sampling point on the material surface; the distance between the sampling point and the material taking head in a horizontal direction is a first distance; a second distance is obtained based on the sampling point and the first distance; the second distance is the distance between the sampling point and the material taking head in a vertical direction; a second speed value of the material taking head is obtained based on the actual material taking depth, the first speed value, the first distance, and the second distance; and the material taking head is controlled according to the second speed value. The second speed value of the material taking head is adjusted according to the fluctuation of the material surface, so that the depth of the material taking head is adaptively adjusted, thereby more accurately controlling the material taking operation such as the material taking amount and the material taking depth, and meeting the material taking requirement.

Description

Technical Field

[0001] This application relates to the field of automation technology, and more specifically, to a material handling control method, apparatus, and storage medium. Background Technology

[0002] In some material handling or feeding devices, there are certain limitations on the material handling depth of the material handling head. Excessive handling depth can lead to overload and shutdown, thus affecting the device's lifespan. Conversely, insufficient material handling depth can result in inadequate hopper filling, impacting handling efficiency. Current material handling methods set a suitable handling depth based on the highest point of the handling surface and perform handling operations within this depth plane. However, since the height of the handling surface is variable, precise control over handling is not possible, failing to meet the material handling requirements. Summary of the Invention

[0003] The purpose of this invention is to provide a material handling control method, device, and storage medium. By obtaining the actual material handling depth and calculating the vertical distance between the sampling point on the material surface and the material handling head, the material height change at the sampling point is estimated, and the second speed value is adjusted accordingly to accurately control the material handling and meet the material handling requirements.

[0004] In a first aspect, embodiments of this application provide a material handling control method, comprising: acquiring the actual material handling depth of the material handling head from the material surface, a first speed value of the material handling head, and a sampling point located on the material surface; wherein, the horizontal distance between the sampling point and the material handling head is a first distance; obtaining a second distance based on the sampling point and the first distance; the second distance being the vertical distance between the sampling point and the material handling head; acquiring a second speed value of the material handling head based on the actual material handling depth, the first speed value, the first distance, and the second distance; and controlling the material handling head according to the second speed value.

[0005] In the above implementation process, by obtaining the actual material sampling depth and calculating the vertical distance between the sampling point and the sampling head, the change in material height at the sampling point is estimated, and the second speed value is adjusted accordingly. This achieves more precise control over the material sampling operations, such as the sampling quantity and depth, by adjusting the second speed value of the sampling head according to the surface undulations of the material, allowing the sampling head depth to be adaptively adjusted, thus meeting the material sampling requirements.

[0006] Optionally, in this embodiment of the application, obtaining the actual material removal depth of the material removal head from the material surface includes: scanning the material surface with a laser radar set at a preset height from the material removal head to obtain a first height of the laser radar from the material surface; obtaining a preset second height of the material removal head from the laser radar; and obtaining the actual material removal depth of the material removal head from the material surface based on the first height and the second height.

[0007] In the above implementation process, lidar is applied to material depth measurement. By scanning the material surface with lidar, the first height is obtained, and then the actual material picking depth of the picking head is obtained, thereby improving the accuracy and real-time performance of the actual material picking depth.

[0008] Optionally, in this embodiment of the application, obtaining the second distance based on the sampling point and the first distance includes: obtaining the straight-line distance between the lidar and the sampling point using a lidar; obtaining the third distance based on the straight-line distance and the first distance; and obtaining the second distance by subtracting the second height from the third distance.

[0009] In the above implementation process, the sampling point is scanned by LiDAR, and then the distance between the sampling point and the material head in the vertical direction is calculated. The second distance can be calculated, thereby accurately calculating the height of the material surface at the sampling point and providing an accurate height basis for the speed control of the material head.

[0010] Optionally, in this embodiment of the application, obtaining the second speed value of the material picker head based on the actual material picker depth, the first speed value, the first distance, and the second distance includes: calculating the slope of the material surface along the travel direction of the material picker head based on the actual material picker depth, the first distance, and the second distance; and obtaining the second speed value of the material picker head based on the slope and the first speed value.

[0011] In the above implementation process, the slope of the material surface along the direction of the feeding head is obtained by calculation, and the second speed value is determined according to the slope, so as to adjust the speed of the feeding head more accurately and achieve accurate control of the feeding depth.

[0012] Optionally, in this embodiment, obtaining the second velocity value of the material receiving head based on the slope and the first velocity value includes: obtaining the second velocity value of the material receiving head through a velocity formula; wherein, the velocity formula includes:

[0013] V z =k*V x

[0014] Among them, V z The second velocity value is given by k, where k is the slope and V is the velocity value. x This is the first speed value.

[0015] In the above implementation process, the slope of the material surface along the direction of the feeding head is obtained by calculation, and the second speed value is determined according to the slope, so as to adjust the speed of the feeding head more accurately and achieve accurate control of the feeding depth.

[0016] Optionally, in this embodiment of the application, after obtaining the second speed value of the material receiving head based on the actual material receiving depth, the first speed value, the first distance, and the second distance, the method further includes: obtaining a preset material receiving depth; correcting the second speed value based on the preset material receiving depth and the actual material receiving depth to obtain a second speed correction value; and controlling the material receiving head according to the second speed value, including: controlling the material receiving head according to the second speed correction value.

[0017] In the above implementation process, by setting a reasonable preset material picking depth, and based on the preset material picking depth and the actual material picking depth, the second speed value is corrected so that the material picking operation of the picking head is closer to the preset level, thereby improving the accuracy of the material picking amount.

[0018] Optionally, in this embodiment, the second speed value is corrected based on the preset material handling depth and the actual material handling depth to obtain a second speed correction value, including: correcting the second speed value using a speed correction formula to obtain the second speed correction value; wherein the speed correction formula includes:

[0019] V zz =V z +p*(hH)

[0020] Among them, V zz V is the second speed correction value. z is the second speed value, p is the speed dynamic correction parameter, h is the actual material extraction depth, and H is the preset material extraction depth.

[0021] In the above implementation process, the second speed value is corrected by the speed correction formula, so that the material taking operation of the taking head is closer to the preset level, thereby improving the accuracy of the material taking amount.

[0022] Optionally, in this embodiment of the application, before obtaining the actual material taking depth of the material taking head from the material surface, the first speed value of the material taking head, and the sampling point located on the material surface, the method further includes: controlling the material taking head to move to a preset material taking depth from the material surface, so that the material taking head takes material at the preset material taking depth.

[0023] In the above implementation process, the material taking head starts taking material at a preset material taking depth, thereby improving the accuracy of the material taking volume.

[0024] Secondly, embodiments of this application also provide a material handling control device, comprising: an acquisition module, configured to acquire the actual material handling depth of the material handling head from the material surface, a first speed value of the material handling head, and a sampling point located on the material surface; wherein the horizontal distance between the sampling point and the material handling head is a first distance; a distance calculation module, configured to obtain a second distance based on the sampling point and the first distance; the second distance is the vertical distance between the sampling point and the material handling head; and a speed control module, configured to obtain a second speed value of the material handling head based on the actual material handling depth, the first speed value, the first distance, and the second distance; and control the material handling head according to the second speed value.

[0025] Thirdly, embodiments of this application also provide an electronic device, including: a processor and a memory, the memory storing machine-readable instructions executable by the processor, which, when executed by the processor, perform the method described above.

[0026] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program that, when executed by a processor, performs the methods described above.

[0027] The material handling control method, apparatus, and storage medium provided in this application obtain the actual material handling depth and calculate the vertical distance between the sampling point and the material handling head, thereby estimating the material height change at the sampling point and adjusting the second speed value accordingly. This allows for more precise control of material handling operations, such as the material handling quantity and depth, by adjusting the second speed value of the material handling head based on the surface undulations of the material, enabling adaptive adjustment of the material handling head depth and meeting material handling requirements. Attached Figure Description

[0028] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 A schematic flowchart illustrating a material handling control method provided in an embodiment of this application;

[0030] Figure 2 A schematic diagram of the material handling head provided in an embodiment of this application;

[0031] Figure 3 This is a schematic diagram of the material extraction depth provided for an embodiment of this application.

[0032] Figure 4 This is a schematic diagram of the material handling process provided in an embodiment of this application.

[0033] Figure 5 This is a schematic diagram of the material handling control device provided in the embodiments of this application;

[0034] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0035] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this application.

[0037] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0038] Before introducing the material handling control method of this application, the concepts involved in the embodiments of this application will be explained.

[0039] Ship unloaders are specialized machines that utilize continuous conveying machinery to lift bulk materials, or have self-retrieving capabilities, or are equipped with material handling and feeding devices to continuously lift bulk materials out of the ship's hold, unload them onto the boom or frame, and transport them to the main conveyor system on the shore.

[0040] In existing automated control systems for ship unloaders, the operating height of the material handling head is typically set based on the highest point of the material surface. The operating height of the material handling head is equal to the highest point minus the rated material handling depth; this height is the material handling depth. After obtaining the operating height, the unloader's material handling head operates at that level. However, since the material surface is usually not flat, with height differences at different locations, and the material handling plane of the head is fixed, the amount of material handled varies at different locations, making accurate control of the material handling volume impossible. To prevent excessive material handling and equipment overload, and to ensure equipment safety, the material handling depth is determined based on the highest point of the material surface. At other material surface heights, insufficient material handling depth may result in inadequate hopper filling, leading to lower operating efficiency.

[0041] The material handling control method provided in this application controls the actual material handling depth of the material handling head and calculates the vertical distance between the sampling point on the material surface and the material handling head. It then estimates the material height change at the sampling point and adjusts a second speed value accordingly, including a vertical speed. With a fixed horizontal speed, the vertical speed of the material handling head is adjusted based on the material surface, achieving adaptive adjustment of the material handling head depth. This provides precise control over material handling, improving operational efficiency while ensuring equipment safety and meeting material handling requirements.

[0042] Please see Figure 1 The illustration shows a flowchart of a material handling control method provided in an embodiment of this application. The material handling control method provided in this application can be applied to electronic devices, which may include a terminal and a server; wherein the terminal may specifically be a smartphone, tablet computer, computer, personal digital assistant (PDA), etc.; the server may specifically be an application server or a web server. The material handling control method may include the following steps:

[0043] Step S110: Obtain the actual material taking depth of the material taking head from the material surface, the first speed value of the material taking head, and the sampling point located on the material surface; wherein, the horizontal distance between the sampling point and the material taking head is the first distance.

[0044] Step S120: Obtain the second distance based on the sampling point and the first distance; the second distance is the distance between the sampling point and the sampling head in the vertical direction.

[0045] Step S130: Based on the actual material handling depth, the first speed value, the first distance, and the second distance, obtain the second speed value of the material handling head; control the material handling head according to the second speed value.

[0046] In step S110, when the material taking head is performing the material taking operation, it needs to be moved to the material location first. Then, the chain bucket elevator housing, which is set above the material taking head and is used to control the lifting and lowering of the material taking head, drives the material taking head to move downward in the direction of the material. After moving downward to a position at a preset distance from the material surface, it stops moving downward and begins to move horizontally to perform the lateral material taking operation. The material above the material taking head falls into the hopper, thus realizing the material taking.

[0047] The actual material handling depth is the distance between the material handling head and the material surface, that is, the depth to which the material handling head penetrates the material. In actual operation, the actual material handling depth can be the initial depth before the material handling head moves down into the material to perform lateral material handling; the actual material handling depth can also be the operating depth of the material handling head when performing lateral material handling operations in the material.

[0048] The actual material removal depth can be obtained through methods such as using a laser scanner or lidar installed on the bucket elevator casing. Taking lidar as an example, the lidar is installed at a preset distance from the material removal head. The lidar scans the material surface to obtain the position of the lidar relative to the material surface. The height difference between the lidar and the material surface is calculated, which is the actual material removal depth of the material removal head.

[0049] The first speed value of the feed head includes its horizontal speed value. The horizontal speed value can be selected according to actual needs, or a default value can be used. The horizontal speed value can be constant. Alternatively, it can be non-constant; for example, if the horizontal speed value fluctuates in certain situations, it needs to be dynamically acquired so that the subsequent second speed value is determined based on the updated horizontal speed value.

[0050] The sampling point on the material surface is a point on the material receiving head along the material receiving direction, and the horizontal distance between the sampling point and the material receiving head is the first distance. The first distance can be determined through actual testing or by using a default value.

[0051] As one implementation method, when determining the sampling point, the sampling head can be used as the starting point to obtain a point at a first distance from the sampling head in the material carrying direction. This point can be extended upward to the material surface to obtain a point corresponding to the sampling surface. The point corresponding to the sampling surface is the sampling point.

[0052] In step S120, after obtaining the first horizontal distance between the sampling point and the picking head, the second vertical distance between them can be calculated. Specifically, for example, a laser scanner or lidar is on a vertical line with the picking head; therefore, the horizontal distance between the laser scanner or lidar and the sampling point is also the first distance. The straight-line distance between the laser scanner or lidar and the picking point can be obtained through scanning. Based on this straight-line distance, the preset distance between the laser scanner or lidar and the picking head, and the first distance, the second distance can be obtained.

[0053] Understandably, the second distance characterizes the sampling depth at the sampling point if the sampling head travels at a horizontal speed to the sampling point at the actual sampling depth.

[0054] In step S130, the second speed value of the pick-up head includes the vertical speed value of the pick-up head. The pick-up speed of the pick-up head is jointly controlled by the horizontal speed and the vertical speed. With the horizontal speed kept constant, the greater the vertical speed, the faster the pick-up head moves upward relative to the material surface.

[0055] After obtaining the second distance, the material-taking depth at the material-taking point is estimated when the vertical speed is 0. If this depth is greater than the preset depth threshold, it indicates a large accumulation of material at the material-taking point. Without adjusting the vertical speed, the material-taking volume may be too large, leading to equipment overload. Therefore, the upward vertical speed can be increased to accelerate the upward movement of the material-taking head and reduce the material-taking depth at the material-taking point. Similarly, if the depth is less than the preset depth threshold, it indicates a small accumulation of material at the material-taking point. Taking material at the current horizontal speed may result in insufficient material taking. Therefore, the downward vertical speed can be increased to accelerate the downward movement of the material-taking head. This ensures that the material-taking depth remains relatively constant even when the material surface is undulating.

[0056] The second velocity value can be obtained by calculating the slope of the material surface along the direction of the feeding head based on the actual feeding depth, the first distance, and the second distance. The second velocity value of the feeding head is then obtained based on the slope and the first velocity value.

[0057] It is understandable that the vertical velocity direction is vertically upward. If the vertical velocity value is greater than 0, the vertical velocity direction of the picking head is vertically upward; if the vertical velocity value is less than 0, the vertical velocity direction of the picking head is vertically downward; if the vertical velocity value is 0, the picking head has no velocity in the vertical direction and the picking head performs the picking operation at a horizontal velocity.

[0058] In the above implementation process, by obtaining the actual material sampling depth and calculating the vertical distance between the sampling point and the sampling head, the change in material height at the sampling point is estimated, and the second speed value is adjusted accordingly. This achieves adaptive adjustment of the sampling head depth by adjusting the second speed value based on the material surface height fluctuations, thereby enabling more precise control over the material sampling operations, such as the sampling quantity and depth, to meet the material sampling requirements.

[0059] Optionally, in this embodiment of the application, obtaining the actual material removal depth of the material removal head from the material surface includes: scanning the material surface with a laser radar set at a preset height from the material removal head to obtain a first height of the laser radar from the material surface; obtaining a preset second height of the material removal head from the laser radar; and obtaining the actual material removal depth of the material removal head from the material surface based on the first height and the second height.

[0060] Please see Figure 2 The diagram shows a material handling head provided in an embodiment of this application.

[0061] In the specific implementation process: the chain bucket elevator casing is located directly above the material receiving head, used to control the direction of the material receiving head. For example... Figure 2As described above, a laser radar (LiDAR) is installed on the casing of the bucket elevator in the width direction of the material receiving head. A laser radar is a radar system that uses laser beams to detect the position, velocity, and other characteristics of a target. Specifically, the laser radar can scan the surface of the material, obtain the distance to the sampled material surface, and then calculate the change in the material's height.

[0062] For example, by scanning the material surface with a lidar, a first height of the lidar from the material surface is obtained, which is the vertical height of the lidar from the material surface. A preset second height is then obtained, which is the distance between the material receiving head and the lidar. Since the lidar and the material receiving head are located on the same vertical line, the second height of the lidar and the material receiving head is equal to the vertical height of the lidar and the material receiving head.

[0063] The difference between the first height and the second height is used to obtain the height difference value. This height difference value is the vertical height of the material surface from the material picker head, which is the actual material pickering depth of the material picker head.

[0064] In the above implementation process, lidar is applied to material depth measurement. By scanning the material surface with lidar, the first height is obtained, and then the actual material picking depth of the picking head is obtained, thereby improving the accuracy and real-time performance of the actual material picking depth.

[0065] Please see Figure 3 The diagram shown illustrates the material extraction depth provided in the embodiments of this application.

[0066] Optionally, in this embodiment of the application, obtaining the second distance based on the sampling point and the first distance includes: obtaining the straight-line distance between the lidar and the sampling point using a lidar; obtaining the third distance based on the straight-line distance and the first distance; and obtaining the second distance by subtracting the second height from the third distance.

[0067] In the specific implementation process: the sampling point is used as the target point of the LiDAR. The sampling point is scanned to obtain the straight-line distance between the LiDAR and the sampling point. Furthermore, the horizontal distance between the LiDAR and the sampling point is also the first distance. Therefore, the straight-line distance and the horizontal distance between the LiDAR and the sampling point form the hypotenuse and one leg of a right triangle, respectively. Therefore, the vertical distance between the LiDAR and the sampling point, which is the third distance, can be derived using the Pythagorean theorem.

[0068] The vertical distance between the lidar and the sampling head is the second height, and the vertical distance between the lidar and the sampling point is the third distance. Subtracting the third distance from the second height yields the second distance, which is the vertical distance between the sampling point and the sampling head.

[0069] In the above implementation process, the sampling point is scanned by LiDAR, and then the distance between the sampling point and the material head in the vertical direction is calculated. The second distance can be calculated, thereby accurately calculating the height of the material surface at the sampling point and providing an accurate height basis for the speed control of the material head.

[0070] Optionally, in this embodiment of the application, obtaining the second speed value of the material picker head based on the actual material picker depth, the first speed value, the first distance, and the second distance includes: calculating the slope of the material surface along the travel direction of the material picker head based on the actual material picker depth, the first distance, and the second distance; and obtaining the second speed value of the material picker head based on the slope and the first speed value.

[0071] In the specific implementation process: the slope of the material surface along the direction of the feed head's travel is calculated. Specifically, the slope can be calculated using a slope formula, which includes:

[0072] k=(H i -h) / L i

[0073] Where k is the slope of the material surface along the direction of the feed head's movement, and H... i The second distance is h, where h is the actual material extraction depth, and L is the distance between the two points. i This is the first distance.

[0074] The slope is positively correlated with the material surface height at the sampling point. Specifically, a slope close to 0 indicates that the difference between the material surface height at the sampling point and the current actual sampling depth of the sampling head is small; a negative slope indicates that the material surface height at the sampling point is smaller than the current actual sampling depth of the sampling head. In order to maintain a fixed sampling depth, the second velocity of the sampling head can be determined to be vertically downward.

[0075] The second velocity value of the feed head is obtained based on the slope and the first velocity value. Specifically, for example, the second velocity value of the feed head is obtained through a velocity formula; where the velocity formula includes:

[0076] V z =k*V x

[0077] Among them, V z The second velocity value is given by k, where k is the slope and V is the velocity value. x This is the first speed value.

[0078] In the above implementation process, the slope of the material surface along the direction of the feeding head is obtained by calculation, and the second speed value is determined according to the slope, so as to adjust the speed of the feeding head more accurately and achieve accurate control of the feeding depth.

[0079] Optionally, in this embodiment of the application, after obtaining the second speed value of the material receiving head based on the actual material receiving depth, the first speed value, the first distance, and the second distance, the method further includes: obtaining a preset material receiving depth; correcting the second speed value based on the preset material receiving depth and the actual material receiving depth to obtain a second speed correction value; and controlling the material receiving head according to the second speed value, including: controlling the material receiving head according to the second speed correction value.

[0080] In the specific implementation process: the preset material picking depth is a relatively suitable material picking depth set in advance. For example, the preset material picking depth is determined by the material picking amount. That is, when the material surface is kept stable, the picking head picks up the material at the plane where the preset material picking depth is located by a horizontal speed, and the amount of material obtained is the required amount.

[0081] The second speed value is corrected based on the preset and actual material handling depths. Specifically, if there is a deviation between the actual and preset material handling depths, the second speed value can be corrected according to this deviation to obtain a corrected second speed value. Subsequent control of the material handling head is also based on this corrected second speed value.

[0082] In the above implementation process, by setting a reasonable preset material picking depth, and based on the preset material picking depth and the actual material picking depth, the second speed value is corrected so that the material picking operation of the picking head is closer to the preset level, thereby improving the accuracy of the material picking amount.

[0083] Optionally, in this embodiment, the second speed value is corrected based on the preset material handling depth and the actual material handling depth to obtain a second speed correction value, including: correcting the second speed value using a speed correction formula to obtain the second speed correction value; wherein the speed correction formula includes:

[0084] V zz =V z +p*(hH)

[0085] Among them, V zz V is the second speed correction value. z is the second speed value, p is the speed dynamic correction parameter, h is the actual material extraction depth, and H is the preset material extraction depth.

[0086] The speed dynamic correction parameters can be set according to actual needs or the default value can be used.

[0087] In the above implementation process, the second speed value is corrected by the speed correction formula, so that the material taking operation of the taking head is closer to the preset level, thereby improving the accuracy of the material taking amount.

[0088] Optionally, in this embodiment of the application, before obtaining the actual material taking depth of the material taking head from the material surface, the first speed value of the material taking head, and the sampling point located on the material surface, the method further includes: controlling the material taking head to move to a preset material taking depth from the material surface, so that the material taking head takes material at the preset material taking depth.

[0089] In the specific implementation process: Given a determined material handling depth, the material handling head can be controlled to move to a preset material handling depth from the material surface. This preset depth is then used as the initial material handling depth for the material handling operation. Specifically, a lidar system can be used to scan the material surface in real time, calculate the height of the material handling head from the material surface, and continue until the material handling head descends to the preset material handling depth. At this point, the material handling head stops descending and begins horizontal material handling at a horizontal speed.

[0090] In the above implementation process, the material taking head starts taking material at a preset material taking depth, thereby improving the accuracy of the material taking volume.

[0091] Please see Figure 4 The diagram shown is a schematic diagram of the material handling process provided in the embodiment of this application.

[0092] After receiving a material handling instruction, the material handling head moves to the edge of the material and is controlled to move downwards until it reaches the set material handling depth. The material handling head moves laterally, and the LiDAR scans the material surface in real time. The initial vertical speed of the material handling head is calculated and corrected to obtain the final moving speed, i.e., the second speed correction value. The material handling head is controlled based on this final moving speed to move to the end point of the material handling process, completing the material handling, pausing the operation, and awaiting the next instruction.

[0093] Please see Figure 5 The diagram shown is a structural schematic of the material handling control device provided in an embodiment of this application; this application provides a material handling control device 200, including:

[0094] The acquisition module 210 is used to acquire the actual material picking depth of the picking head from the material surface, the first speed value of the picking head, and the sampling point located on the material surface; wherein, the horizontal distance between the sampling point and the picking head is the first distance;

[0095] The distance calculation module 220 is used to obtain a second distance based on the sampling point and the first distance; the second distance is the distance between the sampling point and the sampling head in the vertical direction.

[0096] The speed control module 230 is used to obtain the second speed value of the material receiving head based on the actual material receiving depth, the first speed value, the first distance, and the second distance; and to control the material receiving head according to the second speed value.

[0097] Optionally, in this embodiment of the application, the material handling control device, the acquisition module, is specifically used to scan the material surface by means of a laser radar set at a preset height from the material handling head, to obtain a first height of the laser radar from the material surface; to obtain a preset second height of the material handling head from the laser radar; and to obtain the actual material handling depth of the material handling head from the material surface based on the first height and the second height.

[0098] Optionally, in this embodiment of the application, the material handling control device and the distance calculation module are specifically used to obtain the straight-line distance between the laser radar and the sampling point; obtain the third distance based on the straight-line distance and the first distance; and obtain the second distance by subtracting the second height from the third distance.

[0099] Optionally, in this embodiment of the application, the material handling control device and the speed control module are specifically used to calculate the slope of the material surface along the direction of travel of the material handling head based on the actual material handling depth, the first distance and the second distance; and to obtain the second speed value of the material handling head based on the slope and the first speed value.

[0100] Optionally, in this embodiment of the application, the material handling control device and the speed control module are further configured to obtain a second speed value of the material handling head through a speed formula; wherein, the speed formula includes:

[0101] V z =k*V x

[0102] Among them, V z The second velocity value is given by k, where k is the slope and V is the velocity value. x This is the first speed value.

[0103] Optionally, in this embodiment of the application, the material handling control device includes a speed correction module, which is used to obtain a preset material handling depth; correct a second speed value based on the preset material handling depth and the actual material handling depth to obtain a second speed correction value; and control the material handling head according to the second speed value, including: controlling the material handling head according to the second speed correction value.

[0104] Optionally, in this embodiment of the application, the material handling control device includes a speed correction module, specifically used to correct the second speed value using a speed correction formula to obtain a second speed correction value; wherein the speed correction formula includes:

[0105] V zz =V z +p*(hH)

[0106] Among them, V zz V is the second speed correction value. z is the second speed value, p is the speed dynamic correction parameter, h is the actual material extraction depth, and H is the preset material extraction depth.

[0107] Optionally, in this embodiment of the application, the material handling control device includes an initial depth module, used to control the material handling head to move to a preset material handling depth from the material surface, so that the material handling head handles material at the preset material handling depth.

[0108] It should be understood that this device corresponds to the above-described material handling control method embodiment and is capable of performing the various steps involved in the above method embodiment. The specific functions of this device can be found in the description above, and detailed descriptions are omitted here to avoid repetition. The device includes at least one software functional module that can be stored in memory or embedded in the device's operating system (OS) in the form of software or firmware.

[0109] Please see Figure 6 The diagram shows a structural schematic of an electronic device provided in an embodiment of this application. An electronic device 300 provided in this application includes a processor 310 and a memory 320. The memory 320 stores machine-readable instructions executable by the processor 310. When the machine-readable instructions are executed by the processor 310, the method described above is performed.

[0110] This application also provides a storage medium storing a computer program, which is executed by a processor to perform the above-described method.

[0111] The storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Red-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0112] It should be understood that the disclosed apparatus and methods can also be implemented in other ways, given the several embodiments provided in this application. 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, which contains 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, or 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.

[0113] 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.

[0114] The above description is only an optional implementation of the embodiments of this application, but the protection scope of the embodiments of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the embodiments of this application should be covered within the protection scope of the embodiments of this application.

Claims

1. A material handling control method, characterized in that, include: The actual material extraction depth of the material extraction head from the material surface, the first velocity value of the material extraction head, and the sampling point located on the material surface are obtained; wherein, the horizontal distance between the sampling point and the material extraction head is the first distance; A second distance is obtained based on the sampling point and the first distance; the second distance is the distance between the sampling point and the sampling head in the vertical direction. Based on the actual material handling depth, the first speed value, the first distance, and the second distance, a second speed value for the material handling head is obtained; the material handling head is controlled according to the second speed value. Based on the actual material handling depth, the first speed value, the first distance, and the second distance, the second speed value of the material handling head is obtained, including: Based on the actual material extraction depth, the first distance, and the second distance, the slope of the material surface along the direction of travel of the extraction head is calculated. The second speed value of the material taking head is obtained based on the slope and the first speed value.

2. The method according to claim 1, characterized in that, The process of obtaining the actual material-taking depth of the material-taking head from the material surface includes: The surface of the material is scanned by a laser radar set at a preset height from the material receiving head to obtain a first height of the laser radar from the surface of the material. Obtain the preset second height of the material picking head from the lidar; Based on the first height and the second height, the actual material taking depth of the material taking head from the surface of the material is obtained.

3. The method according to claim 2, characterized in that, Obtaining the second distance based on the sampling points and the first distance includes: The straight-line distance between the lidar and the sampling point is obtained using the lidar. The third distance is obtained based on the straight-line distance and the first distance; The second distance is obtained by subtracting the second height from the third distance.

4. The method according to claim 1, characterized in that, Based on the slope and the first velocity value, the second velocity value of the material receiving head is obtained, including: The second speed value of the feed head is obtained by a speed formula; wherein the speed formula includes: in, This is the second speed value. The slope, This is the first speed value.

5. The method according to claim 1, characterized in that, After obtaining the second speed value of the material-receiving head based on the actual material-receiving depth, the first speed value, the first distance, and the second distance, the method further includes: Obtain the preset material handling depth; Based on the preset material extraction depth and the actual material extraction depth, the second speed value is corrected to obtain a second speed correction value; Controlling the feed head according to the second speed value includes: The feed head is controlled according to the second speed correction value.

6. The method according to claim 5, characterized in that, Based on the preset material handling depth and the actual material handling depth, the second speed value is corrected to obtain a second speed correction value, including: The second speed value is corrected using a speed correction formula to obtain the second speed correction value; wherein the speed correction formula includes: in, This is the second speed correction value. This is the second speed value. For dynamic speed correction parameters, The actual material extraction depth. The preset material extraction depth.

7. The method according to any one of claims 1-6, characterized in that, Before obtaining the actual sampling depth of the sampling head from the material surface, the first velocity value of the sampling head, and the sampling point located on the material surface, the method further includes: Control the material handling head to move to a preset material handling depth from the material surface, so that the material handling head can handle the material at the preset material handling depth.

8. A material handling control device, characterized in that, include: The acquisition module is used to acquire the actual material extraction depth of the material extraction head from the material surface, the first speed value of the material extraction head, and the sampling point located on the material surface; wherein, the horizontal distance between the sampling point and the material extraction head is the first distance; A distance calculation module is used to obtain a second distance based on the sampling point and the first distance; the second distance is the distance between the sampling point and the sampling head along the vertical direction; The speed control module is used to obtain a second speed value of the material handling head based on the actual material handling depth, the first speed value, the first distance, and the second distance; and to control the material handling head according to the second speed value. The speed control module is specifically used to calculate the slope of the material surface along the travel direction of the material head based on the actual material picking depth, the first distance, and the second distance; and to obtain the second speed value of the material picking head based on the slope and the first speed value.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the method as described in any one of claims 1 to 7.

Images