Material discharge control methods, devices and equipment for ship unloader grab buckets

Abstract

This application discloses a method, device, and equipment for controlling the discharge of a grab bucket of a ship unloader. The grab bucket has a hopper below it for screening materials. The method includes: determining the target number of opening segments of the grab bucket and the first target opening degree corresponding to each target segment based on the target attributes of the material loaded in the grab bucket; the target number of opening segments is the number of segmented openings required for the grab bucket to go from a fully closed state to a fully open state; for each target segment, controlling the grab bucket to open to the corresponding first target opening degree at a preset speed, so that the material is unloaded into the hopper for screening. The technical solution provided by this application can avoid hopper blockage caused by excessive instantaneous material flow, thus improving the operating efficiency of the ship unloader.

Description

Technical Field

[0001] This application belongs to the field of ship unloader control technology, and in particular relates to a method, device and equipment for controlling the discharge of material from the grab bucket of a ship unloader. Background Technology

[0002] During the operation of coal-fired ships, the high moisture content and viscosity of the coal often cause clogging of the unloading hopper. Currently, the blockage is mainly cleared manually, which is inefficient. Summary of the Invention

[0003] The embodiments of this application provide a method, apparatus, and equipment for controlling the discharge of material from a ship unloader's grab bucket, which can at least reduce hopper blockage and improve the operating efficiency of the ship unloader.

[0004] Other features and advantages of this application will become apparent from the following detailed description, or may be learned in part from practice of this application.

[0005] According to a first aspect of the embodiments of this application, a method for controlling the discharge of a grab bucket of a ship unloader is provided, wherein a hopper for screening materials is provided below the grab bucket of the ship unloader, the method comprising:

[0006] Based on the target attributes of the material loaded in the unloader's grab bucket, the number of target opening segments of the unloader's grab bucket and the first target opening degree corresponding to each target segment are determined. The number of target opening segments is the number of segment openings required for the unloader's grab bucket to go from a fully closed state to a fully open state.

[0007] For each target segment, the unloader grab bucket is controlled to open to the corresponding first target opening at a preset speed, so that the material is unloaded into the hopper for screening.

[0008] In some embodiments of this application, based on the foregoing scheme, the number of target opening segments of the unloader's grab bucket and the first target opening degree corresponding to each target segment are determined according to the target attributes of the material loaded in the unloader's grab bucket, including:

[0009] Obtain a preset mapping table, which records the correspondence between the number of each bucket opening segment and the first opening degree of each segment and each material attribute;

[0010] Find the target number of bucket opening segments that match the target attributes of the material in the mapping table, and the first target opening degree corresponding to each target segment.

[0011] In some embodiments of this application, based on the foregoing scheme, the number of target opening segments of the unloader's grab bucket and the first target opening degree corresponding to each target segment are determined according to the target attributes of the material loaded in the unloader's grab bucket, including:

[0012] Obtain a preset mapping function, which is used to characterize the functional relationship between each number of bucket openings and the first opening degree of each bucket opening and each material attribute.

[0013] Based on the target attributes of the material, the number of target bucket segments and the first target opening degree corresponding to each target segment are calculated through the mapping relationship function.

[0014] In some embodiments of this application, based on the foregoing scheme, the number of target opening segments of the unloader's grab bucket and the first target opening degree corresponding to each target segment are determined according to the target attributes of the material loaded in the unloader's grab bucket, including:

[0015] Input the target attributes of the material into a preset neural network model;

[0016] The neural network model predicts the number of target opening segments of the unloader's grab bucket, as well as the first target opening degree corresponding to each target segment.

[0017] In some embodiments of this application, based on the foregoing scheme, the target attributes of the material include at least the material's humidity information.

[0018] In some embodiments of this application, based on the foregoing scheme, for each target segment other than the last target segment, after controlling the unloader's grab bucket to open to the corresponding first target opening at a preset speed, the method further includes:

[0019] The grab bucket of the unloader is controlled to close to a second target opening degree, which is slightly smaller than the first target opening degree.

[0020] In some embodiments of this application, based on the foregoing scheme, after controlling the unloader's grab bucket to close to the second target opening degree, the method further includes:

[0021] After a preset time interval, the unloader grab is controlled to open at a preset speed to the first target opening degree corresponding to the next target segment.

[0022] In some embodiments of this application, based on the foregoing scheme, the preset speed is positively correlated with the target properties of the material.

[0023] According to a second aspect of the embodiments of this application, a material discharge control device for a ship unloader grab bucket is provided, wherein a hopper for screening materials is provided below the ship unloader grab bucket, and the device includes:

[0024] The determining unit is used to determine the target number of opening segments of the unloader grab bucket and the first target opening degree corresponding to each target segment based on the target attributes of the material loaded in the unloader grab bucket. The target number of opening segments is the number of segment openings required for the unloader grab bucket to go from a fully closed state to a fully open state.

[0025] The control unit is used to control the unloader's grab bucket to open to the corresponding first target opening at a preset speed for each target segment, so that the material is unloaded into the hopper for screening.

[0026] In some embodiments of this application, based on the foregoing scheme, when determining the number of target opening segments of the unloader's grab bucket and the first target opening degree corresponding to each target segment according to the target attributes of the material loaded in the unloader's grab bucket, the determining unit is used to:

[0027] Obtain a preset mapping table, which records the correspondence between the number of each bucket opening segment and the first opening degree of each segment and each material attribute;

[0028] Find the target number of bucket opening segments that match the target attributes of the material in the mapping table, and the first target opening degree corresponding to each target segment.

[0029] In some embodiments of this application, based on the foregoing scheme, when determining the number of target opening segments of the unloader's grab bucket and the first target opening degree corresponding to each target segment according to the target attributes of the material loaded in the unloader's grab bucket, the determining unit is used to:

[0030] Obtain a preset mapping function, which is used to characterize the functional relationship between each number of bucket openings and the first opening degree of each bucket opening and each material attribute.

[0031] Based on the target attributes of the material, the number of target bucket segments and the first target opening degree corresponding to each target segment are calculated through the mapping relationship function.

[0032] In some embodiments of this application, based on the foregoing scheme, when determining the number of target opening segments of the unloader's grab bucket and the first target opening degree corresponding to each target segment according to the target attributes of the material loaded in the unloader's grab bucket, the determining unit is used to:

[0033] Input the target attributes of the material into a preset neural network model;

[0034] The neural network model predicts the number of target opening segments of the unloader's grab bucket, as well as the first target opening degree corresponding to each target segment.

[0035] In some embodiments of this application, based on the foregoing scheme, the target attributes of the material include at least the material's humidity information.

[0036] In some embodiments of this application, based on the foregoing scheme, for each target segment other than the last target segment, the apparatus is further configured to:

[0037] The grab bucket of the unloader is controlled to close to a second target opening degree, which is slightly smaller than the first target opening degree.

[0038] In some embodiments of this application, based on the foregoing scheme, the device is further used for:

[0039] After a preset time interval, the unloader grab is controlled to open at a preset speed to the first target opening degree corresponding to the next target segment.

[0040] In some embodiments of this application, based on the foregoing scheme, the preset speed is positively correlated with the target properties of the material.

[0041] According to a third aspect of the embodiments of this application, an electronic device is provided, including one or more processors and one or more memories, wherein at least one piece of program code is stored in the one or more memories, and the at least one piece of program code is loaded and executed by the one or more processors to perform the operation as described in any of the methods in the first aspect.

[0042] According to a fourth aspect of the embodiments of this application, a computer-readable storage medium is provided, the computer-readable storage medium storing at least one computer program instruction, the at least one computer program instruction being loaded and executed by a processor to perform the operation as described in any of the methods in the first aspect.

[0043] The one or more technical solutions provided in the embodiments of the present invention achieve at least the following technical effects or advantages:

[0044] This application determines the number of target opening segments of the unloading machine's grab bucket and the first target opening degree corresponding to each target segment based on the target attributes of the material loaded in the unloading bucket grab bucket. For each target segment, the unloading machine grab bucket is controlled to open to the corresponding first target opening degree at a preset speed, so that the material is unloaded into the hopper for screening, thereby making the material fall evenly, avoiding hopper blockage caused by excessive instantaneous material flow, and improving the operating efficiency of the unloading machine.

[0045] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0046] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0047] Figure 1 This is a flowchart of the material discharge control method for the grab bucket of a ship unloader according to an embodiment of this application;

[0048] Figure 2 This is a structural diagram of the material discharge control device for the grab bucket of the unloader according to an embodiment of this application;

[0049] Figure 3 This is a schematic diagram of the structure of a computer system suitable for implementing the electronic device of the present application. Detailed Implementation

[0050] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0051] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0052] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0053] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0054] It should also be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such uses of these terms can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described.

[0055] First, it should be noted that in the embodiments of this application, the ship unloader is a specialized machine that utilizes continuous conveying machinery to lift bulk materials, or has self-retrieving capabilities, or is equipped with a material handling and feeding device, to continuously lift bulk materials out of the ship's hold, then unload them onto the boom or frame, and transport them to the main conveyor system on the shore. Using a ship unloader can greatly improve unloading efficiency.

[0056] When unloading coal from cargo ships using a ship unloader, the high moisture content of the coal causes it to condense and clump after being grabbed by the unloader's grab bucket. Typically, after grabbing the coal, it is screened through a hopper below. This hopper is designed with multiple mesh units. Therefore, if the coal clumps, unloading it all at once into the hopper can easily cause blockages, thus affecting operational efficiency.

[0057] Based on the above, this application provides a material discharge control method for a ship unloader grab bucket. This method determines the target number of opening segments of the ship unloader grab bucket and the first target opening degree corresponding to each target segment based on the target attributes of the material loaded in the grab bucket. For each target segment, the method controls the ship unloader grab bucket to open to the corresponding first target opening degree at a preset speed, so that the material is unloaded into the hopper for screening, thereby ensuring uniform material drop, avoiding hopper blockage caused by excessive instantaneous material flow, and improving the operating efficiency of the ship unloader. The following will provide a detailed description of the material discharge control method for the ship unloader grab bucket according to this application embodiment.

[0058] See Figure 1 The above is a flowchart of the material discharge control method of the grab bucket of the unloader according to an embodiment of this application.

[0059] like Figure 1 As shown, according to a first aspect of the embodiments of this application, a method for controlling the discharge of a grab bucket of a ship unloader is provided. The grab bucket of the ship unloader has a hopper below it for screening materials. The method includes, but is not limited to, steps S101 to S102:

[0060] Step S101. Based on the target attributes of the material loaded in the unloader grab bucket, determine the target number of opening segments of the unloader grab bucket and the first target opening degree corresponding to each target segment. The target number of opening segments is the number of segment openings required for the unloader grab bucket to go from a fully closed state to a fully open state.

[0061] It is understood that, in the embodiments of this application, unless otherwise specified below, coal is used as the material for example, that is, the material grabbed by the unloader's grab bucket is coal. Since the coal ship transports coal by waterway, the coal itself has a high moisture content. During the process of grabbing the coal by the unloader's grab bucket, the coal is squeezed by the grab bucket, which increases its viscosity and leads to subsequent clumping and blockage of the hopper.

[0062] Therefore, based on the above, the target attributes of the material include, but are not limited to, the material's moisture content, viscosity, and loading degree. The loading degree refers to the percentage of material loaded in the grab bucket relative to the total amount of material that can be loaded. For example, a loading degree of 80% means that when the loading degree is 100%, the unloader's grab bucket is fully loaded, and the material volume is at its maximum. Therefore, when the unloader's grab bucket opens, the instantaneous discharge flow rate is also relatively large.

[0063] To facilitate understanding, the number of target opening segments and the first target opening degree are illustrated with examples. For instance, during the unloading process, the grab bucket of a ship unloader needs to be opened gradually from a fully closed state to a fully open state in three stages, namely, the first target segment, the second target segment, and the third target segment. Assuming that the opening degree of the grab bucket from the fully closed state to the fully open state is 0% to 100%, then the opening degree of the first target segment can be 30%, the opening degree of the second target segment can be 60%, and the opening degree of the third target segment can be 100%. Of course, it is understood that the above example is only one implementation of the embodiment of this application. The specific number of target opening segments and the first target opening degree corresponding to each target segment can be set according to the specific application scenario, and are not limited here.

[0064] In some embodiments of step S101, based on the aforementioned scheme, according to the target attributes of the material loaded in the unloader's grab bucket, the number of target opening segments of the unloader's grab bucket and the first target opening degree corresponding to each target segment are determined, including:

[0065] Obtain a preset mapping table, which records the correspondence between the number of each bucket opening segment and the first opening degree of each segment and each material attribute;

[0066] Find the target number of bucket opening segments that match the target attributes of the material in the mapping table, and the first target opening degree corresponding to each target segment.

[0067] It should be noted that the mapping table can be obtained through prior calibration. Specifically, by calibrating a large amount of historical data, the optimal number of bucket opening segments and the first opening degree of each segment can be determined for each material attribute. For example, the higher the material's moisture content, viscosity, and loading degree, the greater the number of bucket opening segments and the smaller the first opening degree of each segment. Of course, it is understandable that, in order to achieve a balance between unloading time and preventing material blockage during unloading, the unloading time can be used as a constraint to further set the number of bucket opening segments and the first opening degree of each segment.

[0068] For example, when the moisture content of the coal is 10%, the number of opening sections of the material bucket is 3, that is, the unloader grab bucket needs to be opened from 0% to 100% in stages. The opening degree of each target section can be 33%, 35%, 32%, etc., which is not limited here.

[0069] In some embodiments of step S101, based on the aforementioned scheme, according to the target attributes of the material loaded in the unloader's grab bucket, the number of target opening segments of the unloader's grab bucket and the first target opening degree corresponding to each target segment are determined, including:

[0070] Obtain a preset mapping function, which is used to characterize the functional relationship between each number of bucket openings and the first opening degree of each bucket opening and each material attribute.

[0071] Based on the target attributes of the material, the number of target bucket segments and the first target opening degree corresponding to each target segment are calculated through the mapping relationship function.

[0072] It should be noted that the mapping function refers to: a mapping function constructed with each material attribute as the independent variable and each number of bucket opening segments as the dependent variable; and a mapping function constructed with each material attribute as the independent variable and the first opening degree of each segment as the dependent variable after the number of bucket opening segments is determined. For example, the mapping function can be f(x,y), where x and y can be each material attribute and each number of bucket opening segments, or x and y can be each material attribute and each first opening degree of each segment. Therefore, after determining the target attributes of the material, the corresponding target number of bucket opening segments can be calculated based on the mapping function, and after determining the target number of bucket opening segments, the first target opening degree corresponding to each target segment can be calculated based on the mapping function.

[0073] Understandably, the advantage of calculating the number of target segments and the first target opening degree corresponding to each target segment through the mapping relationship function is that the calculation results of the number of target segments and the first target opening degree corresponding to each target segment are more accurate, so that the unloader grab can work in a better state.

[0074] In some embodiments of step S101, based on the aforementioned scheme, according to the target attributes of the material loaded in the unloader's grab bucket, the number of target opening segments of the unloader's grab bucket and the first target opening degree corresponding to each target segment are determined, including:

[0075] Input the target attributes of the material into a preset neural network model;

[0076] The neural network model predicts the number of target opening segments of the unloader's grab bucket, as well as the first target opening degree corresponding to each target segment.

[0077] It should be noted that the neural network model refers to a model constructed using machine learning methods. The machine learning model can be at least one of the following: a neural network model (e.g., a recurrent neural network model), a decision tree model, a support vector machine model, or a linear regression model.

[0078] Specifically, when training the neural network model, the various attribute information of the material, the number of bucket opening segments, and the opening degree of each segment are used as training samples to divide the training set, test set, and validation set. By continuously optimizing the model parameters, the trained neural network model is obtained. Thus, the target attributes of the material can be used as input, and the neural network model can predict the target number of bucket opening segments of the unloader grab bucket, as well as the first target opening degree corresponding to each target segment.

[0079] Step S102. For each target segment, control the unloader grab bucket to open to the corresponding first target opening at a preset speed, so that the material is unloaded into the hopper for screening.

[0080] It should be noted that the preset speed refers to the movement speed of the unloader's grab bucket when the opening of the grab bucket reaches the first target opening value from its initial value. For example, if the target opening of the first target section is 30%, then the preset speed is the movement speed of the grab bucket as the opening of the unloader's grab bucket increases from 0% to 30%.

[0081] It is understood that in some embodiments of this application, based on the aforementioned scheme, the preset speed is positively correlated with the target properties of the material; that is, the changing trend of the target properties of the material is the same as the changing trend of the preset speed. For example, the higher the material moisture content, the faster the preset speed; the higher the material viscosity, the faster the preset speed; the higher the material loading, the faster the preset speed, etc. This increases the feeding speed within each target segment, reducing the occurrence of material sticking to the inner wall of the grab bucket due to high material moisture or viscosity.

[0082] In some embodiments of step S102, based on the foregoing scheme, for each target segment other than the last target segment, after controlling the unloader grab bucket to open to the corresponding first target opening at a preset speed, the method further includes:

[0083] The grab bucket of the unloader is controlled to close to a second target opening degree, which is slightly smaller than the first target opening degree.

[0084] It is understandable that the other target segments besides the last target segment can be: for example, if there are a total of 3 target segments, then the last target segment is the third target segment, and the other target segments are the first target segment and the second target segment.

[0085] Controlling the unloader's grab bucket to close to the second target opening degree means issuing a closing command to the unloader's grab bucket, so that the grab bucket moves in the opposite direction to the opening direction, reducing the grab bucket opening to the second target opening degree. For example, the first target opening degree of the first target section is 30%, and the second target opening degree is 26% or 28%. This generates vibration when the unloader's grab bucket closes, shaking off the remaining material on the inner wall of the grab bucket bottom, thus improving unloading efficiency.

[0086] In some embodiments of this application, based on the foregoing scheme, after controlling the unloader's grab bucket to close to the second target opening degree, the method further includes:

[0087] After a preset time interval, the unloader grab is controlled to open at a preset speed to the first target opening degree corresponding to the next target segment.

[0088] It is understandable that the preset time interval refers to the time interval between the end of the grab bucket closing at the previous target segment and the beginning of the grab bucket opening at the next target segment. For example, the time interval can be 1-9 seconds, and the specific setting can be determined according to the material conditions; no limitation is made here.

[0089] Based on the above disclosure, this application embodiment determines the target number of opening segments of the unloading machine's grab bucket and the first target opening degree corresponding to each target segment according to the target attributes of the material loaded in the unloading bucket grab bucket; and for each target segment, controls the unloading machine grab bucket to open to the corresponding first target opening degree at a preset speed, so that the material is unloaded into the hopper for screening, thereby making the material fall evenly, avoiding hopper blockage caused by excessive instantaneous material flow, and improving the operating efficiency of the unloading machine; in addition, eliminating the need for manual hopper clearing can reduce the safety hazards of manual operation and reduce the dust generated when manually clearing coal, thus reducing environmental pollution.

[0090] The following describes an apparatus embodiment of this application, which can be used to perform the methods described in the above embodiments of this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the methods described in the above embodiments of this application.

[0091] See Figure 2 This is a structural diagram of the material discharge control device of the unloader grab bucket in an embodiment of this application.

[0092] like Figure 2 As shown, according to a second aspect of the embodiments of this application, a material discharge control device 200 for a ship unloader grab bucket is provided, wherein a hopper for screening materials is provided below the ship unloader grab bucket, and the device includes:

[0093] The determining unit 201 is used to determine the target number of opening segments of the unloader grab bucket and the first target opening degree corresponding to each target segment based on the target attributes of the material loaded in the unloader grab bucket. The target number of opening segments is the number of segment openings required for the unloader grab bucket to go from a fully closed state to a fully open state.

[0094] Control unit 202 is used to control the unloader grab bucket to open to the corresponding first target opening at a preset speed for each target segment, so that the material is unloaded into the hopper for screening.

[0095] In some embodiments of this application, based on the foregoing scheme, when determining the number of target opening segments of the unloader's grab bucket and the first target opening degree corresponding to each target segment according to the target attributes of the material loaded in the unloader's grab bucket, the determining unit is used to:

[0096] Obtain a preset mapping table, which records the correspondence between the number of each bucket opening segment and the first opening degree of each segment and each material attribute;

[0097] Find the target number of bucket opening segments that match the target attributes of the material in the mapping table, and the first target opening degree corresponding to each target segment.

[0098] In some embodiments of this application, based on the foregoing scheme, when determining the number of target opening segments of the unloader's grab bucket and the first target opening degree corresponding to each target segment according to the target attributes of the material loaded in the unloader's grab bucket, the determining unit is used to:

[0099] Obtain a preset mapping function, which is used to characterize the functional relationship between each number of bucket openings and the first opening degree of each bucket opening and each material attribute.

[0100] Based on the target attributes of the material, the number of target bucket segments and the first target opening degree corresponding to each target segment are calculated through the mapping relationship function.

[0101] In some embodiments of this application, based on the foregoing scheme, when determining the number of target opening segments of the unloader's grab bucket and the first target opening degree corresponding to each target segment according to the target attributes of the material loaded in the unloader's grab bucket, the determining unit is used to:

[0102] Input the target attributes of the material into a preset neural network model;

[0103] The neural network model predicts the number of target opening segments of the unloader's grab bucket, as well as the first target opening degree corresponding to each target segment.

[0104] In some embodiments of this application, based on the foregoing scheme, the target attributes of the material include at least the material's humidity information.

[0105] In some embodiments of this application, based on the foregoing scheme, for each target segment other than the last target segment, the apparatus is further configured to:

[0106] The grab bucket of the unloader is controlled to close to a second target opening degree, which is slightly smaller than the first target opening degree.

[0107] In some embodiments of this application, based on the foregoing scheme, the device is further used for:

[0108] After a preset time interval, the unloader grab is controlled to open at a preset speed to the first target opening degree corresponding to the next target segment.

[0109] In some embodiments of this application, based on the foregoing scheme, the preset speed is positively correlated with the target properties of the material.

[0110] See Figure 3 This is a schematic diagram of the structure of a computer system suitable for implementing the electronic device of the present application.

[0111] According to a third aspect of the embodiments of this application, an electronic device is provided, including one or more processors and one or more memories, wherein at least one piece of program code is stored in the one or more memories, and the at least one piece of program code is loaded and executed by the one or more processors to perform the operation as described in any of the methods in the first aspect.

[0112] like Figure 3 As shown, the electronic device 400 is manifested in the form of a general-purpose computing device. The components of the electronic device 400 may include, but are not limited to: at least one processing unit 410, at least one storage unit 420, and a bus 430 connecting different system components (including storage unit 420 and processing unit 410).

[0113] The storage unit stores program code that can be executed by the processing unit 410, causing the processing unit 410 to perform the steps described in the "Embodiment Methods" section above according to various exemplary embodiments of this application.

[0114] Storage unit 420 may include a readable medium in the form of a volatile storage unit, such as random access memory (RAM) 421 and / or cache memory 422, and may further include a read-only memory (ROM) 423.

[0115] Storage unit 420 may also include a program / utility 424 having a set (at least one) of program modules 425, such program modules 425 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0116] Bus 430 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0117] Electronic device 400 can also communicate with one or more external devices 500 (e.g., keyboard, pointing device, Bluetooth device, etc.), one or more devices that enable a user to interact with electronic device 400, and / or any device that enables electronic device 400 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 450. Furthermore, electronic device 400 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 460. As shown, network adapter 460 communicates with other modules of electronic device 400 via bus 430. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 400, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0118] The functions described herein can be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions can be stored as one or more instructions or codes on or transmitted via a computer-readable medium. Other examples and embodiments are within the scope and spirit of this invention and the appended claims. For example, due to the nature of software, the functions described above can be implemented using software executed by a processor, hardware, firmware, hardwired, or any combination thereof. Furthermore, the functional units can be integrated into a single processing unit, or each unit can exist physically separately, or two or more units can be integrated into a single unit.

[0119] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0120] The units described as separate components may or may not be physically separate. Similarly, the components of the control device may or may not be physical units; they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0121] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0122] According to a fourth aspect of the embodiments of this application, a computer-readable storage medium is provided, the computer-readable storage medium storing at least one computer program instruction, the at least one computer program instruction being loaded and executed by a processor to perform the operation as described in any of the methods in the first aspect.

[0123] Computer-readable storage media may be portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the computer-readable storage media of this application are not limited thereto. In this application, a readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. A readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0124] Program code for performing the operations of this application can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0125] The above description is merely an embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for controlling the discharge of a grab bucket of a ship unloader, wherein a hopper for screening materials is provided below the grab bucket of the ship unloader, characterized in that, The method includes: Based on the target attributes of the material loaded in the unloader's grab bucket, the number of target opening segments of the unloader's grab bucket and the first target opening degree corresponding to each target segment are determined. The number of target opening segments is the number of segment openings required for the unloader's grab bucket to go from a fully closed state to a fully open state. For each target segment, the unloader grab bucket is controlled to open to the corresponding first target opening at a preset speed, so that the material is unloaded into the hopper for screening; Based on the target attributes of the material loaded in the unloader's grab bucket, the number of target opening segments of the unloader's grab bucket and the first target opening degree corresponding to each target segment are determined, including: Obtain a preset mapping table, which records the correspondence between the number of each bucket opening segment and the first opening degree of each segment and each material attribute; Find the target bucket segment number that matches the target attribute of the material in the mapping table, and the first target opening degree corresponding to each target segment; or Based on the target attributes of the material loaded in the unloader's grab bucket, the number of target opening segments of the unloader's grab bucket and the first target opening degree corresponding to each target segment are determined, including: Obtain a preset mapping function, which is used to characterize the functional relationship between each number of bucket openings and the first opening degree of each bucket opening and each material attribute. Based on the target attributes of the material, the number of target bucket opening segments and the first target opening degree corresponding to each target segment are calculated using the mapping relationship function; or Based on the target attributes of the material loaded in the unloader's grab bucket, the number of target opening segments of the unloader's grab bucket and the first target opening degree corresponding to each target segment are determined, including: Input the target attributes of the material into a preset neural network model; The neural network model predicts the number of target opening segments of the unloader's grab bucket, as well as the first target opening degree corresponding to each target segment.

2. The method according to claim 1, characterized in that, The target attributes of the material include at least the material's humidity information.

3. The method according to claim 1, characterized in that, For each target segment other than the last target segment, after controlling the unloader's grab bucket to open to the corresponding first target opening at a preset speed, the method further includes: The unloader's grab bucket is controlled to close to a second target opening, which is slightly smaller than the first target opening. This generates vibration when the unloader's grab bucket closes, shaking off the remaining material on the inner wall of the bottom of the grab bucket and improving unloading efficiency.

4. The method according to claim 3, characterized in that, After controlling the unloader's grab bucket to close to the second target opening degree, the method further includes: After a preset time interval, the unloader grab is controlled to open at a preset speed to the first target opening degree corresponding to the next target segment.

5. The method according to claim 2, characterized in that, The preset speed is positively correlated with the humidity of the material.

6. A material discharge control device for a ship unloader grab bucket, wherein a hopper for screening materials is provided below the ship unloader grab bucket, characterized in that, The device includes: The determining unit is used to determine the target number of opening segments of the unloader grab bucket and the first target opening degree corresponding to each target segment based on the target attributes of the material loaded in the unloader grab bucket. The target number of opening segments is the number of segment openings required for the unloader grab bucket to go from a fully closed state to a fully open state. The control unit is used to control the unloader's grab bucket to open to the corresponding first target opening at a preset speed for each target segment, so that the material is unloaded into the hopper for screening; Based on the target attributes of the material loaded in the unloader's grab bucket, the number of target opening segments of the unloader's grab bucket and the first target opening degree corresponding to each target segment are determined, including: Obtain a preset mapping table, which records the correspondence between the number of each bucket opening segment and the first opening degree of each segment and each material attribute; Find the target bucket segment number that matches the target attribute of the material in the mapping table, and the first target opening degree corresponding to each target segment; or Based on the target attributes of the material loaded in the unloader's grab bucket, the number of target opening segments of the unloader's grab bucket and the first target opening degree corresponding to each target segment are determined, including: Obtain a preset mapping function, which is used to characterize the functional relationship between each number of bucket openings and the first opening degree of each bucket opening and each material attribute. Based on the target attributes of the material, the number of target bucket opening segments and the first target opening degree corresponding to each target segment are calculated using the mapping relationship function; or Based on the target attributes of the material loaded in the unloader's grab bucket, the number of target opening segments of the unloader's grab bucket and the first target opening degree corresponding to each target segment are determined, including: Input the target attributes of the material into a preset neural network model; The neural network model predicts the number of target opening segments of the unloader's grab bucket, as well as the first target opening degree corresponding to each target segment.

7. An electronic device, characterized in that, It includes one or more processors and one or more memories, wherein at least one piece of program code is stored in the one or more memories, and the at least one piece of program code is loaded and executed by the one or more processors to perform the operation performed by the method as described in any one of claims 1-5.

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