Grabbing hopper overload discharging control method, storage medium and electronic equipment

Abstract

The invention relates to the field of grab bucket overload control, in particular to a grab bucket overload discharging control method, a storage medium and electronic equipment. Comprising the steps that if the grab bucket load is larger than the preset load, an equivalent diameter set of materials in a grabbing area is generated according to an image of the corresponding grabbing area after the grab bucket grabs the materials; if the overload amount is larger than a first overload threshold value, the grab bucket is subjected to unloading treatment, and redundant materials are removed; and the overload amount of the grab bucket is obtained in real time in the discharging process, and if the overload amount is smaller than or equal to zero, the grab bucket is closed. In the overload unloading process of the grab bucket, whether the opening and closing degree of the hopper needs to be further increased or not is determined according to the overload amount and the change of the unloading speed. And the opening and closing degree of the grab bucket can be determined according to the material image of the grabbing area. Therefore, the opening and closing degree of the hopper can be determined more accurately, so that materials can leak out smoothly. And the problems of material dumping or long material leakage time caused by poor control of the opening amplitude of the hopper are avoided.

Description

Background Art

[0002] Usually, after a cargo ship arrives at the destination port, it needs to unload the cargo it carries. Different materials will use different unloading equipment. For example, if the material is liquid bulk (such as oil, chemicals), the liquid cargo can be pumped from the ship into the storage tank on the shore through the pipeline system; if the material is container cargo, it can be unloaded through fixed and mobile cranes; if the material is dry bulk (such as coal, minerals), since the material is granular or blocky, it is more suitable for grabbing and unloading.

[0003] When grabbing goods, it is possible to overload due to excessive grabbing volume. Overloading will not only increase the wear of the grab, but may also cause the grab to fail to close normally, and even cause equipment failure or safety accidents. Therefore, in order to prevent overloading, the prior art usually chooses to open the hopper to unload a portion of the material to avoid overloading and ensure equipment safety. However, in the prior art, the opening range of the hopper is usually controlled manually, and it is difficult to accurately control the unloading volume. It is easy to have too much unloading volume, which increases the number of unloading operations, and too little unloading volume requires a long time to wait for unloading, which ultimately leads to an increase in unloading operation time. Summary of the invention

[0004] In view of the above technical problems, the technical solution adopted by the present invention is:

[0005] According to one aspect of the present invention, a method for controlling overloading of a grab hopper is provided, the method comprising the following steps:

[0006] If the load of the grab bucket is greater than the preset load, an equivalent diameter set of the material in the grab area is generated according to the image of the corresponding grab area after the grab bucket grabs the material;

[0007] If the overload amount is greater than the first overload threshold, the grab bucket is unloaded to remove excess material;

[0008] During the unloading process, the overload of the grab bucket is obtained in real time, and if the overload is less than or equal to zero, the grab bucket is closed;

[0009] The unloading process comprises:

[0010] If the variance value corresponding to the equivalent diameter set is less than the first uniform threshold, then according to the mean value R of the material diameters in the equivalent diameter set avg , generating the initial opening width K of the grab bucket 0 ; K 0 The following conditions must be met:

[0011] K 0 =R avg ×β1;

[0012] Among them, β1 is the first expansion coefficient, and β1 ∈ [1, 2];

[0013] Control the grab to K 0 After opening, obtain the unloading speed corresponding to each monitoring period;

[0014] Whenever V i+1 -V i +V i+2 -V i < U and when the current overload is still greater than the first overload threshold, generate an expansion width according to the current opening width of the grab;

[0015] Among them, the expansion width K generated for the i-th time i Satisfies the following conditions:

[0016] K i = K 0 ×i;

[0017] Among them, V i 、V i+1 And V i+2 Are the unloading speeds corresponding to the i-th, i + 1-th, and i + 2-th monitoring periods respectively; U is the speed change threshold.

[0018] Furthermore, the unloading process further includes:

[0019] If the variance value corresponding to the equivalent diameter set is greater than the first uniformity threshold, generate the initial opening width K of the grab according to the mode value R of the material diameters in the equivalent diameter set mode , Generate the initial opening width K of the grab 0 ; K 0 Satisfies the following conditions:

[0020] K 0 = R mode ×β2;

[0021] Among them, β2 is the second expansion coefficient, and β2 ∈ [1, 2];

[0022] Control the grab to K 0 After opening, obtain the unloading speed corresponding to each monitoring period;

[0023] Whenever V i+1 -V i +V i+2 -V i < U and when the current overload is still greater than the first overload threshold, generate an expansion width according to the updated mode value of the diameter; the updated mode value of the diameter is the mode of multiple equivalent diameters in the equivalent diameter set that are greater than the current opening width of the grab;

[0024] The expansion width K generated for the i-th timei Meet the following conditions:

[0025] K i = R i Gmode ×β2;

[0026] Wherein, R i Gmode is the median value of the updated diameter obtained corresponding to the expansion width generated at the i-th time.

[0027] Furthermore, the grab includes two hoisting steel cables, which are connected to both ends of the top of the grab and are used for hoisting and moving the grab; the arrangement directions of the two hoisting steel cables are parallel to the closing surface of the grab;

[0028] The discharging process further includes:

[0029] Whenever V i+1 - V i + V i+2 - V i < U and the current overload is still less than or equal to the second overload threshold, then the tensile force values F1 and F2 of the two hoisting steel cables are respectively obtained; the second overload threshold is less than the first overload threshold and greater than zero.

[0030] If F1 - F2 > W1, then the hoisting steel cable corresponding to F1 is wound up and pulled up to make the grab tilt to the side of the hoisting steel cable corresponding to F2;

[0031] If F1 - F2 < W2, then the hoisting steel cable corresponding to F2 is wound up and pulled up to make the grab tilt to the side of the hoisting steel cable corresponding to F1; W1 is the first tensile force threshold, W2 is the second tensile force threshold, and W1 > W2.

[0032] Furthermore, the length L of the hoisting steel cable wound up and pulled up meets the following conditions:

[0033] L = Min(L max , |F1 - F2| × L1), where L max is the maximum winding-up and pulling-up length; L1 is the tensile force length conversion coefficient.

[0034] Furthermore, after the corresponding hoisting steel cable is wound up and pulled up, the discharging process further includes:

[0035] After the hoisting steel cable is wound up and pulled up by the corresponding length and maintained for a preset time, it is released and dropped again to the same length as the other hoisting steel cable;

[0036] If F1 - F2 > W1, then the hoisting steel cable corresponding to F1 is wound up and pulled up again to make the grab tilt to the side of the hoisting steel cable corresponding to F2;

[0037] If F1 - F2 < W2, then the hoisting cable corresponding to F2 is wound up and lifted again to make the grab tilt towards the side of the hoisting cable corresponding to F1.

[0038] Further, after the hoisting cable is wound up and lifted by a corresponding length and maintained for a preset duration, and then released and dropped to the same length as the other hoisting cable, the discharging process further includes:

[0039] If F1 - F2 > W1 or F1 - F2 < W2, then control the grab to close and then open again to the current width.

[0040] Further, according to the image of the material grabbing area corresponding to the grab after grabbing materials, an equivalent diameter set of the materials in the material grabbing area is generated, including:

[0041] Obtain the first grayscale image in the silo before the grab grabs materials at a preset position;

[0042] Obtain the second grayscale image in the silo after the grab grabs materials at a preset position;

[0043] Take the absolute value of the difference between the grayscale values at the same pixels in the first grayscale image and the second grayscale image;

[0044] Mark the pixels in the second grayscale image whose absolute value is greater than the grayscale threshold as target pixels;

[0045] Take the largest image area formed by all the target pixels as the material grabbing image area corresponding to the grab after grabbing materials.

[0046] Further, after obtaining the image of the material grabbing area corresponding to the grab after grabbing materials, according to the image of the material grabbing area corresponding to the grab after grabbing materials, generating an equivalent diameter set of the materials in the material grabbing area further includes:

[0047] Use a deep learning neural network to perform image segmentation on the image of the material grabbing area to obtain the edge information of the materials in the image;

[0048] Generate an equivalent diameter for each material according to the edge information of each material; the equivalent diameter is the diameter of the circumscribed circle of the material.

[0049] According to the second aspect of the present invention, there is provided a non-transitory computer-readable storage medium, and the non-transitory computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned method for controlling overloading and discharging of a material grabbing bucket is implemented.

[0050] According to the third aspect of the present invention, there is provided an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the above-mentioned method for controlling overloading and discharging of a material grabbing bucket is implemented.

[0051] The present invention has at least the following beneficial effects:

[0052] In the present invention, during the overload unloading process of the grab bucket, whether the bucket needs to be further opened or closed will be determined according to the amount of overload and the change in the unloading speed. And according to the material image in the grabbing area, it will be roughly determined whether the material is of uniform size, and the opening and closing degree of the grab bucket will be determined accordingly. Therefore, it is possible to judge whether the material is uniform according to the equivalent diameter of the material, and to more accurately determine the opening and closing degree of the discharge bucket according to the equivalent diameter, so that the material can leak out smoothly and evenly. It avoids the problem of poor control of the opening amplitude of the bucket, resulting in rapid dumping of the material, or too long leakage time. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0054] Figure 1 A flow chart of a grab hopper overload discharge control method provided by an embodiment of the present invention;

[0055] Figure 2 A schematic diagram of a grab bucket in use according to another embodiment of the present invention. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0057] As a possible embodiment of the present invention, Figure 1 As shown, a method for controlling overloading of a grab hopper is provided, and the method comprises the following steps:

[0058] In actual use, the grab bucket is driven by a crane to drop to a designated position in the cargo hold to grab materials, and is raised for recovery after the materials are grabbed. Usually, after the grab bucket is lifted, a sensor arranged on the lifting steel cable 1 detects the current load of the grab bucket.

[0059] S100: If the load of the grab bucket is greater than the preset load, an equivalent diameter set of the material in the grab area is generated according to an image of the corresponding grab area after the grab bucket grabs the material.

[0060] If the load of the grab bucket is greater than the preset load, in order to avoid the impact of overload on the life of the equipment and the safety of use, a portion of the material must be unloaded. In this embodiment, the opening amplitude of the grab bucket during unloading needs to be determined according to the diameter of the grabbed material. Therefore, the size of the material can be obtained according to the following steps.

[0061] S100 includes:

[0062] S101: Acquire a first grayscale image in a silo before a grab bucket grabs material at a preset position.

[0063] S102: Acquire a second grayscale image in the silo after the grab bucket grabs the material at a preset position.

[0064] S103: Subtract the grayscale values ​​of the same pixel in the first grayscale image and the second grayscale image and take the absolute value.

[0065] S104: Mark pixels in the second grayscale image whose absolute values ​​are greater than the grayscale threshold as target pixels.

[0066] S105: The maximum image area formed by all target pixels is used as the grabbing image area corresponding to the grabbing bucket grabbing the material.

[0067] Usually, the grab will form a corresponding pit in the area where the material is grabbed, and the pixels of the corresponding image area will also change significantly, while other uncaught parts will not change. Therefore, based on the above characteristics, the area where the material is grabbed can be quickly determined by comparing the differences between the two images before and after grabbing the material.

[0068] S106: Use a deep learning neural network to perform image segmentation on the image of the material grabbing area to obtain edge information of the material in the image.

[0069] S107: Generate an equivalent diameter of each material according to the edge information of each material. The equivalent diameter is the diameter of the circumscribed circle of the material.

[0070] After determining the image area corresponding to the grabbing area, the amount of data when the neural network processes the image can be reduced. When the method in this embodiment performs boundary segmentation on the material in the image, the image of some non-black materials with clear and obvious boundaries will have a better segmentation effect, such as red block hematite and green to blue block siderite. However, for some black materials (such as coal), their boundaries are not obvious in the image, and it is difficult to obtain an accurate segmentation effect. In this case, other colors of light can be irradiated in the warehouse to make the boundaries of the materials clearer, or by using a high-resolution camera to obtain the image.

[0071] In this embodiment, the equivalent diameter of each material can be set to a circumscribed circle diameter value range corresponding to an equivalent diameter value, such as the actual circumscribed circle diameter value within [15cm-20cm], then the corresponding equivalent diameter is 17cm. Thus, the equivalent diameter can be convenient for subsequent calculation and use.

[0072] For bulk cargoes (such as coal, iron ore, etc.), although they may undergo certain crushing and screening processes after mining, in order to improve efficiency and reduce costs, the particle size is not necessarily very uniform. However, during the loading and transportation process, due to the shaking of the waves, a certain screening effect will occur, that is, the above-mentioned goods will form a certain size stratification during transportation, and smaller block cargo will be deposited further down. Therefore, the size of the material in the grab bucket can be roughly determined by the image corresponding to the grab area. In addition, although the size of these preliminarily crushed materials is not very uniform, there will not be a particularly large difference. Therefore, the diameter of the material in the grab bucket determined by the method in this embodiment will not have too much error.

[0073] S200: If the overload amount is greater than the first overload threshold, the grab bucket is unloaded to remove excess material.

[0074] The first overload threshold in this embodiment can be set according to the overload conditions that often occur during the actual grabbing process of the grab, and the first overload threshold is usually used to indicate excessive overload conditions, such as overload conditions of 200 kg or more.

[0075] Usually, in the case of excessive overloading, the grab bucket can be opened to a certain extent to quickly unload the material. In this embodiment, different grab bucket opening modes are set according to whether the material size is uniform to carry out unloading.

[0076] When the material size is uniform, the unloading process includes:

[0077] S210: If the variance value corresponding to the equivalent diameter set is less than the first uniform threshold, then the material diameter mean R in the equivalent diameter set is calculated. avg , generate the initial opening width K of the grab 0 . K 0 The following conditions must be met:

[0078] K 0 =R avg ×β1.

[0079] Among them, β1 is the first expansion coefficient, β1∈[1,2].

[0080] By further enlarging the expansion coefficient, it can be calculated based on R avg, the size of the material in the grab bucket is more accurately estimated, and then the initial opening size of the grab bucket is determined. Additionally, further magnifying R avg can also make the opening degree of the grab bucket larger than the size of the material for the smooth outflow of the material and avoid the material jamming the closing surface of the grab bucket.

[0081] S211: Control the grab bucket to open at K 0 After opening, obtain the unloading speed corresponding to each monitoring period.

[0082] The unloading speed can be the ratio of the weight reduction of the grab bucket during the monitoring period to the monitoring period.

[0083] S212: Whenever V i+1 -V i +V i+2 -V i <U and the current overload amount is still greater than the first overload threshold, then generate an expansion width according to the opening width of the current grab bucket.

[0084] Among them, the expansion width K generated for the i-th time i satisfies the following conditions:

[0085] K i = K 0 ×i.

[0086] Among them, V i , V i+1 and V i+2 are the unloading speeds corresponding to the i-th, i+1-th, and i+2-th monitoring periods respectively. U is the speed change threshold. In this embodiment, the value of U is negative.

[0087] In this embodiment, for uniform块状物料, use R avg and β1 to generate the initial opening width of the grab bucket, and continuously monitor the unloading speed afterwards, and through V i+1 -V i +V i+2 -V i to monitor the change range of the unloading speeds corresponding to three consecutive monitoring periods. Usually, if a blockage occurs during the unloading process, the unloading speed will be significantly reduced in subsequent monitoring periods. Without blockage, the unloading speed of each monitoring period is about the same. Thus, it can be quickly judged through V i+1 -V i +V i+2 -V i whether a blockage occurs during the unloading process. And ensure that the leakage speed remains unchanged by linearly expanding the opening width of the grab bucket, or even making the blocked material leak out. Additionally, in this embodiment, V i+2 can also be the unloading speed after each expansion of the grab bucket. It should be noted that the text contains some Chinese characters that seem to be incorrect or incomplete in the "均匀的块状物料" part. It might need to be corrected to a more accurate expression in the original context.

[0088] When the material sizes are non-uniform, the discharging process further includes:

[0089] S220: If the variance value corresponding to the equivalent diameter set is greater than the first uniformity threshold, then based on the material diameter mode value R mode in the equivalent diameter set, generate the initial opening width K of the grab bucket 0 . K 0 satisfies the following condition:

[0090] K 0 = R mode ×β2.

[0091] Wherein, β2 is the second expansion coefficient, and β2 ∈ [1, 2].

[0092] S221: After controlling the grab bucket to open with K 0 , obtain the discharging speed corresponding to each monitoring period.

[0093] S222: Whenever V i+1 - V i + V i+2 - V i < U and the current overload amount is still greater than the first overload threshold, then generate the expansion width according to the updated diameter mode value. The updated diameter mode value is the mode of multiple equivalent diameters in the equivalent diameter set that are greater than the current opening width of the grab bucket.

[0094] The expansion width K generated for the i-th time i satisfies the following condition:

[0095] K i = R i Gmode ×β2.

[0096] Wherein, R i Gmode is the updated diameter mode value obtained corresponding to the expansion width generated for the i-th time.

[0097] In this embodiment, for non-uniform bulk materials, use R modeGenerate the initial opening width of the β2 grab, and in subsequent grab expansions, still use the new and larger median value of the equivalent diameter as the new opening width. Since the size of the materials in this scenario is not uniform, by selecting the median value as a reference factor for the opening width, it can be ensured that after opening the corresponding width, the materials can大概率漏出. The above unloading process is carried out under a large overload. In this state, even if the materials are dumped, due to the large overload, it will not cause the remaining materials in the hopper to be too little. Therefore, it is chosen to control a certain unloading speed by expanding the opening amplitude of the grab to quickly unload until the grab is not overweight.

[0098] As Figure 2 shown, the grab in this embodiment includes two hoisting steel cables 1, which are connected to both ends of the top of the grab and are used for hoisting and moving the grab. The arrangement direction of the two hoisting steel cables 1 is parallel to the closing surface of the grab.

[0099] During the unloading process, the materials are prone to blockage, especially when the overload is at a relatively low level. At this time, if the opening amplitude of the grab is expanded to adjust the unloading speed, it is very easy to cause a large amount of materials to be dumped, resulting in too little load on the grab. Therefore, in this state, the unloading process also includes:

[0100] S230: Whenever V i+1 -V i +V i+2 -V i <U and the current overload is still less than or equal to the second overload threshold, then the tension values F1 and F2 of the two hoisting steel cables 1 are respectively obtained. The second overload threshold is less than the first overload threshold and greater than zero.

[0101] S231: If F1 - F2 > W1, then the hoisting steel cable 1 corresponding to F1 is wound up and pulled up to make the grab tilt towards the side of the hoisting steel cable 1 corresponding to F2.

[0102] S232: If F1 - F2 < W2, then the hoisting steel cable 1 corresponding to F2 is wound up and pulled up to make the grab tilt towards the side of the hoisting steel cable 1 corresponding to F1. W1 is the first tension threshold, W2 is the second tension threshold, and W1 > W2.

[0103] The length L of the hoisting steel cable 1 wound up and pulled up satisfies the following conditions:

[0104] L = Min(L max , |F1 - F2| × L1), where L max is the maximum winding-up and pulling-up length. L1 is the tension-length conversion coefficient.

[0105] After winding up and pulling up the corresponding hoisting steel cable 1, the unloading process also includes:

[0106] S233: After the hoisting cable 1 is wound up to pull up the corresponding length and maintained for a preset duration, it is released and dropped again to the same length as the other hoisting cable 1.

[0107] Specifically, in this embodiment, it is determined by comparing the tensile force values of the two hoisting cables 1. During the unloading process, it is determined which side is blocked. Usually, the material leakage at the blocked end is slow or even stops. Therefore, more material accumulates on the blocked side, causing the center of gravity of the grab to move towards the blocked side. Correspondingly, the tensile force value of the hoisting cable 1 on the blocked side will be greater than that of the hoisting cable 1 on the other side. Therefore, in this embodiment, by winding up the hoisting cable 1 on the blocked side, the grab is tilted towards the vector side, thereby causing the material in the grab to move and redistribute. During this process, the material is more likely to leak out from the non-blocked side. At the same time, it is also possible to dredge the material at the blocked part due to the movement of the material. In addition, it can also make the material distribution uniform, thereby ensuring that the two hoisting cables 1 evenly share the load and avoiding a situation where the difference in tensile force values between the two hoisting cables 1 is too large.

[0108] In this embodiment, by tilting the grab to adjust the material distribution so that the material can leak out from the non-blocked side. This adjustment method can avoid the drawback of large-scale dumping of materials while maximizing the unloading speed.

[0109] S234: If F1 - F2 > W1, then wind up and pull up the hoisting cable 1 corresponding to F1 again to make the grab tilt towards the side of the hoisting cable 1 corresponding to F2.

[0110] S235: If F1 - F2 < W2, then wind up and pull up the hoisting cable 1 corresponding to F2 again to make the grab tilt towards the side of the hoisting cable 1 corresponding to F1.

[0111] After S233, the unloading process further includes:

[0112] S236: If F1 - F2 > W1 or F1 - F2 < W2, then control the grab to close and then open it again to the current width.

[0113] Of course, if the material movement is not sufficient after the first tilt of the grab, the grab can also be tilted again through S234 and S235. It is also possible to control the grab to perform a re-closing and opening through S236 to try to resolve the problem of material accumulation and blockage.

[0114] S300: During the unloading process, the overload of the grab is obtained in real time. If the overload is less than or equal to zero, then close the grab.

[0115] In addition, although the steps of the method in the present disclosure are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps, etc.

[0116] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a mobile terminal, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0117] In an exemplary embodiment of the present disclosure, an electronic device capable of implementing the above method is also provided.

[0118] It will be appreciated by those skilled in the art that various aspects of the present invention may be implemented as a system, method or program product. Therefore, various aspects of the present invention may be specifically implemented in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software, which may be collectively referred to herein as a "circuit", "module" or "system".

[0119] The electronic device according to this embodiment of the present invention is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0120] The electronic device is presented in the form of a general-purpose computing device. The components of the electronic device may include, but are not limited to: the at least one processor mentioned above, the at least one storage device mentioned above, and a bus connecting different system components (including storage devices and processors).

[0121] The storage stores program codes, which can be executed by the processor, so that the processor executes the steps according to various exemplary embodiments of the present invention described in the above “Exemplary Method” section of this specification.

[0122] The memory may include readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory, and may further include read only memory (ROM).

[0123] The storage may also include a program / utility having a set (at least one) of program modules, such program modules including but not limited to: an operating system, one or more application programs, other program modules and program data, each of which or some combination may include the implementation of a network environment.

[0124] The bus may represent one or more of several types of bus structures including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures.

[0125] The electronic device may also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may communicate with one or more devices that enable a user to interact with the electronic device, and / or may communicate with any device (e.g., routers, modems, etc.) that enables the electronic device to communicate with one or more other computing devices. Such communication may be performed through an input / output (I / O) interface. Furthermore, the electronic device may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) through a network adapter. The network adapter communicates with other modules of the electronic device through a bus. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0126] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0127] In an exemplary embodiment of the present disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the above method of the present specification is stored. In some possible implementations, various aspects of the present invention may also be implemented in the form of a program product, which includes a program code, and when the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps according to various exemplary embodiments of the present invention described in the above "Exemplary Method" section of the present specification.

[0128] The program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0129] Computer readable signal media may include data signals propagated in baseband or as part of a carrier wave, in which readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Readable signal media may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0130] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0131] Program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0132] In addition, the above-mentioned figures are only schematic illustrations of the processes included in the method according to an exemplary embodiment of the present invention, and are not intended to be limiting. It is easy to understand that the processes shown in the above-mentioned figures do not indicate or limit the time sequence of these processes. In addition, it is also easy to understand that these processes can be performed synchronously or asynchronously, for example, in multiple modules.

[0133] It should be noted that, although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into multiple modules or units to be embodied.

[0134] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A control method for overloading and discharging of a material grabbing bucket, characterized in that, the method comprises the following steps: If the weight of the grab bucket is greater than the preset weight, an equivalent diameter set of the materials in the material grabbing area is generated according to the image of the corresponding material grabbing area after the grab bucket grabs materials; If the overload amount is greater than the first overload threshold, the grab bucket is unloaded to remove excess materials; During the unloading process, the overload amount of the grab bucket is obtained in real time. If the overload amount is less than or equal to zero, the grab bucket is closed; The unloading process includes: If the variance value corresponding to the equivalent diameter set is less than the first uniform threshold, then according to the mean value R of the material diameters in the equivalent diameter set avg , generating the initial opening width K of the grab bucket 0 ; K 0 The following conditions must be met: K 0 =R avg ×β 1 ; Among them, β 1 is the first expansion coefficient, β 1 ∈[1,2]; Control the grab bucket to K 0 After opening, obtain the unloading speed corresponding to each monitoring cycle; Whenever V i+1 -V i +V i+2 -V i When <U and the current overload amount is still greater than the first overload threshold, an expansion width is generated according to the current opening width of the grab bucket; Among them, the expansion width K generated for the i-th time i The following conditions must be met: K i =K 0 ×i; Among them, V i 、V i+1 and V i+2 are the unloading speeds corresponding to the i-th, i+1-th and i+2-th monitoring cycles respectively; U is the speed change threshold.

2. The method according to claim 1, characterized in that, the unloading process further includes: If the variance value corresponding to the equivalent diameter set is greater than the first uniform threshold, then according to the material diameter mode value R in the equivalent diameter set mode , generating the initial opening width K of the grab bucket 0 ; K 0 The following conditions must be met: K 0 =R mode ×β 2 ; Among them, β 2 is the second expansion coefficient, β 2 ∈[1,2]; Control the grab bucket to K 0 After opening, obtain the unloading speed corresponding to each monitoring cycle; Whenever V i+1 -V i +V i+2 -V i When and the current overload amount is still greater than the first overload threshold, an expansion width is generated according to the updated diameter mode value; the updated diameter mode value is the mode of multiple equivalent diameters in the equivalent diameter set that are greater than the current grab opening width; The expansion width K generated for the i-th time i The following conditions must be met: K i =R i Gmode ×β 2 ; Among them, R i Gmode is the updated diameter mode value corresponding to the expansion width generated for the i-th time.

3. The method according to claim 1, characterized in that, The grab bucket includes two hoisting steel cables, which are connected to both ends of the top of the grab bucket and are used for hoisting and moving the grab bucket; the arrangement directions of the two hoisting steel cables are parallel to the closing surface of the grab bucket; The unloading process further includes: Whenever V i+1 -V i +V i+2 -V i When U and the current overload amount is still less than or equal to the second overload threshold, the tensile force values F1 and F2 of the two hoisting steel cables are respectively obtained; the second overload threshold is less than the first overload threshold and greater than zero; If F1 - F2 > W1, the hoisting steel cable corresponding to F1 is wound up and pulled up to make the grab bucket tilt to the side of the hoisting steel cable corresponding to F2; If F1 - F2 < W2, the hoisting steel cable corresponding to F2 is wound up and pulled up to make the grab bucket tilt to the side of the hoisting steel cable corresponding to F1; W1 is the first tensile threshold, W2 is the second tensile threshold, and W1 > W2.

4. The method according to claim 3, characterized in that, The length L of the hoisting steel cable wound up and pulled up satisfies the following conditions: L=Min(L max ,|F1-F2|×L 1 ), where L max L is the maximum reeling length; 1 is the tension-length conversion coefficient.

5. The method according to claim 4, characterized in that, After the corresponding hoisting steel cable is wound up and pulled up, the unloading process further includes: After the hoisting steel cable is wound up and pulled up by the corresponding length and maintained for a preset time, it is released and dropped again to the same length as the other hoisting steel cable; If F1 - F2 > W1, the hoisting steel cable corresponding to F1 is wound up and pulled up again to make the grab bucket tilt to the side of the hoisting steel cable corresponding to F2; If F1 - F2 < W2, the hoisting steel cable corresponding to F2 is wound up and pulled up again to make the grab bucket tilt to the side of the hoisting steel cable corresponding to F1.

6. The method according to claim 5, characterized in that, After the hoisting steel cable is wound up and pulled up by the corresponding length and maintained for a preset time, and then released and dropped again to the same length as the other hoisting steel cable, the unloading process further includes: If F1 - F2 > W1 or F1 - F2 < W2, control the grab bucket to close and then open again to the current width.

7. The method according to claim 1, characterized in that, Generating an equivalent diameter set of the materials in the material grabbing area according to the image of the corresponding material grabbing area after the grab bucket grabs materials, includes: Obtaining a first grayscale image in the silo before the grab bucket grabs materials at a preset position; Obtaining a second grayscale image in the silo after the grab bucket grabs materials at a preset position; Taking the absolute value of the difference between the grayscale values of the same pixels in the first grayscale image and the second grayscale image; Marking the pixels in the second grayscale image with absolute values greater than the grayscale threshold as target pixels; Taking the largest image area formed by all target pixels as the material grabbing image area corresponding to after the grab bucket grabs materials.

8. The method according to claim 7, characterized in that, After acquiring the image of the grabbing area corresponding to the material grabbing bucket, generating an equivalent diameter set of the material in the grabbing area according to the image of the grabbing area corresponding to the material grabbing bucket, further comprising: Use deep learning neural network to segment the image of the material grabbing area to obtain the edge information of the material in the image; According to the edge information of each material, an equivalent diameter of each material is generated; the equivalent diameter is the diameter of the circumscribed circle of the material.

9. A non-transitory computer-readable storage medium storing a computer program, It is characterized in that When the computer program is executed by a processor, a grab hopper overload discharge control method as described in any one of claims 1 to 8 is implemented.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, It is characterized in that When the processor executes the computer program, the method for controlling overload discharge of a grab hopper as described in any one of claims 1 to 8 is implemented.

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