Automatic control method and device of filling system, electronic equipment and storage medium

Abstract

The application provides an automatic control method and device of a filling system, electronic equipment and a storage medium, and is applied to the filling system. The filling system comprises a skylight module and a tamping module. The method comprises the following steps: acquiring a current filling height of the current filling system based on a height sensor arranged on the tamping module, and acquiring a current tamping angle of the current filling system based on an inclination sensor arranged on the tamping module; obtaining a target fusion filling height based on the current filling height and the current tamping angle; processing the target fusion filling height by using an auction algorithm to obtain a skylight opening space size of the skylight module corresponding to the target fusion filling height and a lifting height of the tamping module in a tamping process corresponding to the target fusion filling height; and controlling the skylight module to operate according to the skylight opening space size and controlling the tamping module to tamping according to the lifting height. The action flow of the filling system is automatically and accurately determined.

Description

Technical Field

[0001] This invention relates to the field of backfill mining technology, and in particular to an automatic control method, device, electronic equipment and storage medium for a backfill system. Background Technology

[0002] Backfilling mining meets the fundamental requirements for building green mines in China and is of great significance for improving mine safety.

[0003] However, manual observation is often required during the backfilling mining process, resulting in high labor costs and low automation in backfilling mining.

[0004] Therefore, finding a method to control the filling system for automatic filling has become a current research hotspot. Summary of the Invention

[0005] This invention provides an automatic control method, device, electronic device, and storage medium for a filling system, which enables the automatic and accurate determination of the operation flow of the filling system, thereby enabling automatic filling of the filling system.

[0006] This invention provides an automatic control method for a filling system, applied to the filling system including a skylight module and a tamping module. The method includes: obtaining the current filling height of the filling system based on a height sensor installed on the tamping module, and obtaining the current tamping angle of the filling system based on an angle sensor installed on the tamping module, wherein the tamping angle represents the angle between the tamping module and the vertical direction; obtaining a target fused filling height based on the current filling height and the current tamping angle; processing the target fused filling height using an auction algorithm to obtain the size of the skylight opening space of the skylight module corresponding to the target fused filling height, and the height of the tamping module during the tamping process corresponding to the target fused filling height; controlling the skylight module to operate according to the size of the skylight opening space, and controlling the tamping module to perform tamping processing according to the height.

[0007] According to an automatic control method for a filling system provided by the present invention, before obtaining the target fused filling height based on the current filling height and the current compaction angle, the method further includes: obtaining the length of the compaction contact surface in the compaction module, wherein the compaction contact surface is the contact surface in the compaction module used for compacting the filling material; the step of obtaining the target fused filling height based on the current filling height and the current compaction angle specifically includes: determining a first height based on the current compaction angle and the length of the compaction contact surface; and performing fusion processing on the first height and the current filling height based on a Kalman filter algorithm to obtain the target fused filling height.

[0008] According to an automatic control method for a filling system provided by the present invention, before obtaining the target fused filling height based on the current filling height and the current compaction angle, the method further includes: acquiring a filling height image of the current filling system based on an image acquisition device installed on the compaction module at the same time; after obtaining the target fused filling height based on the current filling height and the current compaction angle, the method further includes: performing fusion processing on the target fused filling height and the filling height image based on a Kalman filter algorithm to obtain a first fusion result, and optimizing the target fused filling height based on the first fusion result to obtain an optimized target fused filling height; the step of processing the target fused filling height using an auction algorithm specifically includes: processing the optimized target fused filling height using an auction algorithm.

[0009] According to an automatic control method for a filling system provided by the present invention, before optimizing the target fused filling height based on the first fusion result to obtain the optimized target fused filling height, the method further includes: simultaneously acquiring the adjacent filling height of each adjacent filling system based on the height sensors of each adjacent filling system, and acquiring the adjacent compaction angle of each adjacent filling system based on the tilt sensors of each adjacent filling system, wherein the adjacent filling system is the filling system adjacent to the current filling system; and obtaining the adjacent fusion based on the adjacent filling height and the adjacent compaction angle. Filling height; after optimizing the target fusion filling height based on the first fusion result to obtain an optimized target fusion filling height, the method further includes: performing a weighted summation of the neighboring fusion filling height and the optimized target fusion filling height to obtain a second weighted summation result, and further optimizing the optimized target fusion filling height based on the second weighted summation result to obtain a further optimized target fusion filling height; the step of processing the optimized target fusion filling height using an auction algorithm specifically includes: processing the further optimized target fusion filling height using an auction algorithm.

[0010] According to an automatic control method for a filling system provided by the present invention, before obtaining the adjacent fusion filling height based on the adjacent filling height and the adjacent compaction angle, the method further includes: obtaining the length of the adjacent compaction contact surface in the adjacent compaction module of the adjacent filling system, wherein the adjacent compaction contact surface is the contact surface in the adjacent compaction module used for compacting the filling material; obtaining the adjacent fusion filling height based on the adjacent filling height and the adjacent compaction angle specifically includes: determining a second height based on the adjacent compaction angle and the length of the adjacent compaction contact surface; and performing a fusion processing on the second height and the adjacent filling height based on a Kalman filter algorithm to obtain the adjacent fusion filling height.

[0011] According to an automatic control method for a filling system provided by the present invention, the step of fusing the target fused filling height and the filling height image to obtain a first fusion result specifically includes: fusing the target fused filling height and the filling height image based on a processor set in the current filling system to obtain a first fusion result; the step of performing a weighted summation of the neighboring fused filling heights and the optimized target fused filling height to obtain a second weighted summation result specifically includes: performing a weighted summation of the neighboring fused filling heights and the optimized target fused filling height based on a cloud processor to obtain a second weighted summation result, wherein the cloud processor is communicatively connected to the current filling system and each of the neighboring filling systems respectively.

[0012] This invention also provides an automatic control device for a filling system, applied to the filling system, which includes a skylight module and a tamping module. The device includes: a first acquisition module for acquiring the current filling height of the filling system based on a height sensor installed on the tamping module; a second acquisition module for acquiring the current tamping angle of the filling system based on an angle sensor installed on the tamping module, wherein the tamping angle represents the angle between the tamping module and the vertical direction; a processing module for obtaining a target fused filling height based on the current filling height and the current tamping angle; a generation module for processing the target fused filling height using an auction algorithm to obtain the size of the skylight opening space of the skylight module corresponding to the target fused filling height, and the height of the tamping module during the tamping process corresponding to the target fused filling height; and a control module for controlling the skylight module to operate according to the size of the skylight opening space, and controlling the tamping module to perform tamping processing according to the height.

[0013] According to an automatic control device for a filling system provided by the present invention, the processing module is further configured to: obtain the length of the tamping contact surface in the tamping module, wherein the tamping contact surface is the contact surface in the tamping module used for tamping the filling material; the processing module achieves a target fused filling height based on the current filling height and the current tamping angle in the following manner: determining a first height based on the current tamping angle and the length of the tamping contact surface; and performing fusion processing on the first height and the current filling height based on a Kalman filter algorithm to obtain the target fused filling height.

[0014] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement an automatic control method for a filling system as described above.

[0015] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the automatic control method of the filling system as described above.

[0016] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements an automatic control method for a filling system as described above.

[0017] The present invention provides an automatic control method, apparatus, electronic device, and storage medium for a filling system, which is applied to a filling system comprising a skylight module and a tamping module. The current filling height of the filling system is obtained based on a height sensor installed on the tamping module, and the current tamping angle is obtained based on an angle sensor installed on the tamping module. Based on the current filling height and the current tamping angle, the target fusion filling height can be accurately obtained. Using an auction algorithm, the target fusion filling height is processed to accurately determine the size of the skylight opening space of the skylight module corresponding to the target fusion filling height, and the elevation height of the tamping module during the tamping process. The skylight module is then controlled to operate according to the size of the skylight opening space, and the tamping module is controlled to perform tamping according to the elevation height. This allows for the automatic and accurate determination of the filling system's operation flow, enabling automatic filling of the filling system. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is a flowchart illustrating the automatic control method for the filling system provided by the present invention;

[0020] Figure 2 This is one of the flowcharts provided by the present invention for processing the target fusion filling height using an auction algorithm;

[0021] Figure 3 This is the second flowchart of the process for processing the target fusion filling height using an auction algorithm provided by the present invention;

[0022] Figure 4 This is a schematic diagram of the filling system architecture provided by the present invention;

[0023] Figure 5 This is a schematic diagram of the structure of the automatic control device for the filling system provided by the present invention;

[0024] Figure 6 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0026] The automatic control method for a backfilling system provided by this invention can be applied to a backfilling system. The backfilling system may include a skylight module and a compaction module. In a mining process employing a method of mining coal first and then backfilling, after one cut of coal is completed, each compaction mechanism can be controlled to perform the backfilling operation. The automatic control method provided by this invention can be applied to the aforementioned scenario.

[0027] Figure 1 This is a flowchart illustrating the automatic control method for the filling system provided by the present invention.

[0028] The following will combine Figure 1 The process of the automatic control method for the filling system provided by the present invention will be described.

[0029] In an exemplary embodiment of the present invention, combined with Figure 1 As can be seen, the automatic control method of the filling system includes steps 110 to 140, and each step will be described below.

[0030] In step 110, the current filling height of the current filling system is obtained based on the height sensor installed in the tamping module.

[0031] In step 120, the current compaction angle of the current filling system is obtained based on the tilt sensor installed in the compaction module.

[0032] In one embodiment, the current filling height of the filling system can be obtained based on a height sensor installed on the tamping module. The current filling height can be understood as the filling height status information of the filling material collected by the height sensor. The height sensor can be a millimeter-wave radar height sensor or a lidar height sensor. In this embodiment, the specific form of the height sensor is not limited.

[0033] In another embodiment, the current compaction angle of the filling system can be obtained based on an inclination sensor installed on the compaction module. The compaction angle represents the angle between the compaction module and the vertical direction. The current compaction angle can also be used to calculate the corresponding filling height information of the filling material. It is understood that the current compaction angle reflects the filling height information of the filling material monitored by the inclination sensor.

[0034] In step 130, the target fusion filling height is obtained based on the current filling height and the current compaction angle.

[0035] In step 140, the target fusion filling height is processed using an auction algorithm to obtain the size of the skylight opening space of the skylight module corresponding to the target fusion filling height, and the height of the tamping module during the tamping process corresponding to the target fusion filling height.

[0036] In step 150, the control skylight module operates according to the size of the skylight opening space, and the control tamping module performs tamping treatment according to the raised height.

[0037] In another embodiment, a target fused filling height for the filling material can be obtained based on the current filling height obtained from the height sensor and the current compaction angle obtained from the tilt sensor. Since the target fused filling height combines the current filling height obtained from the height sensor and the current compaction angle obtained from the tilt sensor, the reliability and consistency with actual conditions of the obtained target fused filling height for the filling material can be improved.

[0038] It should be noted that the target fusion filling height is obtained based on multi-source sensors, and its detection performance is better than that of a single sensor. By utilizing the complementary nature of observations from different types of sensors, a more intelligent decision-making basis can be provided for system control.

[0039] It should be noted that, given a determined target fusion filling height, the elevation height of the tamping module during the tamping process can be obtained. In one example, the elevation height of the tamping module during the tamping process can be the difference between the maximum height of the tamping module during the tamping process and the target fusion filling height. In another embodiment, given a determined target fusion filling height, the mass of the filling material transported by the material conveying system is fixed, and the size of the skylight module according to the skylight opening space can be determined based on the fixed mass of the filling material.

[0040] In another embodiment, an auction algorithm can be used to process the target fusion filling height, obtaining the size of the skylight opening space of the skylight module corresponding to the target fusion filling height, and the lifting height of the tamping module during the tamping process. Furthermore, the skylight module is controlled to operate according to the skylight opening space size, and the tamping module is controlled to perform tamping according to the lifting height. This allows for the automatic and accurate determination of the filling system's operation flow, enabling automatic filling of the filling system.

[0041] The automatic control method for a filling system provided by this invention is applied to a filling system comprising a skylight module and a tamping module. By acquiring the current filling height of the filling system based on a height sensor installed on the tamping module, and acquiring the current tamping angle of the filling system based on an angle sensor installed on the tamping module, the target fusion filling height can be accurately obtained based on the current filling height and the current tamping angle. Using an auction algorithm, the target fusion filling height is processed to accurately obtain the size of the skylight opening space of the skylight module corresponding to the target fusion filling height, and the elevation height of the tamping module during the tamping process corresponding to the target fusion filling height. By controlling the skylight module to operate according to the size of the skylight opening space, and controlling the tamping module to perform tamping processing according to the elevation height, the automatic and accurate determination of the filling system's operation flow can be achieved, enabling automatic filling of the filling system.

[0042] In yet another exemplary embodiment of the present invention, the preceding text continues... Figure 1 The above embodiment is used as an example for illustration. Before obtaining the target fusion filling height (corresponding to step 130) based on the current filling height and the current compaction angle, the automatic control method of the filling system further includes the following steps:

[0043] Obtain the length of the tamping contact surface in the tamping module, where the tamping contact surface is the contact surface in the tamping module used for tamping the filling material;

[0044] The target fusion filling height can be obtained based on the current filling height and the current compaction angle, and can be achieved in the following way:

[0045] Based on the current compaction angle and the length of the compaction contact surface, determine the first height;

[0046] Based on the Kalman filter algorithm, the first height and the current filling height are fused to obtain the target fused filling height.

[0047] In one embodiment, the length L of the tamping contact surface in the tamping module can be obtained. Further, based on the trigonometric relationship between the current tamping angle and the length L of the tamping contact surface, a first height mapped from the current tamping angle can be obtained. This first height can characterize the filling height of the filling material obtained based on the tilt sensor.

[0048] In another embodiment, given the first height and the current filling height, a Kalman filter algorithm can be used to fuse the first height and the current filling height to obtain the target fused filling height. In this embodiment, the target fused filling height is determined by combining the current filling height obtained from the height sensor and the current compaction angle obtained from the tilt sensor, which improves the reference value and matching accuracy of the obtained target fused filling height regarding the filling material.

[0049] Figure 2 This is one of the flowcharts provided by the present invention for processing the target fusion filling height using an auction algorithm.

[0050] To further introduce the automatic control method of the filling system provided by the present invention, the following will be combined with Figure 2 Please provide an explanation.

[0051] In an exemplary embodiment of the present invention, combined with Figure 2 As can be seen, processing the target fusion filling height using the auction algorithm can include steps 210 to 230, which will be described in detail below.

[0052] In step 210, at the same time, an image of the current filling height of the filling system is acquired based on the image acquisition device set in the tamping module.

[0053] In step 220, based on the Kalman filter algorithm, the target fusion filling height and the filling height image are fused to obtain a first fusion result, and the target fusion filling height is optimized based on the first fusion result to obtain the optimized target fusion filling height.

[0054] In step 230, the optimized target fusion filling height is processed using an auction algorithm.

[0055] In one embodiment, to further improve the rationality of the target fused filling height, it can also be determined by comprehensively considering the filling height images of the current filling system acquired by the image acquisition device at the same time. In application, the target fused filling height and the filling height images can be fused based on the Kalman filter algorithm to obtain a first fusion result. It is understood that the first fusion result comprehensively considers the values ​​acquired by the image acquisition device (which can correspond to...). Figure 4 The filling height information about the filling material is determined jointly by three types of sensors: a smart camera, a height sensor, and a tilt sensor. In another example, the target fused filling height can be optimized based on the first fusion result to obtain an optimized target fused filling height. In other words, the first fusion result can be used as the optimized target fused filling height.

[0056] In another example, the optimized target fusion filling height can replace the previously mentioned target fusion filling height. An auction algorithm is used to process the optimized target fusion filling height, thereby obtaining the size of the skylight opening space of the skylight module corresponding to the optimized target fusion filling height, and the elevation height of the tamping module during the tamping process, also corresponding to the optimized target fusion filling height. Furthermore, by controlling the skylight module to operate according to the skylight opening space size and controlling the tamping module to perform tamping according to the elevation height, the automatic and accurate determination of the filling system's action flow can be achieved, enabling automatic filling of the filling system.

[0057] Figure 3 This is the second flowchart of the process for processing the target fusion filling height using an auction algorithm provided by the present invention.

[0058] The following will combine Figure 3 Another process for processing the target fusion filling height using an auction algorithm is explained.

[0059] In an exemplary embodiment of the present invention, combined with Figure 3 As can be seen, processing the target fusion filling height using the auction algorithm can include steps 310 to 340, which will be described in detail below.

[0060] In step 310, at the same time, the adjacent filling height of each adjacent filling system is obtained based on the height sensor of each adjacent filling system, and the adjacent compaction angle of each adjacent filling system is obtained based on the tilt sensor of each adjacent filling system.

[0061] In one embodiment, the adjacent filling height of each adjacent filling system can be obtained simultaneously based on the height sensor of each adjacent filling system, and the adjacent compaction angle of each adjacent filling system can be obtained based on the tilt sensor of each adjacent filling system. The adjacent filling system is the filling system adjacent to the current filling system.

[0062] It should be noted that the methods for obtaining the adjacent filling height and the current filling height are the same as those for obtaining the adjacent compaction angle, and will not be repeated in this embodiment.

[0063] In step 320, the adjacent fusion filling height is obtained based on the adjacent filling height and the adjacent compaction angle.

[0064] In step 330, the neighboring fusion filling height and the optimized target fusion filling height are weighted and summed to obtain a second weighted sum result. Based on the second weighted sum result, the optimized target fusion filling height is further optimized to obtain a re-optimized target fusion filling height.

[0065] In step 340, the re-optimized target fusion filling height is processed using an auction algorithm.

[0066] In another embodiment, to further improve the rationality of the optimized target fusion filling height, it can also be determined by comprehensively considering the neighboring fusion filling heights obtained by the neighboring filling system at the same time. The neighboring fusion filling height can be determined based on the neighboring filling height and the neighboring compaction angle.

[0067] During application, the optimized target fusion filling height and the adjacent fusion filling height can be weighted and summed to obtain a second weighted sum result. It can be understood that the second weighted sum result is a combination of the optimized target fusion filling height determined by the current filling system and the adjacent fusion filling height determined by the adjacent filling system, providing information about the filling height of the filling material.

[0068] In another example, the optimized target fusion filling height can be further optimized based on the second weighted summation result to obtain the re-optimized target fusion filling height. In other words, the second weighted summation result can be used as the re-optimized target fusion filling height.

[0069] In another example, the re-optimized target fusion filling height can replace the previously optimized target fusion filling height. An auction algorithm is used to process the re-optimized target fusion filling height, thereby obtaining the size of the skylight opening space of the skylight module corresponding to the re-optimized target fusion filling height, and the elevation height of the tamping module during the tamping process. Furthermore, by controlling the skylight module to operate according to the skylight opening space size and controlling the tamping module to perform tamping according to the elevation height, the automatic and accurate determination of the filling system's action flow can be achieved, enabling automatic filling of the filling system.

[0070] In yet another exemplary embodiment of the present invention, continuing with Figure 3 The above embodiment is used as an example for illustration. Before obtaining the adjacent fusion filling height (corresponding to step 320) based on the adjacent filling height and the adjacent compaction angle, the automatic control method of the filling system further includes the following steps:

[0071] Obtain the length of the adjacent tamping contact surface in the adjacent tamping module of the adjacent filling system, wherein the adjacent tamping contact surface is the contact surface in the adjacent tamping module used for tamping the filling material.

[0072] Furthermore, based on the adjacent filling height and adjacent compaction angle, the adjacent fusion filling height can be obtained in the following way:

[0073] Based on the Kalman filter algorithm, the second height and the neighboring filling height are fused to obtain the neighboring fused filling height.

[0074] It should be noted that the process of determining the adjacent fusion fill height is the same as or similar to the process of determining the fusion fill height described above, and will not be repeated in this embodiment.

[0075] In yet another exemplary embodiment of the present invention, continuing with the previously described embodiments, the target fusion filling height and the filling height image are fused to obtain a first fusion result, which can be achieved in the following manner:

[0076] Based on the processor set in the current filling system, the target fusion filling height and the filling height image are fused to obtain the first fusion result;

[0077] The second weighted summation result can be obtained by weighting and summing the neighboring fusion fill height and the optimized target fusion fill height. This can be achieved in the following way:

[0078] Based on the cloud processor, the neighboring fusion filling height and the optimized target fusion filling height are weighted and summed to obtain a second weighted summation result. The cloud processor is connected to the current filling system and each neighboring filling system.

[0079] Figure 4 This is a schematic diagram of the filling system provided by the present invention.

[0080] Combination Figure 4 It can be seen that, Figure 4 The fusion center in this example can correspond to the cloud processor in this embodiment. Figure 4 Each tamping mechanism in the system can correspond to the filling system in this embodiment (including the current filling system and adjacent filling systems). During application, based on the processor (corresponding to) set in the current filling system... Figure 4 The controller in the cloud processor performs fusion processing on the target fusion filling height and the filling height image to obtain the first fusion result. Alternatively, it can be based on a cloud processor (corresponding to...). Figure 4 The cloud processor (in the fusion center) performs a weighted summation of the neighboring fusion filling heights and the optimized target fusion filling height to obtain a second weighted summation result. The cloud processor communicates with both the current filling system and each neighboring filling system. In this embodiment, obtaining the final second weighted summation result based on distributed processing can distribute the computational load of the cloud processor across different processors, thereby improving the computational efficiency of the cloud processor.

[0081] The automatic control method for the filling system provided by this invention can integrate information from multiple sensors to obtain the filling height information of the entire working surface, providing a basis for intelligent decision-making.

[0082] As described above, the automatic control method for a filling system provided by this invention is applied to a filling system, which includes a skylight module and a tamping module. By acquiring the current filling height of the filling system based on a height sensor installed on the tamping module, and acquiring the current compaction angle of the filling system based on an angle sensor installed on the tamping module, the target fusion filling height can be accurately obtained based on the current filling height and the current compaction angle. Using an auction algorithm to process the target fusion filling height, the size of the skylight opening space of the skylight module corresponding to the target fusion filling height, and the elevation height of the tamping module during the tamping process corresponding to the target fusion filling height, can be accurately obtained. By controlling the skylight module to operate according to the skylight opening space size, and controlling the tamping module to perform tamping processing according to the elevation height, the automatic and accurate determination of the filling system's operation flow can be achieved, enabling automatic filling of the filling system.

[0083] Based on the same concept, the present invention also provides an automatic control device for a filling system.

[0084] The automatic control device for the filling system provided by the present invention is described below. The automatic control device for the filling system described below can be referred to in correspondence with the automatic control method for the filling system described above.

[0085] Figure 5 This is a schematic diagram of the structure of the automatic control device for the filling system provided by the present invention.

[0086] In an exemplary embodiment of the present invention, an automatic control device for the filling system can be applied to the filling system, wherein the filling system may include a skylight module and a tamping module.

[0087] Combination Figure 5 As can be seen, the automatic control device of the filling system may include a first acquisition module 510, a second acquisition module 520, a processing module 530, a generation module 540, and a control module 550. Each module will be described in detail below.

[0088] The first acquisition module 510 can be configured to acquire the current filling height of the current filling system based on a height sensor set in the tamping module.

[0089] The second acquisition module 520 can be configured to acquire the current compaction angle of the current filling system based on the tilt sensor set in the compaction module, wherein the compaction angle represents the angle between the compaction module and the vertical direction;

[0090] Processing module 530 can be configured to obtain the target fusion filling height based on the current filling height and the current compaction angle;

[0091] The generation module 540 can be configured to use an auction algorithm to process the target fusion filling height to obtain the size of the skylight opening space of the skylight module corresponding to the target fusion filling height, and the height of the tamping module during the tamping process corresponding to the target fusion filling height.

[0092] The control module 550 can be configured to control the sunroof module to operate according to the size of the sunroof open space, and to control the tamping module to perform tamping treatment according to the raised height.

[0093] In an exemplary embodiment of the present invention, the processing module 530 may further be configured to:

[0094] Obtain the length of the tamping contact surface in the tamping module, where the tamping contact surface is the contact surface in the tamping module used for tamping the filling material;

[0095] The processing module 530 can obtain the target fusion filling height based on the current filling height and the current compaction angle in the following way:

[0096] Based on the current compaction angle and the length of the compaction contact surface, determine the first height;

[0097] Based on the Kalman filter algorithm, the first height and the current filling height are fused to obtain the target fused filling height.

[0098] In an exemplary embodiment of the present invention, the processing module 530 may further be configured to:

[0099] At the same time, the filling height image of the current filling system is acquired based on the image acquisition device set in the tamping module;

[0100] Processing module 530 can also be configured to:

[0101] Based on the Kalman filter algorithm, the target fusion filling height and the filling height image are fused to obtain the first fusion result. The target fusion filling height is then optimized based on the first fusion result to obtain the optimized target fusion filling height.

[0102] The generation module 540 can use an auction algorithm to process the target fusion filling height in the following way:

[0103] An auction algorithm is used to process the optimized target fusion filling height.

[0104] In an exemplary embodiment of the present invention, the processing module 530 may further be configured to:

[0105] At the same time, the adjacent filling height of each adjacent filling system is obtained based on the height sensor of each adjacent filling system, and the adjacent compaction angle of each adjacent filling system is obtained based on the tilt sensor of each adjacent filling system, wherein the adjacent filling system is the filling system adjacent to the current filling system.

[0106] The adjacent fusion filling height is obtained based on the adjacent filling height and the adjacent compaction angle;

[0107] Processing module 530 can also be configured to:

[0108] The neighbor fusion filling height and the optimized target fusion filling height are weighted and summed to obtain a second weighted sum result. Based on the second weighted sum result, the optimized target fusion filling height is further optimized to obtain the re-optimized target fusion filling height.

[0109] The generation module 540 can use an auction algorithm to process the optimized target fusion filling height in the following way:

[0110] An auction algorithm is used to process the re-optimized target fusion filling height.

[0111] In an exemplary embodiment of the present invention, the processing module 530 may further be configured to:

[0112] Obtain the length of the adjacent tamping contact surface in the adjacent tamping module of the adjacent filling system, wherein the adjacent tamping contact surface is the contact surface in the adjacent tamping module used for tamping the filling material.

[0113] The processing module 530 can also obtain the adjacent fusion filling height based on the adjacent filling height and the adjacent compaction angle in the following ways:

[0114] The second height is determined based on the adjacent compaction angle and the length of the adjacent tamping contact surface;

[0115] Based on the Kalman filter algorithm, the second height and the neighboring filling height are fused to obtain the neighboring fused filling height.

[0116] In an exemplary embodiment of the present invention, the processing module 530 may perform fusion processing on the target fusion filling height and the filling height image in the following manner to obtain a first fusion result:

[0117] Based on the processor set in the current filling system, the target fusion filling height and the filling height image are fused to obtain the first fusion result;

[0118] The processing module 530 can perform a weighted summation of the neighboring fusion filling height and the optimized target fusion filling height in the following manner to obtain a second weighted summation result:

[0119] Based on the cloud processor, the neighboring fusion filling height and the optimized target fusion filling height are weighted and summed to obtain a second weighted summation result. The cloud processor is connected to the current filling system and each neighboring filling system.

[0120] Figure 6 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 6As shown, the electronic device may include: a processor 610, a communication interface 620, a memory 630, and a communication bus 640, wherein the processor 610, the communication interface 620, and the memory 630 communicate with each other through the communication bus 640. The processor 610 can call logic instructions in the memory 630 to execute an automatic control method for the filling system, applied to the filling system, which includes a skylight module and a tamping module. The method includes: obtaining the current filling height of the current filling system based on a height sensor installed on the tamping module, and obtaining the current tamping angle of the current filling system based on an angle sensor installed on the tamping module, wherein the tamping angle represents the angle between the tamping module and the vertical direction; obtaining a target fusion filling height based on the current filling height and the current tamping angle; processing the target fusion filling height using an auction algorithm to obtain the size of the skylight opening space of the skylight module corresponding to the target fusion filling height, and the height of the tamping module during the tamping process corresponding to the target fusion filling height; controlling the skylight module to operate according to the size of the skylight opening space, and controlling the tamping module to perform tamping processing according to the height.

[0121] Furthermore, the logical instructions in the aforementioned memory 630 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a 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, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0122] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the automatic control method for the filling system provided by the above methods, and apply it to the filling system. The filling system includes a skylight module and a tamping module. The method includes: obtaining the current filling height of the current filling system based on a height sensor installed on the tamping module, and obtaining the current tamping angle of the current filling system based on an angle sensor installed on the tamping module, wherein the tamping angle represents the angle between the tamping module and the vertical direction; obtaining a target fusion filling height based on the current filling height and the current tamping angle; processing the target fusion filling height using an auction algorithm to obtain the size of the skylight opening space of the skylight module corresponding to the target fusion filling height, and the height of the tamping module during the tamping process corresponding to the target fusion filling height; controlling the skylight module to operate according to the size of the skylight opening space, and controlling the tamping module to perform tamping processing according to the height.

[0123] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements an automatic control method for the filling system provided by the above methods, applied to the filling system, which includes a skylight module and a tamping module. The method includes: obtaining the current filling height of the current filling system based on a height sensor disposed on the tamping module, and obtaining the current tamping angle of the current filling system based on an angle sensor disposed on the tamping module, wherein the tamping angle represents the angle between the tamping module and the vertical direction; obtaining a target fused filling height based on the current filling height and the current tamping angle; processing the target fused filling height using an auction algorithm to obtain the size of the skylight opening space of the skylight module corresponding to the target fused filling height, and the elevation height of the tamping module during the tamping process corresponding to the target fused filling height; controlling the skylight module to operate according to the size of the skylight opening space, and controlling the tamping module to perform tamping processing according to the elevation height.

[0124] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0125] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0126] It is further understood that although the operations are described in a specific order in the accompanying drawings in the embodiments of the present invention, this should not be construed as requiring these operations to be performed in the specific order or serial order shown, or requiring all the operations shown to obtain the desired result. In certain environments, multitasking and parallel processing may be advantageous.

[0127] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method of automatically controlling a stowing system, characterized by, Applied to the filling system, which includes a skylight module and a tamping module, the method includes: The current filling height of the filling system is obtained based on the height sensor installed in the tamping module, and The current compaction angle of the filling system is obtained based on the tilt sensor installed in the compaction module, wherein the compaction angle represents the angle between the compaction module and the vertical direction; Based on the current filling height and the current compaction angle, the target fusion filling height is obtained; Using an auction algorithm, the target fusion filling height is processed to obtain the size of the skylight opening space of the skylight module corresponding to the target fusion filling height, and the height of the tamping module during the tamping process corresponding to the target fusion filling height. The system controls the skylight module to operate according to the size of the skylight's open space, and controls the tamping module to perform tamping according to the raised height. After obtaining the target fusion filling height based on the current filling height and the current compaction angle, the method further includes: Based on the Kalman filter algorithm, the target fusion filling height and the filling height image are fused to obtain a first fusion result. Based on the first fusion result, the target fusion filling height is optimized to obtain an optimized target fusion filling height. Before optimizing the target fusion filling height based on the first fusion result to obtain the optimized target fusion filling height, the method further includes: At the same time, the adjacent filling height of each adjacent filling system is obtained based on the height sensor of each adjacent filling system, and the adjacent compaction angle of each adjacent filling system is obtained based on the tilt sensor of each adjacent filling system, wherein the adjacent filling system is the filling system adjacent to the current filling system; The adjacent fusion filling height is obtained based on the adjacent filling height and the adjacent compaction angle; After optimizing the target fusion filling height based on the first fusion result to obtain the optimized target fusion filling height, the method further includes: The neighbor fusion filling height and the optimized target fusion filling height are weighted and summed to obtain a second weighted summation result. Based on the second weighted summation result, the optimized target fusion filling height is further optimized to obtain a re-optimized target fusion filling height. The process of using an auction algorithm to process the optimized target fusion filling height specifically includes: The optimized target fusion filling height is processed using an auction algorithm.

2. The automatic control method for the filling system according to claim 1, characterized in that, Before obtaining the target fusion filling height based on the current filling height and the current compaction angle, the method further includes: Obtain the length of the tamping contact surface in the tamping module, wherein the tamping contact surface is the contact surface in the tamping module used for tamping the filling material; The process of obtaining the target fusion filling height based on the current filling height and the current compaction angle specifically includes: The first height is determined based on the current compaction angle and the length of the compaction contact surface; Based on the Kalman filter algorithm, the first height and the current filling height are fused to obtain the target fused filling height.

3. The automatic control method for the filling system according to claim 1 or 2, characterized in that, Before obtaining the target fusion filling height based on the current filling height and the current compaction angle, the method further includes: At the same time, an image of the current filling height of the filling system is acquired based on the image acquisition device installed in the tamping module; The process of processing the target fusion filling height using an auction algorithm specifically includes: The optimized target fusion filling height is processed using an auction algorithm.

4. The automatic control method for the filling system according to claim 1, characterized in that, Before obtaining the adjacent fusion fill height based on the adjacent fill height and the adjacent compaction angle, the method further includes: Obtain the length of the adjacent tamping contact surface in the adjacent tamping module of the adjacent filling system, wherein the adjacent tamping contact surface is the contact surface in the adjacent tamping module used for tamping the filling material; The process of obtaining the adjacent fusion filling height based on the adjacent filling height and the adjacent compaction angle specifically includes: The second height is determined based on the adjacent compaction angle and the length of the adjacent compaction contact surface; Based on the Kalman filter algorithm, the second height and the neighboring filling height are fused to obtain the neighboring fused filling height.

5. The automatic control method for the filling system according to claim 1, characterized in that, The process of fusing the target fusion filling height and the filling height image to obtain a first fusion result specifically includes: Based on the processor configured in the current filling system, the target fusion filling height and the filling height image are fused to obtain a first fusion result; The step of weighted summing the neighbor fusion filling height and the optimized target fusion filling height to obtain a second weighted summation result specifically includes: Based on the cloud processor, the neighboring fusion filling height and the optimized target fusion filling height are weighted and summed to obtain a second weighted summation result, wherein the cloud processor is communicatively connected to the current filling system and each of the neighboring filling systems.

6. An automatic control device for a filling system, characterized in that, The device is applied to the filling system, which includes a skylight module and a tamping module, and includes: The first acquisition module is used to acquire the current filling height of the current filling system based on the height sensor installed in the tamping module; The second acquisition module is used to acquire the current compaction angle of the current filling system based on the tilt sensor installed in the compaction module, wherein the compaction angle represents the angle between the compaction module and the vertical direction; The processing module is used to obtain the target fusion filling height based on the current filling height and the current compaction angle; The generation module is used to process the target fusion filling height using an auction algorithm to obtain the size of the skylight opening space of the skylight module corresponding to the target fusion filling height, and the height of the tamping module during the tamping process corresponding to the target fusion filling height. The control module is used to control the skylight module to operate according to the size of the skylight opening space, and to control the tamping module to perform tamping treatment according to the raised height; After obtaining the target fusion filling height based on the current filling height and the current compaction angle, the method further includes: Based on the Kalman filter algorithm, the target fusion filling height and the filling height image are fused to obtain a first fusion result. Based on the first fusion result, the target fusion filling height is optimized to obtain an optimized target fusion filling height. Before optimizing the target fusion filling height based on the first fusion result to obtain the optimized target fusion filling height, the method further includes: At the same time, the adjacent filling height of each adjacent filling system is obtained based on the height sensor of each adjacent filling system, and the adjacent compaction angle of each adjacent filling system is obtained based on the tilt sensor of each adjacent filling system, wherein the adjacent filling system is the filling system adjacent to the current filling system; The adjacent fusion filling height is obtained based on the adjacent filling height and the adjacent compaction angle; After optimizing the target fusion filling height based on the first fusion result to obtain the optimized target fusion filling height, the method further includes: The neighbor fusion filling height and the optimized target fusion filling height are weighted and summed to obtain a second weighted summation result. Based on the second weighted summation result, the optimized target fusion filling height is further optimized to obtain a re-optimized target fusion filling height. The process of using an auction algorithm to process the optimized target fusion filling height specifically includes: The optimized target fusion filling height is processed using an auction algorithm.

7. The automatic control device for the filling system according to claim 6, characterized in that, The processing module is also used for: Obtain the length of the tamping contact surface in the tamping module, wherein the tamping contact surface is the contact surface in the tamping module used for tamping the filling material; The processing module obtains the target fusion filling height based on the current filling height and the current compaction angle in the following manner: The first height is determined based on the current compaction angle and the length of the compaction contact surface; Based on the Kalman filter algorithm, the first height and the current filling height are fused to obtain the target fused filling height.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the automatic control method for the filling system as described in any one of claims 1 to 5.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the automatic control method for the filling system as described in any one of claims 1 to 5.

Images