A control method and system for a material taking head

Abstract

The application provides a control method and system of a material taking head, and relates to the technical field of automatic control. The control method of the material taking head is applied to an L-shaped chain bucket type continuous ship unloader, and comprises the following steps: obtaining preset constraint conditions, wherein the preset constraint conditions comprise one or more of boundary parameters of a material to be scanned area, a material taking head length parameter, a lifting material amount parameter, and a material taking head center movement distance parameter; performing material scanning analysis according to the preset constraint conditions to obtain material taking head translation speed data, material taking head rotation speed data, and chain bucket lifting speed data; generating material taking planning data according to the material taking head translation speed data, the material taking head rotation speed data, and the chain bucket lifting speed data; and performing material taking control on the material taking head of the L-shaped chain bucket type continuous ship unloader according to the material taking planning. The control method of the material taking head can realize smooth and controllable unmanned material taking process and improve the material taking efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automation control, in particular to a control method and system of a material taking head. BACKGROUND

[0002] At present, the unmanned technology has been applied in passenger cars, cleaning vehicles, trains, mine cars and the like. Some of them run on urban highway traffic, some run on rail network, and some have specific operation requirements and run in special industrial scenes. The unmanned ship unloader belongs to this category, which is limited to the task of unloading bulk cargo at the port, and moves between a specific few berths at the port. Most of the operation time is to move / rotate the material taking head in the ship cabin. Generally, speed planning is usually given under the condition of path and trajectory, and the motion state of the vehicle (mechanical arm) is controlled according to the driving environment. Different driving environments often have different speed decision algorithms. For the ship unloader, the driving environment is the uneven material surface environment in the cabin and the irregular inner wall environment of the ship cabin. In addition, due to the fluid characteristics of bulk materials, the collapse of bulk materials may occur during the material taking process. In addition, the whole ship may appear to sink and float under the influence of tides and waves, causing dynamic uncertainty of the working environment.

[0003] In the prior art, the L-shaped chain bucket type continuous ship unloader is a special unloading equipment for bulk cargo wharf. At present, its operation mode is manual operation by the driver in the driver's room or semi-automatic operation along the predetermined path after manual teaching path setting. The speed is fixed in semi-automatic operation. The continuous ship unloader needs to extend the material taking head into the ship cabin to continuously dig materials. The driver has a high labor intensity and a poor working environment. Moreover, the training period of a skilled and efficient driver is long, and non-standard operation may cause rapid equipment wear and tear. The existing ship unloader adopts fixed speed for the speed planning of the unmanned material taking head, which cannot ensure the smooth and controllable and efficient material taking process. SUMMARY

[0004] The present application aims to provide a control method and system of a material taking head, electronic equipment and computer readable storage medium, which can realize the smooth and controllable unmanned material taking process and improve the material taking efficiency.

[0005] In a first aspect, the present application provides a control method of a material taking head, applied to an L-shaped chain bucket type continuous ship unloader, the control method comprising:

[0006] acquiring a preset constraint condition, the preset constraint condition comprising one or more of a boundary parameter of a to-be-swept material area, a material taking head length parameter, a lifting material amount parameter, and a material taking head center motion distance parameter;

[0007] According to the preset constraint condition, material scanning analysis is performed to obtain material taking head translation speed data, material taking head rotation speed data and chain bucket lifting speed data;

[0008] According to the material taking head translation speed data, the material taking head rotation speed data and the chain bucket lifting speed data, material taking planning data is generated, and the material taking head of the L-shaped chain bucket type continuous ship unloader is controlled according to the material taking planning.

[0009] In the above implementation process, the control method of the material taking head obtains preset constraint conditions, performs material scanning analysis through boundary parameters of a to-be-scanned material area, length parameters of the material taking head, lifting material amount parameters, center movement distance parameters of the material taking head, etc., under the adaptive rotation track planning of the ship cabin wall and the material surface boundary line, and in combination with the material taking head translation speed, the material taking head rotation speed and the chain bucket lifting speed, the coordination of the material taking head translation and rotation is realized. Therefore, the control method of the material taking head can realize the smooth and controllable unmanned material taking process, and realize the technical effect of improving the material taking efficiency.

[0010] Further, after the step of obtaining the preset constraint condition, the method further comprises:

[0011] According to the preset constraint condition, the material taking head scanning mode data is determined, the diagonal line of the material taking head in the material taking head scanning mode data coincides with the normal line of the material surface boundary line, and the unit time material taking amount satisfies a first formula, and the first formula is:

[0012]

[0013] Wherein, ρ represents the unit time material taking amount, τ represents the time parameter, d(τ) represents the material taking depth at time τ, V c (τ) represents the material taking head center point speed at time τ, represents the material taking head diagonal line length.

[0014] Further, after the step of obtaining the preset constraint condition, the control method further comprises:

[0015] According to the preset constraint condition and the material taking head scanning mode data, material taking head center speed data is determined, wherein the material taking head center speed data satisfies a second formula, and the second formula is:

[0016]

[0017] Wherein, v up represents the chain bucket lifting speed, V sc represents the chain bucket volume, η represents the average full load rate of the chain bucket, n represents the number of chain buckets in contact with the material surface, L represents the length of the material taking head, represents the material taking head diagonal line length, represents the average value of the material taking depth, V c represents the center point speed of the material taking head.

[0018] Further, the step of performing material taking analysis according to the preset constraint condition to obtain the material taking head translation speed data, the material taking head rotation speed data and the chain bucket lifting speed data comprises:

[0019] The material taking head rotation speed data is determined according to the preset constraint condition and the material taking mode data, wherein the material taking head rotation speed data satisfies a third formula, and the third formula is:

[0020]

[0021] wherein ω represents the material taking head rotation speed, α represents the material taking head rotation angle, k represents the curvature of the material taking head center point trajectory, V c represents the center point speed of the material taking head.

[0022] Further, the step of performing material taking analysis according to the preset constraint condition to obtain the material taking head translation speed data, the material taking head rotation speed data and the chain bucket lifting speed data comprises:

[0023] The material taking head translation speed data is determined according to the preset constraint condition, wherein the material taking head translation speed data satisfies a fourth formula, and the fourth formula is:

[0024]

[0025]

[0026] wherein V c represents the center point speed of the material taking head, i.e. the translation speed of the material taking head center point, V represents the lifting cylinder speed, represents the end speed of the material taking head, represents the diagonal line length of the material taking head.

[0027] Further, before the step of determining the material taking head rotation speed data according to the preset constraint condition and the material taking mode data, the method further comprises:

[0028] obtaining coordinate data of the material surface edge discrete points;

[0029] calculating according to the coordinate data of the material surface edge discrete points to obtain the curvature of the material taking head center point trajectory.

[0030] In a second aspect, the application provides a control system of a material taking head, applied to an L-shaped chain bucket type continuous ship unloader, the control system comprising:

[0031] A constraint module is configured to acquire preset constraint conditions, which include one or more of boundary parameters of a material area to be swept, a length parameter of a material taking head, a lifting material amount parameter, a center movement distance parameter of the material taking head, and the like;

[0032] A material sweeping analysis module is configured to perform material sweeping analysis according to the preset constraint conditions, to obtain material taking head translation speed data, material taking head rotation speed data, and chain bucket lifting speed data;

[0033] A planning control module is configured to generate material taking planning data according to the material taking head translation speed data, the material taking head rotation speed data, and the chain bucket lifting speed data, and to perform material taking control on the material taking head of the L-shaped chain bucket type continuous ship unloader according to the material taking planning.

[0034] Further, the material sweeping analysis module is further configured to:

[0035] determine material sweeping mode data of the material taking head according to the preset constraint conditions, the diagonal line of the material taking head in the material sweeping mode data coincides with the normal line of the material surface boundary line, and the material taking amount per unit time satisfies a first formula, the first formula being:

[0036]

[0037] wherein, ρ represents the material taking amount per unit time, τ represents a time parameter, d(τ) represents the material taking depth at the time τ, V c (τ) represents the material taking head center point speed at the time τ, represents the material taking head diagonal line length.

[0038] Further, the material sweeping analysis module is further configured to:

[0039] determine material taking head center speed data according to the preset constraint conditions and the material sweeping mode data, wherein the material taking head center speed data satisfies a second formula, the second formula being:

[0040]

[0041] wherein, v up represents the chain bucket lifting speed, V sc represents the chain bucket volume, η represents the average full load rate of the chain bucket, n represents the number of chain buckets in contact with the material surface, L represents the length of the material taking head, represents the material taking head diagonal line length, represents the material taking depth average value, V c represents the material taking head center point speed.

[0042] Further, the material sweeping analysis module is further configured to:

[0043] The rotation speed data of the material taking head is determined according to the preset constraint condition and the material sweeping mode data, wherein the rotation speed data of the material taking head satisfies a third formula, and the third formula is:

[0044]

[0045] wherein ω represents the rotation speed of the material taking head, α represents the rotation angle of the material taking head, k represents the curvature of the center point track of the material taking head, V c represents the center point speed of the material taking head.

[0046] Further, the material sweeping analysis module is further used for:

[0047] The translation speed data of the material taking head is determined according to the preset constraint condition, wherein the translation speed data of the material taking head satisfies a fourth formula, and the fourth formula is:

[0048]

[0049]

[0050] wherein V c represents the center point speed of the material taking head, that is, the translation speed of the center point of the material taking head, V represents the speed of the lifting cylinder, represents the end speed of the material taking head, represents the diagonal line length of the material taking head.

[0051] Further, the material sweeping analysis module is further used for:

[0052] The coordinate data of the discrete points of the material surface edge are acquired;

[0053] The curvature of the center point track of the material taking head is obtained by calculation according to the coordinate data of the discrete points of the material surface edge.

[0054] In a third aspect, an electronic device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the method according to any one of the first aspect when executing the computer program.

[0055] In a fourth aspect, a computer readable storage medium is provided, and the computer readable storage medium stores instructions, and the instructions make a computer execute the method according to any one of the first aspect when the instructions are executed on the computer.

[0056] In a fifth aspect, a computer program product is provided, and the computer program product makes a computer execute the method according to any one of the first aspect when the computer program product is executed on the computer.

[0057] Other features and advantages of the present application will be set forth in the following description, in part in terms of the descriptions of the application and in part will become apparent to those skilled in the art upon examination of the following or can be learned from the practice of the application. The features and advantages of the present application can be realized and attained by means of the instrumentalities and combinations particularly pointed out in the appended claims.

[0058] So that the foregoing objects, features and advantages of the present application can be readily understood, a more particular description of the application follows, as illustrated in the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0059] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be considered as a limitation to the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0060] Figure 1 The structural schematic diagram of the material taking head of the L-shaped L-chain bucket type continuous ship unloader provided by the embodiments of the present application is shown in the figure.

[0061] Figure 2 The flow schematic diagram of the control method of the material taking head provided by the embodiments of the present application is shown in the figure.

[0062] Figure 3 The two-dimensional schematic diagram of the end of the material taking head along the edge sweeping material provided by the embodiments of the present application is shown in the figure.

[0063] Figure 4 The three-dimensional schematic diagram of the material taking head sweeping material provided by the embodiments of the present application is shown in the figure.

[0064] Figure 5 The schematic diagram of the coordinates of the vertices of the quadrilateral before and after the material taking head sweeping material provided by the embodiments of the present application is shown in the figure.

[0065] Figure 6 The decomposition schematic diagram of the horizontal sweeping area of the material taking head provided by the embodiments of the present application is shown in the figure.

[0066] Figure 7 The schematic diagram of the trajectory and speed of the center of the lifting cylinder, the center of the material taking head and the end of the material taking head provided by the embodiments of the present application is shown in the figure.

[0067] Figure 8 The schematic diagram of the angular velocity calculation provided by the embodiments of the present application is shown in the figure.

[0068] Figure 9 The coordinate transformation schematic diagram provided by the embodiments of the present application is shown in the figure.

[0069] Figure 10 The structural block diagram of the control system of the material taking head provided by the embodiments of the present application is shown in the figure.

[0070] Figure 11 A structural block diagram of an electronic device is provided for the embodiments of the present application. DETAILED DESCRIPTION

[0071] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

[0072] It should be noted that similar reference numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. Meanwhile, in the description of the present application, the terms “first”, “second”, and the like are only used for differentiation in description, and cannot be understood as indicating or implying relative importance.

[0073] The embodiments of the present application provide a control method and system of a material taking head, an electronic device and a computer readable storage medium, which can be applied to the speed planning process of the material taking head of an L-shaped chain bucket type continuous ship unloader; the control method of the material taking head obtains preset constraint conditions, performs material sweeping analysis through the boundary parameters of the to-be-swept material area, the length parameters of the material taking head, the lifting material amount parameters, the center motion distance parameters of the material taking head, and the like, under the adaptive rotation track planning of the ship cabin wall and the material surface boundary line, in combination with the translation speed of the material taking head, the rotation speed of the material taking head and the chain bucket lifting speed, to realize the coordination of the translation and rotation of the material taking head; thus, the control method of the material taking head can realize the smooth and controllable unmanned material taking process, and achieve the technical effect of improving the material taking efficiency.

[0074] Please refer to Figure 1 , Figure 1 The structural schematic diagram of the material taking head of the L-shaped chain bucket type continuous ship unloader is provided for the embodiments of the present application; as shown in Figure 1 , the material taking head is an L-shaped material taking head;

[0075] Among them, the L-shaped chain bucket type continuous ship unloader includes a material taking head, a chain bucket and a lifting cylinder (also called a BE cylinder), the chain bucket digs out and lifts the material to the top, and the material is unloaded on the boom belt conveyor through the screw hopper unloader and transported to the rear. The L-shaped material taking head can rotate, and the boom can pitch and rotate.

[0076] Please refer to Figure 2 , Figure 2 The flowchart of the control method of the material taking head is provided for the embodiments of the present application, the control method of the material taking head is applied to the L-shaped chain bucket type continuous ship unloader, and the control method includes the following steps:

[0077] S100: obtaining preset constraint conditions, the preset constraint conditions include one or more of the boundary parameters of the to-be-swept material area, the length parameters of the material taking head, the lifting material amount parameters, and the center motion distance parameters of the material taking head;

[0078] Exemplarily, the preset constraint condition is a basic constraint condition, including but not limited to a boundary parameter of a material to be scanned area, a material taking head length parameter, a lifting material amount parameter, a material taking head center motion distance parameter and the like; for example, in some embodiments, the preset constraint condition includes:

[0079] 1) The boundary of the material to be scanned area is given, the end of the material taking head coincides with the boundary or there is an area center line (point), and the BE cylinder center rotates the material taking head to cover the boundary;

[0080] 2) The length of the material taking head is kept constant;

[0081] 3) The volume scanned by the material taking head per unit time is constant (control target);

[0082] 4) The lifting material amount = the volume scanned;

[0083] 5) The total distance of the material taking head center motion is minimized (under the working condition, the BE cylinder moves as little as possible).

[0084] S200: performing material scanning analysis according to the preset constraint condition to obtain material taking head translation speed data, material taking head rotation speed data and chain bucket lifting speed data;

[0085] Exemplarily, under the preset constraint condition, the material taking head translation speed data, the material taking head rotation speed data and the chain bucket lifting speed data can be obtained under the adaptive ship cabin wall and the material surface boundary line rotation trajectory planning, combined with the target requirement of stable material taking;

[0086] S300: generating material taking planning data according to the material taking head translation speed data, the material taking head rotation speed data and the chain bucket lifting speed data, and controlling the material taking head of the L-shaped chain bucket type continuous ship unloader according to the material taking planning.

[0087] In some embodiments, the control method of the material taking head obtains the preset constraint condition, performs material scanning analysis through the boundary parameter of the material to be scanned area, the material taking head length parameter, the lifting material amount parameter, the material taking head center motion distance parameter and the like, realizes the coordination of the material taking head translation and rotation under the adaptive ship cabin wall and the material surface boundary line rotation trajectory planning, and combines the material taking head translation speed, the material taking head rotation speed and the chain bucket lifting speed; therefore, the control method of the material taking head can realize the stable controllability of the unmanned material taking process, and realizes the technical effect of improving the material taking efficiency.

[0088] Exemplarily, after the step of S100: obtaining the preset constraint condition, the method further includes:

[0089] The scanning mode data of the material taking head is determined according to the preset constraint condition, the diagonal line of the material taking head is coincident with the normal line of the material surface boundary line in the scanning mode data, and the material taking amount per unit time satisfies a first formula, the first formula is:

[0090]

[0091] Wherein, p represents the material taking amount per unit time, tau represents the time parameter, d(tau) represents the material taking depth at tau, V c (tau) represents the center point speed of the material taking head at tau, represents the diagonal line length of the material taking head.

[0092] Exemplarily, after the step of S100: obtaining the preset constraint condition, the control method further comprises:

[0093] The center speed data of the material taking head is determined according to the preset constraint condition and the scanning mode data, wherein the center speed data of the material taking head satisfies a second formula, the second formula is:

[0094]

[0095] Wherein, v up represents the chain bucket lifting speed, V sc represents the chain bucket volume, eta represents the average full load rate of the chain bucket, n represents the number of chain buckets in contact with the material surface, L represents the length of the material taking head, represents the diagonal line length of the material taking head, represents the average material taking depth, V c represents the center point speed of the material taking head.

[0096] Exemplarily, the step of S200: performing scanning analysis according to the preset constraint condition to obtain the material taking head translation speed data, the material taking head rotation speed data and the chain bucket lifting speed data comprises:

[0097] The rotation speed data of the material taking head is determined according to the preset constraint condition and the scanning mode data, wherein the rotation speed data of the material taking head satisfies a third formula, the third formula is:

[0098]

[0099] Wherein, omega represents the rotation speed of the material taking head, alpha represents the rotation angle of the material taking head, k represents the curvature of the center point trajectory of the material taking head, V c represents the center point speed of the material taking head.

[0100] Exemplarily, the step of S200: performing scanning analysis according to the preset constraint condition to obtain the material taking head translation speed data, the material taking head rotation speed data and the chain bucket lifting speed data comprises:

[0101] The translation speed data of the material taking head is determined according to the preset constraint condition, wherein the translation speed data of the material taking head satisfies a fourth formula, and the fourth formula is:

[0102]

[0103]

[0104] wherein V c represents the center point speed of the material taking head, i.e., the translation speed of the center point of the material taking head, V represents the lifting cylinder speed, represents the end speed of the material taking head, represents the diagonal length of the material taking head.

[0105] Exemplarily, before the step of determining the rotation speed data of the material taking head according to the preset constraint condition and the sweeping material manner data, the method further comprises:

[0106] obtaining coordinate data of the discrete points of the material surface edge;

[0107] calculating according to the coordinate data of the discrete points of the material surface edge to obtain the curvature of the center point trajectory of the material taking head.

[0108] In some implementation scenarios, in combination with Figure 1 and Figure 2 , the specific process example of the control method of the material taking head provided by the embodiments of the present application is as follows:

[0109] I. Given the preset constraint condition:

[0110] 1) The boundary of the to-be-swept material area is given, the end of the material taking head coincides with the boundary or there is a region center line (point), and the BE cylinder center rotates the material taking head to cover the boundary;

[0111] 2) The length of the material taking head remains constant when the material is;

[0112] 3) The volume swept by the material taking head per unit time is constant (control target);

[0113] 4) The lifting material volume = the swept volume;

[0114] 5) The total distance of the center movement of the material taking head is minimum (satisfies the operation condition, and the BE cylinder moves as little as possible);

[0115] II. Sweeping material analysis:

[0116] Please refer to Figure 3 and Figure 4 , Figure 3 the two-dimensional schematic diagram of the end of the material taking head sweeping along the edge provided by the embodiments of the present application, Figure 4 the three-dimensional schematic diagram of the material taking head provided by the embodiments of the present application;

[0117] As Figure 3 and Figure 4 shown, the volume formula is as follows (volume of material swept per unit time):

[0118] dV(τ) = dA(τ) x (d(τ) + d(τ + dτ)) / 2;

[0119] where τ is the time parameter, τ + dτ is the time after a small time interval dτ; dA(τ) is the area change, and dV(τ) is the volume change;

[0120] Please refer to Figure 5 , Figure 5 the quadrilateral vertex coordinate diagram before and after the material taking head sweeps material provided by the embodiment of the application;

[0121] As Figure 5 shown, the formula is obtained from the Gaussian shoelace formula:

[0122]

[0123] x1 = x(τ + dτ), y1 = y(τ + dτ)

[0124] Substitute into the above formula, and remove the high-order terms of dτ, to obtain:

[0125]

[0126]

[0127]

[0128] Let respectively represent the center position of the material taking head, the center point speed vector of the material taking head, and the end direction vector of the BE cylinder center of the material taking head;

[0129] In addition, considering that the material taking head actually has a width (please refer to Figure 6 , Figure 6 the decomposition diagram of the horizontal sweeping area of the material taking head provided by the embodiment of the application), the unit time sweeping formula is obtained by correction:

[0130]

[0131] Let the sum formula of the sine function:

[0132]

[0133] Let represent the diagonal length of the material taking head, so the above formula is further simplified as:

[0134]

[0135] Thus, the following conclusions (Conclusion 1) can be obtained: the material taking speed is proportional to the material taking depth d (τ), and the size and direction of the center point of the material taking head are sinusoidal. In particular, when the moving direction of the center point of the material taking head is perpendicular to the diagonal (the center line is different from the direction of the velocity), that is, θ + θ0 = 90° is satisfied, the most efficient material taking can be obtained. When this strategy is used, the sweeping formula is obtained:

[0136]

[0137] The material taking depth and the speed are non-negative and have a maximum value. From the above formula, it can be seen that by adjusting their values, smooth material taking can be achieved;

[0138] III. Analysis of the total length of the center point movement of the lifting cylinder and energy consumption:

[0139] Compared with the rotation of the sweeping head, the horizontal movement of the lifting cylinder requires the cooperation of the gantry linkage, so the main part of the energy consumption is this;

[0140] Assume that the trajectory of the center point movement of the lifting cylinder is The curve parameter is time τ, so the total length of the center point movement of the lifting cylinder is:

[0141]

[0142] Where is the outer boundary of the material surface area, which is generally given;

[0143] From formula (1), we obtain:

[0144]

[0145] Assume that the material taking depth fluctuates around the average value, that is, The total amount of fluctuation in the entire material taking process is 0, that is, Thus:

[0146]

[0147] The condition for the above equality to hold is θ + θ0 = 90° and the sweeping depth maintains the average value, where V is the amount of completed sweeping. As can be seen, the vertical and balanced tool feeding sweeping strategy is also a strategy that ensures the minimum total length of the center point movement of the lifting cylinder (related to an upper limit value of the given material taking amount). The average speed of the center point of the material taking head can be obtained from:

[0148]

[0149] in coordination with formula (1). The area formula for vertical sweeping is:

[0150]

[0151] wherein is the length of the path taken by the center point of the material taking head;

[0152] Four, analysis of the digging speed:

[0153] Referring to Figure 1 , the bucket lifting speed v up , the bucket volume V sc , the average full load rate η(τ) (0-100% value), the number of buckets in contact with the material surface n, from the mass conservation formula:

[0154] nη(τ)V sc =(L / v up (τ))ρ(τ) (3);

[0155] The meaning of this formula is that the lifting amount is determined by the sweeping volume;

[0156] Combining formula (2) and formula (3), the speed formula of the center point of the material taking head is obtained:

[0157]

[0158] From this, the following conclusions (Conclusion 2) can be obtained: under the premise of stable full load rate, the speed of the center point of the material taking head is proportional to the lifting speed v up ;

[0159] Please refer to Figure 7 and Figure 8 , Figure 7 the trajectory and speed diagram of the center of the lifting cylinder, the center of the material taking head, and the end of the material taking head provided by the embodiments of the present application, Figure 8 the schematic diagram of angular velocity calculation provided by the embodiments of the present application; as shown in Figure 7 , Figure 8 ,

[0160]

[0161]

[0162] v=Rω;

[0163] Since the material is taken vertically, the rotation angle of the movement of the cylinder center, the center of the material taking head, and the end of the material taking head is consistent, and the angular velocity remains equal; eliminating R, we get:

[0164]

[0165]

[0166] Assuming the speed The size is kept constant (by (1) when the taking depth is constant, which is the control target), then The angular velocity formula is thus obtained:

[0167]

[0168]

[0169] Wherein, the trajectory k of the center point of the taking head is the curvature (local geometric quantity):

[0170]

[0171] The velocity formula is thus obtained:

[0172]

[0173]

[0174] Since the data of the end of the taking head is known, according to the equidistant inward property of the center point trajectory and the end trajectory, the curvature relationship is:

[0175]

[0176] See Figure 9 , Figure 9 The coordinate transformation schematic diagram provided by the embodiment of the application; in Figure 9 the final control point of interest is the center point (xb, yb) below the lifting cylinder, which can be obtained by translating the taking center sampling point (xc, yc) by L / 2 in the inward normal direction, and then rotating by an angle θ in the direction of the needle direction; denoted as:

[0177]

[0178]

[0179] When the taking is rotated clockwise (the taking area is on the right of the movement direction), the coordinate transformation formula of the center of the lifting cylinder is calculated:

[0180]

[0181]

[0182]

[0183] Similarly, when the taking is rotated counterclockwise (the taking area is on the left of the movement direction), the coordinate transformation formula of the center of the lifting cylinder is calculated:

[0184]

[0185]

[0186]

[0187] Control the full load rate and feed amount, according to formula (4), can determine the BE control speed size, and the speed direction is determined by the tangent direction;

[0188] Thus, given a section of trajectory points, the discrete curvature can be calculated:

[0189] Assume the sampling points on the curve are (these points are on the symmetric two sides before and after the point to be calculated curvature):

[0190] P1(x1, y1), P2(x2, y2), …, P n (x n , y n );

[0191] Assume the basic equation of the circle is: x 2 +y 2 +ax+by+c=0;

[0192] At this time the coefficient needs to satisfy a 2 +b 2 -4c>0;

[0193] The center of the circle The radius The curvature is

[0194] Using the fitting method, the above n sampling points try to satisfy the equation of the circle, that is, the error function:

[0195]

[0196] Take the minimum value, the convex function equivalent to the quadratic function:

[0197]

[0198]

[0199]

[0200]

[0201] Written as a matrix equation:

[0202]

[0203] By solving this linear equation set, the curvature can be calculated.

[0204] Note:

[0205] 1) When (outer circle flat) by formula (6) k = 0, by formula (5) at this time The whole translation of the material head is taken;

[0206] 2) When (outer circle on the circular arc with As the radius) by formula (6) By formula (5) at this time:

[0207]

[0208] V = 0;

[0209] This shows that the material head rotates at a uniform speed at the intersection, and the angular velocity is

[0210] In some embodiments, the curvature of the discrete points is calculated, in addition to the method of solving the existing equation group proposed in formula (8), other methods such as polynomial fitting combined with derivation can also be used, which will not be repeated here.

[0211] Exemplarily, the control method of the material head provided by the embodiment of the application analyzes the material scanning law in the L-shaped material head cabin, proposes a speed planning scheme, which can realize the coordination of the translation and rotation of the material head, guide the chain bucket lifting speed, and dynamically adjust according to the chain bucket full load rate; thereby, under the goal of controlling the overall stability of the ship unloader, the relationship between the material taking speed and the lifting speed is derived, and the material taking speed matching the moving speed is calculated according to the curvature of the material taking estimation line; further, under the adaptive cabin wall and material surface boundary line rotation trajectory planning, combined with the goal requirement of stable material taking, a method of combining the translation and rotation speed of the material head and the lifting speed of the chain bucket is proposed, which can realize the stable and controllable unmanned material taking process, and realize the technical effect of improving the material taking efficiency.

[0212] Please refer to Figure 10 , Figure 10 The structural block diagram of the control system of the material head provided by the embodiment of the application, which is applied to an L-shaped chain bucket type continuous ship unloader, the control system comprises:

[0213] The constraint module 100 is used to obtain a preset constraint condition, and the preset constraint condition comprises one or more of a boundary parameter of a to-be-scanned material area, a material head length parameter, a lifting material amount parameter, and a material head center motion distance parameter.

[0214] The material scanning analysis module 200 is used to perform material scanning analysis according to the preset constraint condition, and obtain material head translation speed data, material head rotation speed data, and chain bucket lifting speed data.

[0215] The planning and control module 300 is used to generate material handling planning data based on the material handling head translation speed data, material handling head rotation speed data, and chain bucket lifting speed data, and to control the material handling of the L-shaped chain bucket continuous unloader according to the material handling planning.

[0216] For example, the material sweeping analysis module 200 is also used for:

[0217] The material sweeping method data of the material take-up head is determined according to preset constraints. In the material sweeping method data, the diagonal of the material take-up head coincides with the normal of the material surface boundary line, and the material take-up amount per unit time satisfies the first formula, which is:

[0218]

[0219] Where ρ represents the material intake per unit time, τ represents the time parameter, d(τ) represents the material intake depth at time τ, and V c (τ) represents the velocity of the center point of the feed head at time τ. This indicates the length of the diagonal of the material handling head.

[0220] For example, the material sweeping analysis module 200 is also used for:

[0221] The center velocity data of the picking head is determined based on preset constraints and material sweeping method data. The center velocity data of the picking head satisfies the second formula, which is:

[0222]

[0223] Among them, v up V indicates the chain bucket speed increase. sc η represents the chain bucket volume, n represents the average full load rate of the chain buckets, n represents the number of chain buckets in contact with the material surface, and L represents the length of the material handling head. Indicates the length of the diagonal of the material taking head. V represents the average material extraction depth. c This indicates the velocity at the center point of the feed head.

[0224] For example, the material sweeping analysis module 200 is also used for:

[0225] The rotational speed of the picking head is determined based on preset constraints and material sweeping method data. The rotational speed of the picking head satisfies the third formula, which is:

[0226]

[0227] Where ω represents the rotational speed of the feed head, α represents the rotational angle of the feed head, k represents the curvature of the trajectory of the feed head's center point, and V c This indicates the velocity at the center point of the feed head.

[0228] Exemplarily, the material sweeping analysis module 200 is further configured to:

[0229] The translation speed data of the material taking head is determined according to the preset constraint condition, wherein the translation speed data of the material taking head satisfies a fourth formula, and the fourth formula is:

[0230]

[0231]

[0232] wherein V c represents the center point speed of the material taking head, i.e., the translation speed of the center point of the material taking head, V represents the speed of the lifting cylinder, represents the end speed of the material taking head, represents the diagonal length of the material taking head.

[0233] Exemplarily, the material sweeping analysis module 200 is further configured to:

[0234] Obtain coordinate data of the discrete points of the material surface edge;

[0235] According to the coordinate data of the discrete points of the material surface edge, the curvature of the center point trajectory of the material taking head is obtained.

[0236] It should be noted that the control system of the material taking head provided by the embodiments of the present application corresponds to the method embodiments shown in the method embodiments, and to avoid repetition, details are not repeated here. Figures 1 to 9

[0237] The present application also provides an electronic device, please see Figure 11 , Figures 1 to 9 The structural block diagram of an electronic device provided by the embodiments of the present application. The electronic device can include a processor 510, a communication interface 520, a memory 530 and at least one communication bus 540. Among them, the communication bus 540 is used to realize the direct connection communication of these components. Among them, the communication interface 520 of the electronic device in the embodiments of the present application is used to communicate with other node devices. The processor 510 can be an integrated circuit chip with signal processing capability.

[0238] ​The processor 510 described above can be a general processor, including a central processing unit (CPU), a network processor (NP), etc.; can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a ready programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component. The disclosed methods, steps and logic block diagrams in the embodiments of the present application can be implemented or executed. The general processor can be a microprocessor or the processor 510 can also be any conventional processor or the like.

[0239] The memory 530 can be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read only memory (PROM), an erasable programmable read only memory (EPROM), an electrically erasable programmable read only memory (EEPROM), etc. The memory 530 stores computer readable instructions, which, when executed by the processor 510, enable the electronic device to perform the above Figure 11 The method embodiments involve various steps.

[0240] Optionally, the electronic device can further include a storage controller, an input output unit.

[0241] The memory 530, the storage controller, the processor 510, the peripheral interface, the input output unit are directly or indirectly electrically connected to each other to realize the transmission or interaction of data. For example, these elements can be electrically connected to each other through one or more communication buses 540. The processor 510 is configured to execute the executable modules stored in the memory 530, such as software function modules or computer programs included in the electronic device.

[0242] The input output unit is configured to provide a user with a creation task and create a selectable period or a preset execution time for starting the task to realize the interaction between the user and the server. The input output unit can be, but is not limited to, a mouse and a keyboard or the like.

[0243] It can be understood that Figure 11 The structure shown is only schematic, and the electronic device can include more or fewer components than those shown in the figure, or have different configurations from those shown in the figure. Figure 11 The structure shown is only schematic, and the electronic device can include more or fewer components than those shown in the figure, or have different configurations from those shown in the figure.Figure 11 different configurations. Figure 11 The components shown in FIG. 1 can be implemented in hardware, software, or a combination thereof.

[0244] The embodiments of the present application also provide a storage medium, which stores instructions. When the instructions are run on a computer, the computer program is executed by a processor to implement the method in the method embodiments. To avoid repetition, details are not described here.

[0245] The present application also provides a computer program product, which, when run on a computer, causes the computer to execute the method in the method embodiments.

[0246] In several embodiments provided in the present application, it should be understood that the disclosed apparatus and method can also be implemented by other means. The apparatus embodiments described above are only schematic; for example, the flowcharts and block diagrams in the drawings show possible implementation architectures, functions, and operations of the apparatus, method, and computer program product according to the embodiments of the present application. In this regard, each block in the flowcharts or block diagrams can represent a module, a program segment, or a portion of code, which contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in a different order than that noted in the drawings. For example, two blocks shown in succession can actually be executed substantially concurrently, or they can be executed in reverse order, depending on the functionality involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented by dedicated hardware-based systems that perform the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0247] In addition, each functional module in the various embodiments of the present 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.

[0248] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the parts of the prior art that make contributions or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0249] The above merely provides an example of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0250] The above merely provides an example of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0251] It should be noted that, in this document, the terms such as first and second are used merely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the processes, methods, articles or devices including a series of elements not only include those elements, but also include other elements not explicitly listed or inherent to such processes, methods, articles or devices. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or device including the element.

Claims

1. A method of controlling a material taking head, characterized in that The control method is applied to an L-shaped chain bucket continuous ship unloader, and the control method comprises the following steps: obtaining preset constraint conditions, wherein the preset constraint conditions comprise one or more of a boundary parameter of a region to be swept, a length parameter of a material taking head, a lifting material amount parameter, and a center movement distance parameter of the material taking head; performing material sweeping analysis according to the preset constraint conditions to obtain material taking head translation speed data, material taking head rotation speed data, and chain bucket lifting speed data; generating material taking planning data according to the material taking head translation speed data, the material taking head rotation speed data, and the chain bucket lifting speed data, and performing material taking control on the material taking head of the L-shaped chain bucket continuous ship unloader according to the material taking planning; after the step of obtaining the preset constraint conditions, the method further comprises the following steps: determining material sweeping mode data of the material taking head according to the preset constraint conditions, wherein a diagonal line of the material taking head coincides with a normal line of a material surface boundary line in the material sweeping mode data, and a material taking amount per unit time satisfies a first formula, the first formula being: ； wherein, according to the preset constraint conditions and the material sweeping mode data, determining material taking head center speed data, wherein the material taking head center speed data satisfies a second formula, the second formula being: represents the amount of material taken per unit of time, according to the preset constraint conditions, performing material sweeping analysis to obtain material taking head translation speed data, material taking head rotation speed data, and chain bucket lifting speed data, wherein the step comprises the following steps: represents the time parameter, d ( according to the preset constraint conditions and the material sweeping mode data, determining material taking head rotation speed data, wherein the material taking head rotation speed data satisfies a third formula, the third formula being: ) represents the depth of the material taken at the time, according to the preset constraint conditions, determining material taking head translation speed data, wherein the material taking head translation speed data satisfies a fourth formula, the fourth formula being: represents before the step of determining material taking head rotation speed data according to the preset constraint conditions and the material sweeping mode data, the method further comprises the following steps: the speed of the center point of the material taking head at the time, represents the diagonal length of the material taking head;​ obtaining coordinate data of discrete points of a material surface edge; ； wherein, represents the chain bucket lifting speed, represents the chain bucket volume, according to the coordinate data of the discrete points of the material surface edge, performing calculation to obtain a curvature of a material taking head center point trajectory. represents the chain bucket average filling rate, n represents the number of chain buckets in contact with the material surface, L represents the length of the material taking head, represents the diagonal length of the material taking head, represents the average material taking depth, V c represents the material taking head center point speed; The control system is applied to an L-shaped chain bucket continuous ship unloader, and the control system comprises the following: a constraint module, configured to obtain preset constraint conditions, wherein the preset constraint conditions comprise one or more of a boundary parameter of a region to be swept, a length parameter of a material taking head, a lifting material amount parameter, and a center movement distance parameter of the material taking head; ； wherein, a material sweeping analysis module, configured to perform material sweeping analysis according to the preset constraint conditions to obtain material taking head translation speed data, material taking head rotation speed data, and chain bucket lifting speed data; represents the speed of rotation of the head, α represents the angle of rotation of the head, k represents the curvature of the trajectory of the center point of the head, V c represents the speed of the center point of the head; a planning control module, configured to generate material taking planning data according to the material taking head translation speed data, the material taking head rotation speed data, and the chain bucket lifting speed data, and perform material taking control on the material taking head of the L-shaped chain bucket continuous ship unloader according to the material taking planning; ； wherein V c denotes the head center point velocity, i.e. the translational velocity of the head center point, V denotes the lifting cylinder velocity, denotes the head end velocity, denotes the head diagonal length.

2. The control method of a gate extraction head according to claim 1, characterized in that, the material sweeping analysis module is further configured to: determine material sweeping mode data of the material taking head according to the preset constraint conditions, wherein a diagonal line of the material taking head coincides with a normal line of a material surface boundary line in the material sweeping mode data, and a material taking amount per unit time satisfies a first formula, the first formula being: according to the preset constraint conditions and the material sweeping mode data, determine material taking head center speed data, wherein the material taking head center speed data satisfies a second formula, the second formula being:

3. A control system for a material removal bit, the control system comprising: ​ ​ ​ ​ ​ ​ ； wherein, ​ represents the amount of material taken per unit of time, ​ represents the time parameter, d ( ​ ) represents the depth of material taken at the time, ​ represents ​ the speed of the center point of the material taking head at the time, represents the diagonal length of the material taking head;​ According to the preset constraint condition and the material sweeping mode data, center speed data of the material taking head is determined, wherein the center speed data of the material taking head satisfies a second formula, and the second formula is: ； wherein, represents the chain bucket lifting speed, represents the chain bucket volume, η represents the chain bucket average filling rate, n represents the number of chain buckets in contact with the material surface, L represents the length of the material taking head, represents the diagonal length of the material taking head, represents the average material taking depth, V c represents the material taking head center point speed; According to the preset constraint condition and the material sweeping mode data, rotation speed data of the material taking head is determined, wherein the rotation speed data of the material taking head satisfies a third formula, and the third formula is: ； wherein, ω represents the speed of rotation of the head, α represents the angle of rotation of the head, k represents the curvature of the trajectory of the center point of the head, V c represents the speed of the center point of the head; According to the preset constraint condition, translation speed data of the material taking head is determined, wherein the translation speed data of the material taking head satisfies a fourth formula, and the fourth formula is: ； wherein, V c denotes the head center point velocity, i.e. the translational velocity of the head center point, V denotes the lifting cylinder velocity, denotes the head end velocity, denotes the head diagonal length.

4. An electronic device, comprising: comprising: A memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the processor implements the steps of the control method of the material taking head according to any one of claims 1 to 2 when executing the computer program.

5. A computer readable storage medium, characterized in that, The computer readable storage medium stores instructions, and when the instructions run on the computer, the computer executes the control method of the material taking head according to any one of claims 1 to 2.

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