A method and apparatus for determining scraper conveyor operation data

Abstract

This application provides a method and apparatus for determining scraper conveyor operation data, comprising: creating a unified coordinate system in a C-shaped material yard; dividing the material strips of the C-shaped material yard into multiple sub-intervals at equal intervals along the X-axis; determining the scanning points of each sub-interval and the corresponding three-dimensional coordinates of each scanning point using point cloud data of the C-shaped material yard; determining a first pitch angle of each scanning point based on the three-dimensional coordinates of the scanning point and the rotation center coordinates of the scraper conveyor; determining a second pitch angle for each sub-interval based on the first pitch angle of each scanning point in that sub-interval; determining the target operating area of ​​the scraper conveyor based on the second pitch angle and the current rotation angle of the scraper blade; and determining the corresponding turning-back position of the scraper conveyor based on the X-axis coordinates of the target operating area and the X-axis coordinates of the scraper conveyor. This application improves the operating efficiency of the scraper conveyor.

Description

Technical Field

[0001] This application relates to the field of coal mining technology, and more specifically, to a method and apparatus for determining scraper conveyor operation data. Background Technology

[0002] In a C-type material yard, material is unloaded and piled up in the grids distributed on the material bar. The distance between the material piles varies. The operation of the scraper conveyor is divided into a leveling process and a material picking process.

[0003] During the leveling and material handling processes, because the intervals between multiple material piles are uncertain, the scraper conveyor needs to turn back and forth between multiple material piles to retrieve materials. The location where the scraper conveyor turns back to retrieve materials is generally set manually. The scraper conveyor turns back when it reaches the boundary of the manually set material handling range. However, when the scraper conveyor is operating automatically, there may be deviations in the material handling range determined by the human eye, causing the scraper conveyor to work outside the working material pile, resulting in empty scraping and reducing the working efficiency of the scraper conveyor. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a method and apparatus for determining scraper conveyor operation data, so as to overcome at least one of the above-mentioned defects.

[0005] In a first aspect, embodiments of this application provide a method for determining scraper conveyor operation data. The method is applied to a C-shaped material yard, which includes material strips and a scraper conveyor. The material strips are used to stack material piles, and the scraper conveyor operates on the material piles to perform leveling and material removal operations. The operation data includes the target operating range and turning point of the scraper conveyor. The method includes: creating a unified coordinate system in the C-shaped material yard; dividing the material strips in the C-shaped material yard at equal intervals along the X-axis to determine multiple sub-ranges; the X-axis direction of the unified coordinate system is the movement direction of the scraper conveyor during operation; and determining the location of the scraper conveyor through points in the C-shaped material yard. The cloud data is used to determine the scanning points of each sub-interval and the corresponding three-dimensional coordinates of each scanning point; based on the three-dimensional coordinates of the scanning points and the rotation center coordinates of the scraper machine, the first pitch angle of each scanning point is determined; for each sub-interval, based on the first pitch angle of each scanning point in that sub-interval, the second pitch angle of that sub-interval is determined; based on the second pitch angle and the current rotation angle of the scraper machine, the target working area of ​​the scraper machine is determined; based on the X-axis coordinates of the target working area and the X-axis coordinates of the scraper machine, the turning-back position of the scraper machine is determined.

[0006] In one optional embodiment, a marker rod is set on the surface of the scraper close to the material strip. The step of determining the first pitch angle of each scanning point based on the three-dimensional coordinates corresponding to the scanning point and the coordinates of the scraper's rotation center includes: acquiring the rotation angle of the scraper blade at the current moment according to a preset time interval; determining the coordinates of the marker rod in a unified coordinate system for each rotation angle using a 3D scanning device; creating a slope expression formed by the coordinates of the marker rod and the coordinates of the scraper's rotation center in the plane containing the Y and Z axes based on the coordinates of the marker rod at each rotation angle; performing inverse trigonometric function processing on the slope expression to determine the coordinates of the scraper's rotation center; and determining the first pitch angle of each scanning point based on its corresponding three-dimensional coordinates and the coordinates of the scraper's rotation center.

[0007] In an optional implementation, determining the first pitch angle of each scanning point based on its corresponding three-dimensional coordinates and the coordinates of the scraper machine's rotation center includes:

[0008] The first pitch angle for each scan point is determined using the following formula:

[0009]

[0010] Where, x d y d and z d θ represents the three-dimensional coordinates corresponding to the d-th scan point. d y represents the first pitch angle of the scraper blade when it operates at the d-th scanning point. c and z c This indicates the coordinates of the scraper conveyor's rotation center.

[0011] In an optional implementation, determining the second pitch angle corresponding to each sub-interval based on the first pitch angle of each scan point in the sub-interval includes: determining the maximum first pitch angle among multiple first pitch angles in the point cloud data of the C-shaped material yard; and determining the maximum first pitch angle as the second pitch angle corresponding to the sub-interval.

[0012] In one optional embodiment, determining the target working area corresponding to the scraper machine based on the second pitch angle and the current rotation angle of the scraper blade includes: determining the number of sub-areas covered by the scraper machine during operation based on the scraper blade width and the length of each sub-area; for each sub-area, determining a plurality of second pitch angles corresponding to the number of sub-areas, the plurality of second pitch angles including the second pitch angles corresponding to each sub-area from the sub-area to a preset sub-area, the rank of the preset sub-area being the sum of the sub-area and the number of sub-areas; determining the target working area corresponding to the scraper machine based on the plurality of second pitch angles and the current rotation angle of the scraper blade, the target working area including at least one sub-area.

[0013] In an optional implementation, determining the target operating range corresponding to the scraper conveyor based on the plurality of second pitch angles and the current rotation angle of the scraper conveyor blade includes: for each sub-range, determining whether there is a preset number of second pitch angles that are greater than the current rotation angle of the scraper conveyor blade and less than a pitch angle threshold, wherein the preset number is half the number of sub-ranges, and the pitch angle threshold includes the sum of a preset pitch angle and an angle threshold, wherein the angle threshold is the threshold for the scraper conveyor radar to be activated to control the scraper conveyor to turn back; if there is a preset number of second pitch angles that are greater than the current rotation angle of the scraper conveyor blade and less than the pitch angle threshold, then it is determined that the sub-range is not the sub-range where the scraper conveyor's continuous operation has ended; if there is no preset number of second pitch angles that are greater than the preset pitch angle and less than the pitch angle threshold, then it is determined that the sub-range is the sub-range where the scraper conveyor's continuous operation has ended; and determining the target operating range of the scraper conveyor based on the sub-range where the scraper conveyor's continuous operation has ended.

[0014] In an optional embodiment, the turning-back position includes a first turning-back position and a second turning-back position. Determining the turning-back position of the scraper conveyor based on the X-axis coordinates of the target working area and the X-axis coordinates of the scraper conveyor includes: for each target working area, determining a first critical value and a second critical value on the X-axis, where the first critical value is the X-axis coordinate of the boundary of the target working area perpendicular to the X-axis and close to the origin, and the second critical value is the X-axis coordinate of the boundary of the target working area perpendicular to the X-axis and far from the origin, and the second critical value is greater than the first critical value; determining whether the current X-axis coordinate of the scraper conveyor is within the critical range of the target working area closest to the X-axis origin, wherein the critical value... The upper limit of the range is the second critical value, and the lower limit of the critical range is the first critical value. If the scraper conveyor is currently within the critical range of the target working area closest to the X-axis origin in the X-axis coordinate, then the second critical value corresponding to the target working area is determined as the first turning point of the scraper conveyor, and the first critical value corresponding to the target working area is determined as the second turning point of the scraper conveyor. If the scraper conveyor is not currently within the critical range of the target working area closest to the X-axis origin in the X-axis coordinate, then the target working area closest to the scraper conveyor in the X-axis coordinate is determined, and the second critical value corresponding to the target working area is determined as the first turning point of the scraper conveyor, and the first critical value corresponding to the target working area is determined as the second turning point of the scraper conveyor.

[0015] In an optional embodiment, the method further includes: controlling the scraper conveyor to operate continuously between a first reversing position and a second reversing position in the target working area; reducing the rotation angle of the scraper blade at the current moment when the scraper conveyor operates to the first reversing position or the second reversing position; redetermining a new target working area based on the reduced rotation angle of the scraper blade at the current moment; and redetermining a new first reversing position and a new second reversing position based on the new target working area, so as to control the scraper conveyor to operate continuously between the new first reversing position and the new second reversing position corresponding to the new target working area based on the reduced rotation angle of the scraper blade at the current moment.

[0016] Secondly, embodiments of this application also provide a scraper conveyor operation data determination device, the device comprising: a sub-interval determination module, used to create a unified coordinate system in a C-shaped material yard, and to divide the material strips of the C-shaped material yard at equal intervals along the X-axis to determine multiple sub-intervals, wherein the X-axis direction of the unified coordinate system is the moving direction of the scraper conveyor during operation; a scan point data determination module, used to determine the scan point of each sub-interval and the three-dimensional coordinates corresponding to each scan point through the point cloud data of the C-shaped material yard; a first pitch angle determination module, used to determine the first pitch angle of each scan point based on the three-dimensional coordinates corresponding to the scan point and the coordinates of the rotation center of the scraper conveyor; a second pitch angle determination module, used to determine the second pitch angle corresponding to each sub-interval based on the first pitch angle of each scan point in the sub-interval; a target operation interval determination module, used to determine the target operation interval corresponding to the scraper conveyor based on the second pitch angle and the rotation angle of the scraper conveyor at the current moment; and a turnaround position determination module, used to determine the turnaround position corresponding to the scraper conveyor based on the X-axis coordinates corresponding to the target operation interval and the X-axis coordinates of the scraper conveyor.

[0017] Thirdly, embodiments of this application also provide an electronic device, including: a processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the memory via the bus, and when the machine-readable instructions are executed by the processor, the steps of the method described above are performed.

[0018] The scraper conveyor operation data determination method and apparatus provided in this application embodiment, by creating a unified coordinate system in a C-shaped material yard, dividing the material strips in the X-axis direction of the C-shaped material yard at equal intervals to determine multiple sub-intervals, determining the first pitch angle of each scanning point based on the point cloud data of the C-shaped material yard and the rotation center coordinates of the scraper conveyor, and determining the second pitch angle within each sub-interval, determining the target operation interval corresponding to the scraper conveyor based on the second pitch angle and the current rotation angle of the scraper conveyor, and determining the corresponding turnaround position of the scraper conveyor based on the X-axis coordinates corresponding to the target operation interval and the X-axis coordinates of the scraper conveyor. Through this application, the scraper conveyor avoids the phenomenon of empty scraping and improves the operation efficiency of the scraper conveyor.

[0019] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart illustrating the scraper conveyor operation data determination method provided in the embodiments of this application;

[0022] Figure 2 A schematic diagram of the material yard cross-section provided in an embodiment of this application is shown;

[0023] Figure 3 This is a schematic diagram of the scraper conveyor operation data determination device provided in the embodiments of this application;

[0024] Figure 4 The present application provides a schematic diagram of the structure of an electronic device. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, 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. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. Based on the embodiments of this application, every other embodiment obtained by those skilled in the art without inventive effort falls within the scope of protection of this application.

[0026] First, the applicable scenarios for this application will be introduced. This application can be applied to the field of coal mining technology.

[0027] Research has revealed that in C-type material yards, unloaded material is piled up within the grids distributed on the material strips. During the leveling and retrieving processes, the scraper conveyor needs to backtrack between multiple material piles to retrieve material because the intervals between these piles are uncertain. The retrieving position of the scraper conveyor is generally set manually, and it backtracks when it reaches the boundary of this manually set range. However, manually setting the retrieving range can lead to deviations in the manually determined range during automated operation, causing the scraper conveyor to work outside the material piles, resulting in empty scraping and reducing its operating efficiency.

[0028] Based on this, embodiments of this application provide a method and apparatus for determining scraper conveyor operation data. By using point cloud data of a C-shaped material yard, the three-dimensional coordinates corresponding to the scanning points of each sub-interval are determined. Based on the first pitch angle corresponding to each scanning point and the rotation angle of the scraper at the current moment, the target operation interval of the scraper is determined. Based on the X-axis coordinates corresponding to the target operation interval and the X-axis coordinates of the scraper, the corresponding turning position of the scraper is determined, thereby avoiding the scraper from empty scraping and improving the operation efficiency of the scraper.

[0029] Please see Figure 1 , Figure 1 This is a flowchart illustrating the method for determining scraper conveyor operation data provided in an embodiment of this application.

[0030] The method provided in this application embodiment is applied to a C-type material yard, which includes material bars and a scraper conveyor. The material bars are used to stack material piles, and the scraper conveyor operates on the material piles to perform leveling and material removal operations. The operation data includes the target operating range and turning position of the scraper conveyor.

[0031] like Figure 1 As shown in the embodiments of this application, the method includes:

[0032] S101. Create a unified coordinate system in the C-type material yard, and divide the material strips in the X-axis direction of the C-type material yard at equal intervals to determine multiple sub-intervals.

[0033] The X-axis of the unified coordinate system is the direction of movement of the scraper conveyor during operation.

[0034] In this step, a unified coordinate system is created. Here, the Gray generatrix is ​​set at the edge of the material strip, the X-axis of the unified coordinate system is the Gray generatrix, and the origin of the unified coordinate system is the starting point of the Gray generatrix.

[0035] For the C-shaped material yard, the material strips in the X-axis direction are divided into equal intervals. For example, the interval length can be 10cm. The material strips are divided into multiple sub-intervals, and each sub-interval is sorted.

[0036] S102. Using the point cloud data of the C-type material yard, determine the scanning points of each sub-interval and the corresponding three-dimensional coordinates of each scanning point.

[0037] Specifically, the material yard is scanned using a 3D scanning device to determine the point cloud model of the material yard, and the point cloud data of the C-shaped material yard within the point cloud model is determined. The point cloud data includes multiple scanning points and the three-dimensional coordinates corresponding to each scanning point.

[0038] When installing the scanner, ensure that it can scan the material pile in real time. We determine the installation location based on the structure diagram of the material yard and the scanning range to ensure that the entire material yard can be scanned.

[0039] S103. Determine the first pitch angle of each scanning point based on the three-dimensional coordinates corresponding to the scanning point and the coordinates of the scraper machine rotation center.

[0040] Specifically, please refer to Figure 2 , Figure 2 A schematic diagram of a material yard cross-section provided in an embodiment of this application is shown. For example... Figure 2 As shown in the schematic diagram of the material yard section, it includes: scraper conveyor 201, marking rod 202, scraper rotation center 203 and material pile 204.

[0041] A marking rod is set on the surface of the scraper 201 near the material bar, that is, a marking rod is set on the lower surface of the scraper. A 3D scanning device (not shown in the figure) is also set on the gantry of the scraper. The 3D scanning device can scan the location of the material pile 204 and the marking rod 202. The scraper 201 rotates with the scraper rotation center 203 as the fixed point.

[0042] The rotation angle of the scraper blade at the current moment is obtained according to a preset time interval. For each rotation angle, the coordinates of the marker rod in a unified coordinate system are determined by a 3D scanning device.

[0043] In this step, the rotation angle of the scraper blade at the current moment can be manually adjusted, and the time interval and the rotation angle within that time interval can be set to automatically adjust the rotation angle of the scraper blade. The rotation angle of the scraper blade at the current moment is obtained according to the preset time interval, and the coordinates of the marker rod in a unified coordinate system are determined.

[0044] Specifically, starting from the initial rotation angle, the scraper conveyor is continuously raised to its rotation limit according to a preset time interval. In this process, assuming a total of n rotation angles are obtained, the coordinates of the marker rod at each of the n rotation angles form the following coordinate matrix A:

[0045]

[0046] Where [x1y1z1] represents the coordinates of the marker rod at the first rotation angle, [x2y2z2] represents the coordinates of the marker rod at the second rotation angle, and [x... n y n z n [] represents the coordinates of the marker rod at the nth rotation angle.

[0047] Based on the coordinates of the marker rod at each rotation angle, create an expression for the slope formed by the coordinates of the marker rod and the coordinates of the scraper machine's rotation center in the plane containing the Y and Z axes.

[0048] Specifically, taking the coordinate matrix A above as an example, assume the coordinates of the scraper rotation center are [z c y cBased on the coordinate matrix A and n rotation angles, a rotation angle matrix [θ1θ2…θ] is formed. n ] T And the coordinates of the scraper rotation center are [z c y c ],get:

[0049]

[0050] Among them, z i Represents the i-th rotation angle θ i The Z-axis coordinate corresponding to the lower marker rod, y i Represents the i-th rotation angle θ i The y-coordinate corresponding to the subscript is y i -y c / z i -z c Represents the i-th rotation angle θ i The slope expression formed by the coordinates of the lower mark rod and the coordinates of the scraper rotation center in the plane containing the Y and Z axes.

[0051] The slope expression is processed using inverse trigonometric functions to determine the coordinates of the scraper conveyor's rotation center.

[0052] The slope expression, after undergoing inverse trigonometric function processing, yields the rotation angle. Further transformations of the above equation lead to the matrix equation:

[0053]

[0054] Where i∈[1,n], θ i Let z represent the i-th rotation angle. c This represents the Z-axis coordinate of the scraper's rotation center, y c The z-axis coordinate of the scraper rotation center is represented by z. i This represents the Z-axis coordinate of the marker rod's position at the i-th rotation angle, y i This represents the Y-axis coordinate corresponding to the position of the marker rod at the i-th rotation angle.

[0055] For each scanning point, the first pitch angle of that scanning point is determined based on its corresponding three-dimensional coordinates and the coordinates of the scraper machine's rotation center.

[0056] The first pitch angle for each scan point is determined using the following formula:

[0057]

[0058] Where, x d y d and z d θ represents the three-dimensional coordinates corresponding to the d-th scan point. dy represents the first pitch angle of the scraper blade when it operates at the d-th scanning point. c and z c This indicates the coordinates of the scraper conveyor's rotation center.

[0059] S104. For each sub-interval, determine the second pitch angle corresponding to the sub-interval based on the first pitch angle of each scan point in the sub-interval.

[0060] Specifically, for multiple first pitch angles in the point cloud data of the C-type material yard, the largest first pitch angle among the multiple first pitch angles is determined, and the largest first pitch angle is determined as the second pitch angle corresponding to the sub-interval.

[0061] Here, each sub-interval corresponds to a second pitch angle, which is the largest first pitch angle among the corresponding first pitch angles within that sub-interval.

[0062] S105. Determine the target working area of ​​the scraper machine based on the second pitch angle and the current rotation angle of the scraper blade.

[0063] The number of sub-sections covered by the scraper conveyor during operation is determined based on the scraper width and the length of each sub-section.

[0064] Here, the scraper width of the scraper is divided by the length of each sub-section to get the number of sub-sections covered by the scraper during operation. For example, if the scraper width is 150cm and the section length is 10cm, the number of sub-sections covered by the scraper during operation is 15.

[0065] For each sub-interval, determine multiple second pitch angles corresponding to the number of sub-intervals. The multiple second pitch angles include the second pitch angles corresponding to each sub-interval from the sub-interval to the preset sub-interval. The rank of the preset sub-interval is the sum of the sub-interval and the number of sub-intervals.

[0066] For example, starting from the first sub-interval, determine the 15 second pitch angles corresponding to the first to the 15th sub-intervals. If starting from the second sub-interval, determine the 15 second pitch angles corresponding to the second to the 16th sub-intervals, and so on.

[0067] Based on multiple second pitch angles and the current rotation angle of the scraper blade, the target operating range corresponding to the scraper blade is determined. For each sub-range, it is determined whether there are a preset number of second pitch angles that are greater than the current rotation angle of the scraper blade and less than the pitch angle threshold.

[0068] For example, taking the first sub-interval as an example, determine the 15 second pitch angles corresponding to the first to the 15th sub-intervals.

[0069] Here, the preset number is half the number of sub-intervals. The preset number is an integer. For example, it can be rounded up or down. Here, the preset number is 8. It is determined whether there are 8 second pitch angles among the 15 second pitch angles corresponding to the 1st to 15th sub-intervals that are greater than the rotation angle of the scraper at the current moment and less than the pitch angle threshold.

[0070] Material piles generally do not have a width greater than the length of the section than the width of the scraper conveyor. If there is a sub-section within the target operating section with a second pitch angle much higher than the current rotation angle of the scraper conveyor blade, for example, within the target operating section, in sub-sections 1 to 8, the material surface in sub-sections 1 to 4 is relatively low, for example, 10°, but the material surface angle in sub-sections 4 to 8 is 25°. Theoretically, one should operate in sub-sections 1 to 8, but in practice, with radar protection, the machine starts to turn back when it reaches sub-section 4. Therefore, this application also considers the radar issue when judging the target operating section, ensuring that the sub-sections within the target operating section meet the following condition: the current rotation angle of the scraper conveyor blade < the second pitch angle of the sub-section < the pitch angle threshold. For example, the threshold for the scraper conveyor radar to activate and control the scraper conveyor to turn back is 1.5°, that is, the pitch angle threshold = the current rotation angle of the scraper conveyor blade + 1.5°.

[0071] The pitch angle threshold includes the sum of the preset pitch angle and the angle threshold, where the angle threshold is the threshold used to activate the scraper conveyor radar to control the scraper conveyor to turn back.

[0072] If there are a preset number of second pitch angles that are greater than the current rotation angle of the scraper and less than the pitch angle threshold, then it is determined that the sub-interval is not the sub-interval where the continuous operation of the scraper has ended.

[0073] If there are 8 second pitch angles, each greater than the current rotation angle of the scraper and less than the pitch angle threshold, then the first sub-interval is not the sub-interval where the scraper has finished continuous operation and can be merged with other sub-intervals that meet the conditions to form the target operation interval.

[0074] If there are no preset number of second pitch angles greater than the preset pitch angle and less than the pitch angle threshold, then the sub-interval is determined to be the sub-interval where the scraper conveyor's continuous operation ends.

[0075] If there are no 8 second pitch angles, and the second pitch angle is greater than the current rotation angle of the scraper and less than the pitch angle threshold, then the first sub-interval is the sub-interval where the scraper's continuous operation ends, and it cannot be merged with other sub-intervals that meet the conditions to form the target operation interval.

[0076] The reason for setting the number of sub-intervals to half the number of sub-intervals is to eliminate interference factors. During the scanning process, there will always be interference, and it cannot be guaranteed that all 15 sub-intervals corresponding to the number of sub-intervals will meet the conditions for merging. As long as half of them meet the conditions, it means that the sub-intervals can be merged.

[0077] The target operating range of the scraper conveyor is determined based on the sub-range where the continuous operation of the scraper conveyor ends.

[0078] Determine whether all sub-intervals are the sub-intervals where the scraper conveyor has finished continuous operation. Merge the sub-intervals that are not the sub-intervals where the scraper conveyor has finished continuous operation and the adjacent sub-intervals together to determine the target operation interval of the scraper conveyor. Here, the target operation interval includes at least one sub-interval.

[0079] S106. Determine the corresponding reversal position of the scraper conveyor based on the X-axis coordinates of the target working area and the X-axis coordinates of the scraper conveyor.

[0080] Here, the turning point includes the first turning point and the second turning point.

[0081] For each target work interval, determine the first and second critical values ​​of that target work interval on the X-axis.

[0082] Specifically, the first critical value is the X-axis coordinate corresponding to the boundary of the target work area that is perpendicular to the X-axis and close to the origin, and the second critical value is the X-axis coordinate corresponding to the boundary of the target work area that is perpendicular to the X-axis and far from the origin. The second critical value is greater than the first critical value.

[0083] Determine whether the scraper conveyor's current X-axis coordinate is within the critical range of the target working area closest to the X-axis origin.

[0084] Here, each target operation range corresponds to a critical range. The upper limit of the critical range is the second critical value, and the lower limit of the critical range is the first critical value. The current X-axis coordinate of the scraper is 0 by default. The initial position of the scraper is at the starting point of the Gray busbar, and the corresponding X-axis coordinate is 0.

[0085] If the scraper conveyor is currently within the critical value range of the target working area closest to the origin of the X-axis, then the second critical value corresponding to the target working area is determined as the first turning point of the scraper conveyor, and the first critical value corresponding to the target working area is determined as the second turning point of the scraper conveyor.

[0086] If the scraper conveyor is not currently within the critical value range of the target working area closest to the X-axis origin, then the target working area closest to the scraper conveyor in the X-axis coordinate is determined, and the second critical value corresponding to the target working area is determined as the first turning point position of the scraper conveyor, and the first critical value corresponding to the target working area is determined as the second turning point position of the scraper conveyor.

[0087] The first turnaround position X corresponding to the determined target work area. k Second turnaround position X q The corresponding X-axis coordinates are written into the PLC of the scraper conveyor. k This represents the X-axis coordinate of the operation starting from the k-th subinterval. q This represents the X-axis coordinate of the continuous operation until the operation stops at the q-th sub-interval.

[0088] Specifically, the scraper conveyor is controlled to operate continuously between the first and second turning positions in the target working area.

[0089] In this step, the scraper conveyor is controlled to operate continuously at the first and second turnaround positions corresponding to the target working area to push the material pile onto the belt conveyor.

[0090] When the scraper conveyor is operating at the first or second reversal position, reduce the rotation angle of the scraper at the current moment.

[0091] Based on the current rotation angle of the lowered scraper blade, a new target working area is determined. Based on the new target working area, a new first reversal position and a new second reversal position are determined to control the scraper to continuously operate between the new first reversal position and the new second reversal position corresponding to the new target working area, according to the current rotation angle of the lowered scraper blade.

[0092] For example, when the scraper conveyor is in operation, the first reversal position X is calculated based on the current rotation angle of the scraper conveyor. k Second turnaround position X q When the scraper conveyor reaches the first or second reversal position, it indicates that the material in this sub-section at this angle has been completely removed. If material removal is to continue, the rotation angle of the scraper conveyor at this moment is reduced. For example, the rotation angle of the scraper conveyor at this moment will decrease by 0.6° to allow the scraper conveyor to collect material. However, since the rotation angle of the scraper conveyor at this moment has changed, when dividing the target working area, it is necessary to recalculate the new target working area, as well as the new first reversal position and the new second reversal position corresponding to the new target working area.

[0093] The scraper conveyor operates continuously within a new target working area. For example, the target working area is from sub-section 1 to sub-section 4. When it reaches sub-section 4, the scraper conveyor begins to descend. When the scraper conveyor turns back, the route is still from sub-section 4 to sub-section 1. Then, when the scraper conveyor reaches sub-section 1, it descends again. At this time, a new target working area is calculated, which may become sub-section 1 to sub-section 6. So, at this time, the scraper conveyor operates within sub-section 1 to sub-section 6. This process is repeated, repeatedly picking up material within the target working area. Because the scraper conveyor has different target working areas at different angles, in a continuous operation, the scraper conveyor will have different first and second turning positions due to the descent angle.

[0094] The scraper conveyor operation data determination method and apparatus provided in this application create a unified coordinate system in a C-shaped material yard, divides the material strips in the X-axis direction of the C-shaped material yard at equal intervals to determine multiple sub-intervals, determines the first pitch angle of each scanning point based on the point cloud data of the C-shaped material yard and the rotation center coordinates of the scraper conveyor, and determines the second pitch angle within each sub-interval. Based on the second pitch angle and the current rotation angle of the scraper conveyor, the target operation interval corresponding to the scraper conveyor is determined. Based on the X-axis coordinates corresponding to the target operation interval and the X-axis coordinates of the scraper conveyor, the corresponding turning-back position of the scraper conveyor is determined. Through this application, the scraper conveyor is controlled to continuously operate between the first turning-back position and the second turning-back position corresponding to the target operation interval, avoiding the phenomenon of empty scraping by the scraper conveyor and improving the operation efficiency of the scraper conveyor.

[0095] This application uses C++ language to implement the above-mentioned scraper conveyor operation data determination method, and writes the first reversal position and the second reversal position into the PLC to control the scraper conveyor to automatically pick up materials. The scraper conveyor can determine the operation range of different stack types.

[0096] Based on the same inventive concept, this application also provides a scraper machine operation data determination device corresponding to the scraper machine operation data determination method. Since the principle of the device in this application is similar to the scraper machine operation data determination method described above in this application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0097] Please see Figure 3 , Figure 3 This is a schematic diagram of the scraper conveyor operation data determination device provided in an embodiment of this application. Figure 3 As shown, the device 300 includes:

[0098] The sub-interval determination module 301 is used to create a unified coordinate system in the C-shaped material yard, divide the material strips in the X-axis direction of the C-shaped material yard at equal intervals, and determine multiple sub-intervals. The X-axis direction of the unified coordinate system is the moving direction of the scraper conveyor during operation.

[0099] The scanning point data determination module 302 is used to determine the scanning points of each sub-interval and the three-dimensional coordinates corresponding to each scanning point through the point cloud data of the C-shaped material yard.

[0100] The first pitch angle determination module 303 is used to determine the first pitch angle of each scanning point based on the three-dimensional coordinates corresponding to the scanning point and the coordinates of the scraper machine rotation center.

[0101] The second pitch angle determination module 304 is used to determine the second pitch angle corresponding to each sub-interval based on the first pitch angle of each scan point in the sub-interval.

[0102] The target working area determination module 305 is used to determine the target working area corresponding to the scraper machine based on the second pitch angle and the rotation angle of the scraper machine scraper at the current moment.

[0103] The reversal position determination module 306 determines the reversal position of the scraper machine based on the X-axis coordinates of the target working area and the X-axis coordinates of the scraper machine.

[0104] Please see Figure 4 , Figure 4 This is a schematic diagram of the structure of the electronic device provided in an embodiment of this application. Figure 4 As shown, the electronic device 400 includes a processor 410, a memory 420, and a bus 430.

[0105] The memory 420 stores machine-readable instructions executable by the processor 410. When the electronic device 400 is running, the processor 410 communicates with the memory 420 via the bus 430. When the machine-readable instructions are executed by the processor 410, they can perform the operations described above. Figure 1 The steps of the scraper conveyor operation data determination method in the method embodiment shown are described in detail in the method embodiment, and will not be repeated here.

[0106] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0107] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the shown or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0108] 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 units can be selected to achieve the purpose of this embodiment according to actual needs.

[0109] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0110] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion 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 this application. 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.

[0111] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The scope of protection of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application. Such modifications, changes, 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 this application, and should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for determining scraper conveyor operation data, characterized in that, The method is applied to a C-type material yard, which includes material strips and a scraper conveyor. The material strips are used to stack material piles, and the scraper conveyor operates on the material piles to perform leveling and material removal operations. The operation data includes the target operating range and turning point of the scraper conveyor, including: A unified coordinate system is created in the C-shaped material yard. The material strips in the C-shaped material yard are divided at equal intervals in the X-axis direction to determine multiple sub-intervals. The X-axis direction of the unified coordinate system is the moving direction of the scraper conveyor during operation. Using the point cloud data of the C-shaped material yard, the scanning points of each sub-section and the corresponding three-dimensional coordinates of each scanning point are determined; Based on the three-dimensional coordinates corresponding to the scanning points and the coordinates of the scraper machine rotation center, determine the first pitch angle of each scanning point; For each sub-interval, the second pitch angle corresponding to that sub-interval is determined based on the first pitch angle of each scan point in that sub-interval; The target working area corresponding to the scraper is determined based on the second pitch angle and the current rotation angle of the scraper blade. Based on the X-axis coordinates of the target working area and the X-axis coordinates of the scraper conveyor, determine the corresponding turning position of the scraper conveyor; The target operating area corresponding to the scraper conveyor is determined in the following way: The number of sub-sections covered by the scraper conveyor during operation is determined based on the scraper width and the length of each sub-section. For each sub-interval, a plurality of second pitch angles corresponding to the number of sub-intervals are determined. The plurality of second pitch angles include the second pitch angles corresponding to each sub-interval from the sub-interval to a preset sub-interval. The rank of the preset sub-interval is the sum of the sub-interval and the number of sub-intervals. For each sub-interval, determine whether there is a preset number of second pitch angles that are greater than the current rotation angle of the scraper blade and less than the pitch angle threshold. The preset number is half the number of sub-intervals. The pitch angle threshold includes the sum of a preset pitch angle and an angle threshold. The angle threshold is the threshold for the scraper radar to be activated to control the scraper to turn back. If there are a preset number of second pitch angles that are greater than the rotation angle of the scraper at the current moment and less than the pitch angle threshold, then it is determined that the sub-interval is not the sub-interval where the continuous operation of the scraper has ended. If there are no preset number of second pitch angles greater than the current rotation angle of the scraper and less than the pitch angle threshold, then the sub-interval is determined to be the sub-interval where the continuous operation of the scraper ends. Based on the sub-interval where the continuous operation of the scraper conveyor ends, the target operating interval of the scraper conveyor is determined, and the target operating interval includes at least one sub-interval.

2. The method according to claim 1, characterized in that, A marker rod is set on the surface of the scraper conveyor near the material bar. The determination of the first pitch angle for each scanning point based on the three-dimensional coordinates corresponding to the scanning point and the coordinates of the scraper conveyor's rotation center includes: The rotation angle of the scraper blade at the current moment is obtained according to a preset time interval. For each rotation angle, the coordinates of the marker rod in a unified coordinate system are determined by a 3D scanning device. Based on the coordinates of the marker rod at each rotation angle, create an expression for the slope formed by the coordinates of the marker rod and the coordinates of the scraper machine's rotation center in the plane containing the Y and Z axes; The slope expression is processed by inverse trigonometric functions to determine the coordinates of the scraper conveyor's rotation center. For each scanning point, the first pitch angle of that scanning point is determined based on its corresponding three-dimensional coordinates and the coordinates of the scraper machine's rotation center.

3. The method according to claim 2, characterized in that, For each scanning point, determining the first pitch angle of that scanning point based on its corresponding three-dimensional coordinates and the coordinates of the scraper conveyor's rotation center includes: The first pitch angle for each scan point is determined using the following formula: Where, x d y d and z d This represents the three-dimensional coordinates corresponding to the d-th scan point. y represents the first pitch angle of the scraper blade when it operates at the d-th scanning point. c and z c This indicates the coordinates of the scraper conveyor's rotation center.

4. The method according to claim 1, characterized in that, For each sub-interval, determining the corresponding second elevation angle based on the first elevation angle of each scan point within that sub-interval includes: For the multiple first pitch angles in the point cloud data of the C-type material yard, determine the maximum first pitch angle among the multiple first pitch angles; The maximum first pitch angle is determined as the second pitch angle corresponding to the sub-interval.

5. The method according to claim 1, characterized in that, The turnaround positions include a first turnaround position and a second turnaround position. The step of determining the turning-back position of the scraper conveyor based on the X-axis coordinates of the target working area and the X-axis coordinates of the scraper conveyor includes: For each target work area, a first critical value and a second critical value on the X-axis are determined. The first critical value is the X-axis coordinate corresponding to the boundary of the target work area that is perpendicular to the X-axis and close to the origin. The second critical value is the X-axis coordinate corresponding to the boundary of the target work area that is perpendicular to the X-axis and far from the origin. The second critical value is greater than the first critical value. Determine whether the current X-axis coordinate of the scraper conveyor is within the critical range of the target working area closest to the X-axis origin. The upper limit of the critical range is the second critical value, and the lower limit of the critical range is the first critical value. If the scraper conveyor is currently within the critical range of the target working area closest to the origin of the X-axis coordinate, then the second critical value corresponding to the target working area is determined as the first turning point of the scraper conveyor, and the first critical value corresponding to the target working area is determined as the second turning point of the scraper conveyor. If the scraper conveyor is not currently within the critical range of the target working area closest to the origin of the X-axis, then the target working area closest to the scraper conveyor in the X-axis coordinate is determined, and the second critical value corresponding to the target working area is determined as the first turning point position of the scraper conveyor, and the first critical value corresponding to the target working area is determined as the second turning point position of the scraper conveyor.

6. The method according to claim 5, characterized in that, The method further includes: The scraper conveyor is controlled to operate continuously between the first and second turnaround positions in the target working area. When the scraper conveyor operates to the first reversal position or the second reversal position, the rotation angle of the scraper conveyor at the current moment is reduced; Based on the current rotation angle of the reduced scraper conveyor blade, a new target operating area is determined. Based on the new target operating range, a new first reversal position and a new second reversal position are determined to control the scraper conveyor to operate continuously between the new first reversal position and the new second reversal position corresponding to the new target operating range, according to the current rotation angle of the scraper conveyor blade after the reduction.

7. A scraper conveyor operation data determination device, characterized in that, include: The sub-interval determination module is used to create a unified coordinate system in the C-shaped material yard, and to divide the material strips in the C-shaped material yard at equal intervals in the X-axis direction to determine multiple sub-intervals. The X-axis direction of the unified coordinate system is the moving direction of the scraper conveyor during operation. The scanning point data determination module is used to determine the scanning points of each sub-interval and the three-dimensional coordinates corresponding to each scanning point through the point cloud data of the C-shaped material yard. The first pitch angle determination module is used to determine the first pitch angle of each scanning point based on the three-dimensional coordinates corresponding to the scanning point and the coordinates of the scraper machine rotation center. The second pitch angle determination module is used to determine the second pitch angle corresponding to each sub-interval based on the first pitch angle of each scan point in the sub-interval. The target operating area determination module is used to determine the number of sub-areas covered by the scraper conveyor during operation based on the scraper width and the length of each sub-area. For each sub-area, it determines multiple second pitch angles corresponding to the number of sub-areas. The multiple second pitch angles include the second pitch angles corresponding to each sub-area from the current sub-area to a preset sub-area. The rank of the preset sub-area is the sum of the sub-area and the number of sub-areas. For each sub-area, it determines whether there is a preset number of second pitch angles that are greater than the current rotation angle of the scraper conveyor and less than a pitch angle threshold. The preset number is half the number of sub-areas. The pitch angle threshold includes the sum of a preset pitch angle and an angle threshold. The angle threshold is the threshold for the scraper conveyor radar to be activated to control the scraper conveyor to turn back. If there is a preset number of second pitch angles that are greater than the current rotation angle of the scraper conveyor and less than the pitch angle threshold, then it is determined that the sub-area is not the sub-area where the continuous operation of the scraper conveyor ends. If there is no preset number of second pitch angles greater than the current rotation angle of the scraper and less than the pitch angle threshold, then the sub-interval is determined to be the sub-interval where the continuous operation of the scraper has ended; based on the sub-interval where the continuous operation of the scraper has ended, the target operating interval of the scraper is determined, and the target operating interval includes at least one sub-interval; The turnaround position determination module determines the turnaround position of the scraper machine based on the X-axis coordinates of the target working area and the X-axis coordinates of the scraper machine.

8. An electronic device, characterized in that, include: The device includes a processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is in operation, the processor communicates with the memory via the bus, and the processor executes the machine-readable instructions to perform the steps of the method as described in any one of claims 1 to 6.

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