Discharging control method and system

Abstract

The invention provides a discharging control method and system, and relates to the technical field of material conveying The method comprises the steps that first contour information and second contour information are obtained, the first contour information is contour information, collected by a first laser scanning device, of materials in a funnel, and the second contour information is contour information of the materials in the funnel; the second contour information is contour information, collected by a second laser scanning device, of materials conveyed on a belt of the belt conveyor, and the belt of the belt conveyor is located below a discharging port of the funnel; determining a target stock of the funnel according to the first contour information, and determining a target flow of the funnel according to the second contour information; and performing discharging control on the funnel according to the target stock and / or the target flow. According to the technical scheme, automation and intelligence of the discharging process are achieved, and the operation efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of material conveying, and in particular to a material discharge control method and system. Background Art

[0002] At present, in the field of bulk terminal hopper (or hopper) discharge control, it mostly relies on manual operation or simple mechanized control, with low intelligence, and there are problems such as inaccurate discharge and low operating efficiency; and the related technology usually adopts the method of timed discharge or quantitative discharge, but these methods cannot adjust themselves according to the real-time working conditions, which easily leads to the problem of hopper overload, empty load or uneven discharge. It can be seen that there is a technical problem of low discharge efficiency in the related technology. Summary of the invention

[0003] In order to solve the above technical problems, the present application provides a material discharge control method and system.

[0004] In the first aspect, the present application provides a material discharge control method, comprising: obtaining first contour information and second contour information, wherein the first contour information is contour information of a material in a funnel collected by a first laser scanning device, and the second contour information is contour information of a material transported on a belt of a belt conveyor collected by a second laser scanning device, and the belt of the belt conveyor is located below a material discharge port of the funnel; determining a target inventory of the funnel according to the first contour information, and determining a target flow rate of the funnel according to the second contour information; and controlling the material discharge of the funnel according to the target inventory and / or target flow rate.

[0005] By adopting the above technical solution, the first contour information of the material in the hopper is obtained, and the target inventory of the hopper, that is, the inventory of the material in the hopper, is determined according to the first contour information. The second contour information of the material transported on the belt of the belt conveyor is also obtained, and the target flow of the hopper, that is, the discharge flow of the hopper, is determined according to the second contour information, and the discharge of the hopper is controlled according to the target inventory and / or target flow. That is, the contour information of the material on the hopper and the belt conveyor is automatically collected by the laser scanning device, and the target inventory and target flow of the hopper can be accurately determined based on the contour information collected in real time, thereby realizing precise control of the discharge process, realizing the automation and intelligence of the discharge process, and significantly improving the operation efficiency.

[0006] Optionally, determining a target inventory of the funnel according to the first contour information includes: determining a center material thickness of the funnel according to the first contour information; and determining a target inventory according to the center material thickness.

[0007] By adopting the above technical solution, the thickness of the center material of the funnel can be determined according to the first profile information, and then the target inventory of the material in the funnel can be determined according to the thickness of the center material. By directly measuring the key parameter of the thickness of the center material of the funnel, the actual inventory of the material in the funnel can be more accurately reflected, so as to set a more reasonable target inventory. This helps to avoid problems such as hopper overload, empty load or uneven discharge caused by inaccurate target inventory setting. Determining the target inventory based on the thickness of the center material makes the discharge control process more accurate; dynamically adjusting the target inventory according to the real-time changes in the thickness of the material in the funnel, thereby enhancing the adaptability and flexibility of the discharge control system to different working conditions and material characteristics.

[0008] Optionally, determining the center material thickness of the funnel according to the first contour information includes: determining the center material thickness according to the first contour information and third contour information, wherein the third contour information is contour information of the funnel collected by the first laser scanning device when the funnel is empty.

[0009] By adopting the above technical solution, the third contour information represents the contour information of the funnel collected by the first laser scanning device when the funnel is empty, that is, taking the empty funnel as a reference, the first contour information (i.e., the scanning data when the funnel is operating normally) is compared with the third contour information, and the center material thickness of the material in the funnel can be calculated. Based on more accurate center material thickness measurement, a more reasonable target inventory can be set, and material discharge control can be performed accordingly; this helps to reduce problems such as uneven material discharge, overload or empty hopper caused by inaccurate target inventory setting, and improve the reliability of material discharge control. Since this method does not rely on a specific funnel shape or material characteristics, it has strong versatility and scalability. It can be applied to different types of funnels and materials, providing strong support for the intelligent transformation and upgrading of bulk terminals.

[0010] Optionally, the above method also includes: determining the surrounding material accumulation thickness of the funnel based on the first contour information and the third contour information, wherein the surrounding material accumulation thickness is used to indicate the thickness of the material remaining on the inner wall of the funnel; when the surrounding material accumulation thickness is greater than or equal to a preset thickness threshold, starting the arch breaking motor, wherein the arch breaking motor is used to drive a vibration device to eliminate arching of the material in the funnel, and the vibration device is installed on the side wall of the funnel.

[0011] By adopting the above technical solution, the accumulation thickness of the surrounding materials of the funnel can also be determined according to the first profile information and the third profile information. The accumulation thickness of the surrounding materials refers to the thickness of the materials remaining on the inner wall of the funnel. When the accumulation thickness of the surrounding materials is greater than or equal to the preset thickness threshold, the arch-breaking motor is turned on to drive the vibration device to eliminate the arching of the materials in the funnel, that is, to remove the remaining materials on the inner wall. During the use of the bulk terminal funnel, the materials may form accumulation (i.e. "arching") on the inner wall of the funnel. Traditional discharge control methods often ignore this problem, or only solve it through manual intervention, which will lead to poor material flow and affect the discharge efficiency and accuracy. By real-time monitoring of the accumulation thickness of the materials around the funnel and automatically turning on the arch-breaking motor when the accumulation thickness exceeds the preset threshold, the arching phenomenon of the materials can be effectively eliminated, ensuring smooth material flow, thereby improving the discharge efficiency; the monitoring and elimination process of material arching is included in the scope of automatic control, reducing the need for manual intervention and improving the automation and intelligence level of discharge control.

[0012] Optionally, determining a target flow rate of the funnel according to the second profile information includes: determining the target flow rate according to the second profile information and a belt speed of a belt conveyor.

[0013] By adopting the above technical solution, the target flow rate can be determined according to the second profile information and the belt speed of the belt conveyor, that is, the target flow rate is determined according to the second profile information of the material transported on the belt and the transportation speed of the belt conveyor. In the material transportation process, reasonable control of the flow rate of the funnel is crucial to ensure the continuous and stable operation of the production line, avoid material accumulation or avoid funnel emptying, and optimize production efficiency. This method can adjust the target flow rate in real time according to changes in material characteristics and transportation conditions, so it has stronger dynamic adaptability, which helps to maintain the continuous and stable operation of the production line and reduce production interruptions caused by improper flow.

[0014] Optionally, determining the target flow rate based on the second profile information and the belt speed of the belt conveyor includes: determining the cross-sectional area of ​​the material transported on the belt based on the second profile information; and determining the target flow rate based on the cross-sectional area and the belt speed of the belt conveyor.

[0015] By adopting the above technical solution, by determining the cross-sectional area of ​​the material on the belt and calculating the flow rate in combination with the belt speed, the accuracy of the flow rate calculation can be significantly improved, and the error caused by estimation or indirect measurement can be reduced. The stable operation of the production line can be maintained, and production interruptions or material accumulation caused by flow fluctuations can be reduced. The automatic control of the material conveying system is realized, manual intervention is reduced, and production efficiency and safety are improved.

[0016] Optionally, the discharge of the funnel is controlled according to the target inventory and / or target flow, including one of the following: when the target inventory is greater than a first preset inventory threshold, adjusting the hopper opening of the funnel to a first opening value; when the target inventory is less than or equal to a second preset inventory threshold, adjusting the hopper opening of the funnel to a second opening value, wherein the second preset inventory threshold is less than the first preset inventory threshold, and the second opening value is less than the first opening value; when the target flow is less than the first preset flow threshold, adjusting the hopper opening of the funnel according to the first adjustment rule until one of the following conditions is met: the difference between the target flow and the first preset flow threshold is less than the preset flow error, and the target inventory is less than the third preset inventory threshold; when the target flow is greater than the second preset flow threshold, adjusting the hopper opening of the funnel according to the second adjustment rule until the difference between the target flow and the second preset flow threshold is less than the preset flow error.

[0017] By adopting the above technical solution, when the target inventory is greater than the first preset inventory threshold, the hopper door opening is adjusted to the first opening value; when the target inventory is less than or equal to the second preset inventory threshold, the hopper door opening is adjusted to the second opening value, that is, when the target inventory is large, the hopper door opening value can be appropriately increased, and when the target inventory is small, the hopper door opening value can be appropriately reduced; when the target flow is less than the first preset flow threshold, the hopper door opening of the funnel is adjusted according to the first adjustment rule until the difference between the target flow and the first preset flow threshold is less than the preset flow error or the target inventory is less than the third preset inventory threshold. When the target flow is greater than the second preset flow threshold, the hopper door opening of the funnel is adjusted according to the second adjustment rule until the difference between the target flow and the second preset flow threshold is less than the preset flow error. By setting multiple preset inventory thresholds and flow thresholds, and combining different adjustment rules, the hopper door opening of the funnel can be more accurately controlled, thereby achieving fine adjustment of the material discharge amount.

[0018] In a second aspect of the present application, a material discharge control system is also provided, which is used to execute any of the above-mentioned material discharge control methods, including: a funnel, a first laser scanning device, a second laser scanning device, a belt conveyor, and a control device, wherein the belt conveyor is arranged below the discharge port of the funnel, and the funnel discharges materials to the belt conveyor through the discharge port; the first laser scanning device is arranged above the funnel, and is used to collect first contour information of the material in the funnel, and transmit the first contour information to the control device; the second laser scanning device is arranged above the belt conveyor, and is used to collect second contour information of the material transported on the belt of the belt conveyor, and transmit the second contour information to the control device; the control device is connected to both the first laser scanning device and the second laser scanning device, and the control device is used to determine the target inventory of the funnel according to the first contour information, and determine the target flow rate of the funnel according to the second contour information; the control device is also connected to the hopper door of the funnel through a driving mechanism, and the control device is also used to control the discharge of the funnel according to the target inventory and / or target flow rate.

[0019] By adopting the above technical solution, the discharge control system includes a hopper, a first laser scanning device, a second laser scanning device, a belt conveyor and a control device. The first laser scanning device and the second laser scanning device are used to collect the first contour information and the second contour information respectively, and transmit them to the control device. The control device determines the target inventory of the hopper according to the first contour information, that is, the inventory of the material in the hopper, and determines the target flow of the hopper according to the second contour information, that is, the discharge flow of the hopper. The control device also controls the discharge of the hopper according to the target inventory and / or target flow. That is, the contour information of the material on the hopper and the belt conveyor is automatically collected by the laser scanning device. Based on the contour information collected in real time, the target inventory and target flow of the hopper can be accurately determined, thereby realizing precise control of the discharge process, realizing the automation and intelligence of the discharge process, and significantly improving the operation efficiency.

[0020] Optionally, the above system also includes: an arch-breaking motor and a vibration device, wherein the arch-breaking motor is connected to the control device, and the arch-breaking motor is also electrically connected to the vibration device, and the vibration device is installed on the side wall of the funnel; the control device is also used to determine the surrounding material accumulation thickness of the funnel according to the first contour information and the third contour information, and when the surrounding material accumulation thickness is greater than or equal to a preset thickness threshold, start the arch-breaking motor and control the vibration device to vibrate to eliminate arching of the material in the funnel.

[0021] By adopting the above technical solution, the above material discharging control system also includes an arch-breaking motor and a vibration device. The control device can also determine the accumulation thickness of the surrounding materials of the funnel according to the first profile information and the third profile information. The accumulation thickness of the surrounding materials refers to the thickness of the materials remaining on the inner wall of the funnel. When the accumulation thickness of the surrounding materials is greater than or equal to the preset thickness threshold, the arch-breaking motor is turned on to drive the vibration device to eliminate the arching of the materials in the funnel, that is, to remove the remaining materials on the inner wall. During the use of the bulk terminal funnel, the materials may form accumulation (i.e. "arching") on the inner wall of the funnel. Traditional discharging control methods often ignore this problem, or only solve it through manual intervention, which will lead to poor material flow and affect the discharging efficiency and accuracy. By real-time monitoring of the accumulation thickness of the materials around the funnel and automatically turning on the arch-breaking motor when the accumulation thickness exceeds the preset threshold, the arching phenomenon of the materials can be effectively eliminated, ensuring smooth flow of the materials, thereby improving the discharging efficiency; the monitoring and elimination process of the material arching is included in the scope of automatic control, reducing the need for manual intervention, and improving the automation and intelligence level of discharging control.

[0022] Optionally, the above system also includes: a camera device, wherein the camera device is connected to the control device, and the camera device is used to capture images of the funnel and within a preset range around the funnel, obtain a target image, and transmit the target image to the control device; when it is determined based on the target image that there is a foreign object in the funnel or a target object exists within a preset range, the control device is also used to control the system to emergency stop.

[0023] By adopting the above technical solution, the above-mentioned discharge control system also includes a camera device for collecting images of the funnel and a preset range around the funnel, obtaining a target image, and transmitting it to the control device. When the control device determines that there is a foreign object in the funnel or a target object within a preset range based on the target image, the control system stops urgently, that is, triggers the emergency stop function to avoid accidents.

[0024] In a third aspect of the present application, an electronic device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the program, any of the above method steps is implemented.

[0025] In a fourth aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores instructions, and when the instructions are executed, any of the above method steps is performed.

[0026] In summary, one or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: 1. The laser scanning device is used to automatically collect the contour information of the materials on the funnel and belt conveyor. Based on the real-time collected contour information, the target inventory and target flow of the funnel can be accurately determined, thereby achieving precise control of the discharge process, realizing the automation and intelligence of the discharge process, and significantly improving the operating efficiency; 2. By real-time monitoring of the material accumulation thickness around the hopper and automatically starting the arch-breaking motor when the accumulation thickness exceeds the preset threshold, the arching phenomenon of the material can be effectively eliminated to ensure smooth flow of the material, thereby improving the discharge efficiency, reducing the need for manual intervention, and improving the automation and intelligence level of discharge control; 3. By setting multiple preset inventory thresholds and flow thresholds and combining them with different adjustment rules, the hopper door opening can be controlled more accurately, thereby achieving fine adjustment of material discharge. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a flow chart of a material discharge control method provided in an embodiment of the present application; Figure 2 This is an example diagram of an application scenario of an intelligent material discharge control system provided in an embodiment of the present application; Figure 3 This is an example diagram of a laser scanning scene provided in an embodiment of the present application; Figure 4 This is a functional architecture diagram of an intelligent material discharge control system provided in an embodiment of the present application; Figure 5 It is a schematic diagram of the structure of an electronic device disclosed in an embodiment of the present application.

[0028] Description of the reference numerals: 500 - electronic device; 501 - processor; 502 - communication bus; 503 - user interface; 504 - network interface; 505 - memory. DETAILED DESCRIPTION

[0029] In order to enable technicians in this field to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments.

[0030] In the description of the embodiments of the present application, words such as "for example" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "for example" or "for example" is intended to present related concepts in a specific way.

[0031] In the description of the embodiments of the present application, the term "plurality" means two or more. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. The terms "include", "comprise", "have" and their variations all mean "including but not limited to", unless otherwise specifically emphasized.

[0032] This application provides a material discharge control method, referring to Figure 1 , Figure 1 : is a flow chart of a material discharge control method provided in an embodiment of the present application, comprising the following steps: Step S101, obtaining first contour information and second contour information, wherein the first contour information is contour information of the material in the hopper collected by the first laser scanning device, and the second contour information is contour information of the material transported on the belt of the belt conveyor collected by the second laser scanning device, and the belt of the belt conveyor is located below the discharge port of the hopper; Step S102, determining a target inventory of the funnel according to the first profile information, and determining a target flow of the funnel according to the second profile information; Step S103, controlling the discharge of the hopper according to the target inventory and / or target flow rate.

[0033] In the above embodiment, the first profile information of the material in the hopper is obtained, and the target inventory of the hopper, that is, the inventory of the material in the hopper, is determined according to the first profile information. The second profile information of the material transported on the belt of the belt conveyor is also obtained, and the target flow rate of the hopper, that is, the discharge flow rate of the hopper, is determined according to the second profile information. The target inventory can be expressed in volume or weight, and the target flow rate can be expressed in volume or weight per unit time. For example, the unit of the target flow rate is m 3 / h (or L / h, or t / h, or kg / h, or other), and then control the discharge of the hopper according to the target inventory and / or target flow rate. That is, the first contour information and the second contour information are respectively collected in real time by the first laser scanning device and the second laser scanning device to determine the target inventory and target flow rate, and then the discharge of the hopper is controlled, so as to achieve the purpose of controlling the discharge of the hopper according to the real-time working conditions, avoid the problem of low intelligence and low operating efficiency caused by mainly relying on manual operation in the related technology, and achieve the effect of improving the intelligence level of discharge control and improving discharge efficiency. The contour information of the material on the hopper and the belt conveyor is automatically collected by the laser scanning device. Based on the real-time collected contour information, the target inventory and target flow rate of the hopper can be accurately determined, so as to realize the precise control of the discharge process, realize the automation and intelligence of the discharge process, and significantly improve the operating efficiency. The problem of hopper overload, empty load or uneven discharge is avoided. The method can dynamically adjust the discharge strategy according to the amount of material in the hopper and the real-time status of material transportation on the belt conveyor, ensuring the stability and efficiency of the discharge process. By optimizing the unloading process, manual intervention and downtime are reduced, the work efficiency of the entire bulk terminal is improved, and operating costs are reduced.

[0034] In an optional embodiment, determining the target inventory of the funnel according to the first contour information includes: determining the center material thickness of the funnel according to the first contour information; and determining the target inventory according to the center material thickness.

[0035] In the above embodiment, the thickness of the center material of the hopper can be determined according to the first profile information, and then the target inventory of the material in the hopper can be determined according to the thickness of the center material. For example, the material volume of the material in the hopper corresponding to the first profile information can be calculated, and of course, the material weight of the material in the hopper can also be calculated. By directly measuring the key parameter of the thickness of the center material of the hopper, the actual inventory of the material in the hopper can be more accurately reflected, so as to set a more reasonable target inventory. This helps to avoid problems such as hopper overload, empty load or uneven discharge caused by inaccurate target inventory setting. Determining the target inventory based on the thickness of the center material makes the discharge control process more accurate; because the thickness of the center material is directly related to the capacity of the hopper and the distribution state of the material, by accurately controlling this parameter, fine adjustment of the discharge process can be achieved. The target inventory is dynamically adjusted according to the real-time change of the thickness of the material in the hopper, thereby enhancing the adaptability and flexibility of the discharge control system to different working conditions and material characteristics. This is of great significance to improving the automation level and intelligence level of the discharge process of the hopper of the bulk terminal. In practical applications, a correspondence between different center material thickness values ​​and material volumes can be established based on historical data. Even for each different material, a correspondence between the center material thickness value and volume can be established separately. In this way, after determining the center material thickness based on the first contour information, the target inventory can be quickly determined.

[0036] In an optional embodiment, determining the center material thickness of the funnel according to the first contour information includes: determining the center material thickness according to the first contour information and third contour information, wherein the third contour information is contour information of the funnel collected by the first laser scanning device when the funnel is empty.

[0037] In the above embodiment, the third profile information represents the profile information of the funnel collected by the first laser scanning device when the funnel is empty, that is, taking the empty funnel as a reference, the first profile information (i.e., the scanning data when the funnel is operating normally) is compared with the third profile information, and the center material thickness of the material in the funnel can be calculated. By combining the first profile information and the third profile information, the actual distribution of the material in the funnel, especially the center material thickness, can be determined more accurately, which helps to eliminate the measurement errors caused by the funnel shape, edge effect, etc., and improve the accuracy of measurement. Based on more accurate center material thickness measurement, a more reasonable target inventory can be set, and the discharge control can be performed accordingly; this helps to reduce problems such as uneven discharge, overload or empty hopper caused by inaccurate target inventory setting, and improve the reliability of discharge control. The method realizes accurate measurement and dynamic adjustment of the thickness of the material in the funnel by introducing the third profile information as a reference; this reflects the system's keen perception and adaptive ability of real-time working conditions, and helps to improve the intelligence level of the entire bulk terminal hopper discharge system. Since this method does not depend on a specific funnel shape or material characteristics, it has strong versatility and scalability. It can be applied to different types of funnels and materials, providing strong support for the intelligent transformation and upgrading of bulk terminals. For example, common funnel (hopper) shapes are truncated cone, or cylindrical, or the lower body is truncated cone and the upper body is cylindrical, etc.

[0038] In an optional embodiment, the above method also includes: determining the surrounding material accumulation thickness of the funnel based on the first contour information and the third contour information, wherein the surrounding material accumulation thickness is used to indicate the thickness of the material remaining on the inner wall of the funnel; when the surrounding material accumulation thickness is greater than or equal to a preset thickness threshold, starting the arch breaking motor, wherein the arch breaking motor is used to drive a vibration device to eliminate arching of the material in the funnel, and the vibration device is installed on the side wall of the funnel.

[0039] In the above embodiment, the accumulation thickness of the surrounding materials of the funnel can also be determined according to the first profile information and the third profile information. The accumulation thickness of the surrounding materials refers to the thickness of the materials remaining on the inner wall of the funnel. When the accumulation thickness of the surrounding materials is greater than or equal to the preset thickness threshold, the arch-breaking motor is turned on to drive the vibration device to eliminate the arching of the materials in the funnel, that is, to remove the remaining materials on the inner wall. In practical applications, the opening strategy of the arch-breaking motor can be set according to the accumulation thickness of the surrounding materials, and the opening strategy of the arch-breaking motor can also be set according to the viscosity coefficient of the material itself. For example, if the current material has a large viscosity coefficient (or strong viscosity), the arch-breaking motor can be turned on according to a predetermined period to avoid more and more residual materials on the inner wall of the funnel. Optionally, the vibration device can be set on the inner wall or outer wall of the hopper, or a vibration device can be set in different directions. In practical applications, for large hoppers, a vibration device can be installed in the east, south, west and north directions respectively, and each vibration device corresponds to an independent arch-breaking motor. In this way, when it is determined that there is more residual material on the inner wall in a certain direction according to the thickness of the surrounding material accumulation, the corresponding arch-breaking motor is turned on to drive the vibration device in this direction. During the use of the bulk terminal funnel, the material may accumulate on the inner wall of the funnel (i.e. "arching"). Traditional discharge control methods often ignore this problem, or only solve it through manual intervention, which will lead to poor material flow and affect discharge efficiency and accuracy. By real-time monitoring of the material accumulation thickness around the hopper and automatically starting the arch-breaking motor when the accumulation thickness exceeds the preset threshold, the arching phenomenon of the material can be effectively eliminated, ensuring smooth material flow, thereby improving the discharge efficiency; the monitoring and elimination process of material arching is included in the scope of automated control, reducing the need for manual intervention and improving the automation and intelligence level of discharge control; long-term material arching may cause damage to the hopper structure, such as increasing stress concentration on the side wall of the hopper. By eliminating the arching phenomenon in a timely manner, the hopper structure can be protected and its service life can be extended; by introducing the arch-breaking mechanism, this method enhances the system's monitoring and response capabilities to the material flow state, which helps to improve the stability and reliability of the entire discharge system; reducing the poor discharge and downtime caused by material arching can reduce the operating costs of bulk terminals.

[0040] In an optional embodiment, determining the target flow rate of the funnel according to the second profile information includes: determining the target flow rate according to the second profile information and the belt speed of the belt conveyor.

[0041] In the above embodiment, the target flow rate can be determined according to the second profile information and the belt speed of the belt conveyor, that is, the target flow rate is determined according to the second profile information of the material transported on the belt and the transportation speed of the belt conveyor. In the material transportation process, reasonable control of the flow rate of the funnel is crucial to ensure the continuous and stable operation of the production line, avoid material accumulation or avoid funnel emptying, and optimize production efficiency. Traditional methods may only rely on experience or simple sensor data to set the flow rate of the funnel. This method is often not accurate enough and difficult to adapt to changes in different material properties, transportation conditions and production needs. This method can adjust the target flow rate in real time according to changes in material properties and transportation conditions, so it has stronger dynamic adaptability, which helps to maintain the continuous and stable operation of the production line and reduce production interruptions caused by improper flow. By accurately controlling the flow rate of the funnel, it is possible to ensure the smooth flow of materials during transportation, reduce material accumulation and waste, and reduce equipment wear and energy consumption, thereby optimizing production efficiency and cost.

[0042] In an optional embodiment, the target flow rate is determined based on the second profile information and the belt speed of the belt conveyor, including: determining the cross-sectional area of ​​the material transported on the belt based on the second profile information; and determining the target flow rate based on the cross-sectional area and the belt speed of the belt conveyor.

[0043] In the above embodiment, the cross-sectional area of ​​the material transported on the belt can be determined based on the second profile information, and the target flow rate of the material can be determined in combination with the belt speed of the belt conveyor, thereby achieving the purpose of real-time monitoring of the flow rate of the material transported by the belt conveyor and the purpose of real-time monitoring of the discharge flow rate of the funnel. By determining the cross-sectional area of ​​the material on the belt and calculating the flow rate in combination with the belt speed, the accuracy of the flow rate calculation can be significantly improved, the error caused by estimation or indirect measurement can be reduced, the stable operation of the production line can be maintained, and production interruptions or material accumulation caused by flow fluctuations can be reduced, the automatic control of the material conveying system can be realized, manual intervention can be reduced, and production efficiency and safety can be improved. This method can adapt to materials of different types and states and different conveying conditions, and has strong adaptability and flexibility.

[0044] In an optional embodiment, the discharge of the funnel is controlled according to the target inventory and / or target flow, including one of the following: when the target inventory is greater than a first preset inventory threshold, adjusting the hopper opening of the funnel to a first opening value; when the target inventory is less than or equal to a second preset inventory threshold, adjusting the hopper opening of the funnel to a second opening value, wherein the second preset inventory threshold is less than the first preset inventory threshold, and the second opening value is less than the first opening value; when the target flow is less than the first preset flow threshold, adjusting the hopper opening of the funnel according to the first adjustment rule until one of the following conditions is met: the difference between the target flow and the first preset flow threshold is less than the preset flow error, and the target inventory is less than the third preset inventory threshold; when the target flow is greater than the second preset flow threshold, adjusting the hopper opening of the funnel according to the second adjustment rule until the difference between the target flow and the second preset flow threshold is less than the preset flow error.

[0045] In the above embodiment, when the target inventory is greater than the first preset inventory threshold, the hopper door opening is adjusted to the first opening value; when the target inventory is less than or equal to the second preset inventory threshold, the hopper door opening is adjusted to the second opening value, that is, when the target inventory is large, the hopper door opening value can be appropriately increased, and when the target inventory is small, the hopper door opening value can be appropriately reduced. At this time, the hopper can be controlled to add materials, for example, adding materials to the hopper according to the preset volume, which can be added at one time or in multiple times; optionally, if the target inventory is between the second preset inventory threshold and the first preset inventory threshold, the hopper door opening value can be adjusted to the second opening value. When the current opening of the hopper door is between a preset stock threshold and a preset stock threshold, the current hopper door opening can be kept unchanged; the hopper door opening is measured by measuring the stroke of the oil cylinder using a pull rope displacement sensor. The pull rope displacement sensor is a device for measuring linear displacement. It measures the moving distance of an object by stretching and retracting a stainless steel rope, and converts this mechanical movement into an electrical signal output. Its working principle is that the pull rope is connected to a threaded hub, which is connected to a precision rotation sensor; when the pull rope stretches or contracts, it drives the hub to rotate, and the sensor rotates accordingly and outputs an electrical signal proportional to the distance the pull rope moves. The opening degree of the hopper door is measured by a pull rope displacement sensor connected to the piston rod of the oil cylinder. When the oil cylinder piston rod moves, it drives the pull rope to move, and then causes the hub of the pull rope displacement sensor connected to it to rotate. By measuring the distance of this rotation, the stroke of the oil cylinder can be known, and then the opening degree of the hopper door can be calculated. When the target flow is less than the first preset flow threshold, the hopper opening of the funnel is adjusted according to the first adjustment rule until the difference between the target flow and the first preset flow threshold is less than the preset flow error or the target inventory is less than the third preset inventory threshold. For example, the first adjustment rule may be to gradually increase the hopper opening according to a preset step length, or to adjust the hopper opening value once every preset time interval. When the target flow is greater than the second preset flow threshold, the hopper opening of the funnel is adjusted according to the second adjustment rule until the difference between the target flow and the second preset flow threshold is less than the preset flow error. For example, the second adjustment rule may be to gradually reduce the hopper opening according to a preset step length, or to adjust the hopper opening value once every preset time interval. The first preset flow threshold is less than the second preset flow threshold, and the first preset flow threshold and the second preset flow threshold constitute a reasonable flow range, which can also be understood as the user's requirement for normal transportation flow, and the flow beyond this range needs to be adjusted.By setting multiple preset inventory thresholds and flow thresholds and combining them with different adjustment rules, the hopper door opening can be controlled more accurately, thereby achieving fine adjustment of the material discharge amount; by timely responding to changes in inventory and flow and adjusting the hopper discharge speed, material accumulation or insufficient supply can be effectively avoided and the stable operation of the production line can be maintained; through reasonable discharge control strategies, efficient utilization of materials in the transportation process can be ensured to reduce waste; by optimizing the discharge process, unnecessary energy consumption and material waste can be reduced, and production costs can be reduced; it also realizes automated and intelligent control of the hopper discharge process, improving the intelligence level of the production line.

[0046] The present application also provides a material discharging control system for executing the material discharging control method in any of the above embodiments, comprising: a hopper, a first laser scanning device, a second laser scanning device, a belt conveyor, and a control device, wherein: The belt conveyor is arranged below the discharge port of the hopper, and the hopper discharges materials to the belt conveyor through the discharge port; The first laser scanning device is arranged above the funnel, and is used to collect first contour information of the material in the funnel, and transmit the first contour information to the control device; The second laser scanning device is arranged above the belt conveyor, and is used to collect the second contour information of the material transported on the belt of the belt conveyor, and transmit the second contour information to the control device; The control device is connected to both the first laser scanning device and the second laser scanning device, and is used to determine the target inventory of the funnel according to the first contour information, and determine the target flow rate of the funnel according to the second contour information; The control device is also connected to the hopper door of the hopper through a driving mechanism, and the control device is also used to control the discharge of the hopper according to a target inventory and / or a target flow rate.

[0047] In the above embodiment, the discharge control system includes a hopper, a first laser scanning device, a second laser scanning device, a belt conveyor and a control device. The first laser scanning device and the second laser scanning device are used to collect the first profile information and the second profile information respectively, and transmit them to the control device. The control device determines the target inventory of the hopper according to the first profile information, that is, the inventory of the material in the hopper, and determines the target flow of the hopper according to the second profile information, that is, the discharge flow of the hopper. The target inventory can be expressed in volume or weight, and the target flow can be expressed in volume or weight per unit time. For example, the unit of the target flow is m 3 / h (or L / h, or t / h, or kg / h, or other), the control device also controls the discharge of the hopper according to the target inventory and / or target flow rate. That is, the first contour information and the second contour information are respectively collected in real time by the first laser scanning device and the second laser scanning device to determine the target inventory and target flow rate, and then the discharge of the hopper is controlled, so as to achieve the purpose of controlling the discharge of the hopper according to the real-time working conditions, avoid the problem of low intelligence and low operating efficiency caused by mainly relying on manual operation in the related technology, and achieve the effect of improving the intelligence level of discharge control and improving discharge efficiency. The contour information of the material on the hopper and the belt conveyor is automatically collected by the laser scanning device. Based on the real-time collected contour information, the target inventory and target flow rate of the hopper can be accurately determined, so as to realize the precise control of the discharge process, realize the automation and intelligence of the discharge process, and significantly improve the operating efficiency. The problem of hopper overload, empty load or uneven discharge is avoided. The method can dynamically adjust the discharge strategy according to the material amount in the hopper and the real-time status of material transportation on the belt conveyor, ensuring the stability and efficiency of the discharge process. By optimizing the unloading process, manual intervention and downtime are reduced, the work efficiency of the entire bulk terminal is improved, and operating costs are reduced.

[0048] In an optional embodiment, the above system also includes: an arch-breaking motor and a vibration device, wherein the arch-breaking motor is connected to the control device, and the arch-breaking motor is also electrically connected to the vibration device, and the vibration device is installed on the side wall of the funnel; the control device is also used to determine the surrounding material accumulation thickness of the funnel according to the first contour information and the third contour information, and when the surrounding material accumulation thickness is greater than or equal to a preset thickness threshold, start the arch-breaking motor and control the vibration device to vibrate to eliminate the arching of the material in the funnel.

[0049] In the above embodiment, the above material discharge control system also includes an arch-breaking motor and a vibration device. The control device can also determine the accumulation thickness of the surrounding materials of the funnel according to the first profile information and the third profile information. The accumulation thickness of the surrounding materials refers to the thickness of the materials remaining on the inner wall of the funnel. When the accumulation thickness of the surrounding materials is greater than or equal to the preset thickness threshold, the arch-breaking motor is turned on to drive the vibration device to eliminate the arching of the materials in the funnel, that is, to remove the remaining materials on the inner wall. In practical applications, the opening strategy of the arch-breaking motor can be set according to the accumulation thickness of the surrounding materials, and the opening strategy of the arch-breaking motor can also be set according to the viscosity coefficient of the material itself. For example, if the current material is a material with a large viscosity coefficient (or strong viscosity), the arch-breaking motor can be turned on according to a predetermined period to avoid more and more residual materials on the inner wall of the funnel. Optionally, the vibration device can be set on the inner wall or outer wall of the hopper, or a vibration device can be set in different directions. In practical applications, for large hoppers, a vibration device can be installed in the east, south, west and north directions respectively, and each vibration device corresponds to an independent arch-breaking motor. In this way, when it is determined that there is more residual material on the inner wall in a certain direction according to the thickness of the surrounding material accumulation, the corresponding arch-breaking motor is turned on to drive the vibration device in this direction. During the use of the bulk terminal funnel, the material may accumulate on the inner wall of the funnel (i.e. "arching"). Traditional discharge control methods often ignore this problem, or only solve it through manual intervention, which will lead to poor material flow and affect discharge efficiency and accuracy. By real-time monitoring of the material accumulation thickness around the hopper and automatically starting the arch-breaking motor when the accumulation thickness exceeds the preset threshold, the arching phenomenon of the material can be effectively eliminated, ensuring smooth material flow, thereby improving the discharge efficiency; the monitoring and elimination process of material arching is included in the scope of automated control, reducing the need for manual intervention and improving the automation and intelligence level of discharge control; long-term material arching may cause damage to the hopper structure, such as increasing stress concentration on the side wall of the hopper. By eliminating the arching phenomenon in a timely manner, the hopper structure can be protected and its service life can be extended; by introducing the arch-breaking mechanism, this method enhances the system's monitoring and response capabilities to the material flow state, which helps to improve the stability and reliability of the entire discharge system; reducing the poor discharge and downtime caused by material arching can reduce the operating costs of bulk terminals.

[0050] In an optional embodiment, the system further includes: a camera device, wherein the camera device is connected to the control device, and is used to capture images of the funnel and within a preset range around the funnel, obtain a target image, and transmit the target image to the control device; when it is determined based on the target image that there is a foreign object in the funnel or a target object within a preset range, the control device is also used to control the system to emergency stop.

[0051] In the above embodiment, the above discharge control system also includes a camera device for collecting images within the preset range of the funnel and the surroundings of the funnel, obtaining a target image, and transmitting it to the control device. When the control device determines that there is a foreign object in the funnel or a target object within the preset range based on the target image, the target object can be a person, an animal, or other objects, and the control system stops urgently, that is, triggers the emergency stop function to avoid accidents. By introducing a camera device, image collection of the funnel and the preset range around it is realized, providing a real-time visual monitoring means for the control device, which enables the system to promptly detect and identify foreign objects in the funnel or abnormal conditions in the surrounding environment, and enhances the comprehensiveness and accuracy of safety monitoring. In the case of determining that there is a safety hazard based on the target image, the control device can respond quickly and the control system stops urgently. This fast and effective emergency response mechanism helps to avoid the occurrence of safety accidents and protect the safety of personnel and equipment.

[0052] It should be noted that the above-described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application will be described in detail below in conjunction with specific embodiments.

[0053] The present application provides a bulk cargo terminal hopper intelligent discharge control system and method. Figure 2 This is an example diagram of an application scenario of an intelligent material discharge control system provided by the embodiment of the present application. It takes the realization of duplex hopper intelligent control as an example. The overall concept is to ensure that the process flow is within the set range, the hopper discharge flow matches the hopper storage, reduce the frequency of hopper emptying, and reduce the frequency of opening the empty hopper arch breaking motor. The embodiment of the present application is applicable to material conveying systems, such as coal, ore, or other material conveying.

[0054] The intelligent discharge control system and method are now described in detail from the following aspects.

[0055] 1. Funnel discharge flow measurement The discharge flow rate of the hopper can be measured by the hopper opening and the material accumulation height of the belt conveyor downstream of the hopper outlet. The hopper opening is measured by measuring the cylinder stroke using a pull-rope displacement sensor. The pull-rope displacement sensor requires a measurement distance of no less than 2m and an accuracy of no more than 2mm. When operating materials with high viscosity, the hopper opening is not proportional to the flow rate, which often results in inaccurate flow judgment. Other ways to judge the flow rate are to use visual detection or laser measurement. Although the visual detection method is feasible, the processing speed cannot meet the real-time collection requirements of the belt conveyor material flow due to the limitations of complex algorithms such as texture feature extraction and camera calibration, so it is not considered; laser measurement technology is a high-efficiency, high-precision, real-time effective monitoring method for pile volume, and laser measurement is less affected by bulk material texture characteristics.

[0056] Laser contour scanning is given priority to measure material flow. A laser volume scanner (or distance scanner) is installed above the inlet and outlet of the belt conveyor at the hopper outlet to measure the material accumulation profile. The installation position and height should be such that the scanner can scan two belts at the same time. The cross-sectional area of ​​the material is calculated by the material accumulation profile, and the cross-sectional area is combined with the belt speed to form the material volume flow. Since the belt conveyor groove type is basically fixed and unchanged, the flow corresponding to the outer contour area of ​​the outlet or the current hopper discharge flow (inlet and outlet flow difference) can be determined by the algorithm. Here, two belts are taken as an example, but it can also be one belt, and this application does not limit this. Figure 2 S1 and S2 represent the materials transported on the two belts, and LS1 and LS2 represent the laser scanning devices installed above the belt conveyors.

[0057] The basic principle of laser scanning is realized through distance measurement: the system uses a two-dimensional laser profile scanner to collect three-dimensional laser point cloud data of the material flow surface under the horizontal high-speed operation of the belt conveyor, and integrates the displacement information converted by the belt speed sensor of the belt conveyor to realize accurate and efficient measurement of the instantaneous material flow through the material instantaneous flow calculation algorithm. In order to facilitate the acquisition of scattered laser point clouds on the surface of the measured material flow, the laser rangefinder is installed at a height h of the horizontal section of the belt conveyor, and it is vertically aimed downward at the material to keep the material flow direction perpendicular to the laser scanning section. Figure 3 This is an example diagram of a laser scanning scene provided in an embodiment of the present application.

[0058] If laser scanning equipment is used to measure hopper materials, it is necessary to consider whether water mist will affect laser measurement when unloading. Technical requirements for laser scanning equipment: horizontal scanning range greater than 180°, accuracy no greater than 2cm, equipped with automatic electric opening and closing door, which automatically opens during operation to maximize the protection of the laser scanner lens.

[0059] 2. Funnel cargo inventory measurement The most direct way to measure the inventory of hopper cargo is to install weighing or strain measurement sensors on the columns or the base of the bucket frame. The biggest feature of these two solutions is the high cost of transformation. At the same time, the data of the material in the hopper is relatively abstract and cannot be displayed intuitively. Another method is to refer to the contour scanning method of the belt conveyor to measure the actual storage volume in the hopper; the scanning laser detector is installed on the east and west railings of the circular platform. After the gantry moves into place, the detector automatically focuses on the hopper mouth. After focusing, the empty bucket scan is completed. The empty bucket is used as a reference to compare with the normal operation scanning data to calculate the volume under the contour, and the internal material inventory is calculated based on the volume. The inventory of hopper materials is a reference value. The operation corresponding to this value is the two control factors of the funnel flow control and whether the hopper body arch breaking motor is turned on. The purpose of laser scanning is to measure the accumulation thickness of materials around the hopper and the thickness of materials in the center of the hopper. The thickness of materials in the center of the hopper corresponds to the amount of materials in the hopper. The size of the inventory determines the opening of the hopper door (current hopper flow); the thickness of materials around the hopper corresponds to whether the arch breaking motor is turned on or which side it is turned on (independent north-south and east-west).

[0060] If laser scanning equipment is used to measure hopper materials, it is necessary to consider whether water mist will affect laser measurement when unloading. At the same time, the installation position of the laser scanning equipment and the hopper position must always be relatively static. If there is a change in relative position, the laser equipment needs to be recalibrated. Technical requirements for laser scanning equipment: scanning distance greater than 80m, scanning horizontal and vertical angles greater than 50°, angular resolution greater than 0.2°, and equipped with a stainless steel protective shell to maximize the protection of the laser scanner lens.

[0061] 3. Data transmission system A control box is set up on the ground, and PLC modules, industrial computers, switches, fiber optic transceivers, etc. are arranged in the control box. All new equipment is gathered in the control box in wired form, and then transmitted to the remote control room via optical fiber.

[0062] 4. System display The existing system uses Kingview to realize remote and control center linkage, and the system interface is a standardized industrial control interface. The status displays of the 8 funnel flap openings, funnel participation in the operation process, arch breaking motors, lighting, vibration motors, and rotary anchoring are displayed using button colors. Here, the simultaneous control of the intelligent discharge of 8 funnels is taken as an example. In actual applications, it can also be one funnel or another number of funnels. The number of funnels in this application is not limited; 8 funnels are a large number, and the control personnel cannot grasp the on-site conditions at a glance; at the same time, the inventory of goods in the funnel and the system flow cannot be displayed intuitively in the system. The operator's video monitoring window can only see the material flow at the discharge port, and it has been in a blind release state for a long time. The arch breaking motor is turned on casually, and the empty bucket is often opened and vibrates, causing vibration and cracking in multiple parts of the funnel.

[0063] The new system is developed in Python and C++. The interface displays the information of each hopper material storage, discharge port flow, arch breaking motor status, operation process in three dimensions. Each element of the hopper is displayed on the window through icons, and the mouse clicks the button on the picture to achieve remote control. The system can obtain the corresponding action signals of the feeding device, hopper arch breaking motor, rotating mechanism, lighting, spraying system, etc. from the existing program control system and PLC system through the interface, and control the corresponding mechanism action at the same time.

[0064] 5. Intelligent discharge of funnel (1) The ratio of the volume of the material stored in the hopper to the volume of the discharge port determines the feeding capacity provided by the hopper.

[0065] a. Funnel inventory: The funnel capacity data is obtained by the laser scanning radar above the funnel; the data is transmitted to the funnel fiber optic network via the wireless network, and then sent to the calculation software in real time to convert the inventory weight.

[0066] b. Funnel flow: Scanning radars on both sides of the belt conveyor at the funnel outlet measure flow data, and real-time data is connected to the funnel optical fiber network via wired access.

[0067] c. Determination of material specific gravity per unit volume: A scanning device is set at the position of the belt conveyor electronic scale to calculate the specific gravity of the goods through the cumulative volume of materials per unit time. The specific gravity of the goods is used as the conversion unit for the system hopper inventory.

[0068] (2) Process flow setting The central control operator sets the current process flow according to the large-wheel loading and unloading process, material characteristics and process throughput capacity. After the flow is set, it is autonomously controlled by the system.

[0069] (3) Funnel opening setting According to the set process flow target, priority is given to loading from the hopper with more inventory (loading is based on the number of times the solenoid valve is activated). The larger the output, the greater the loading. During the operation, try to ensure that the hopper is not emptied and the process flow remains stable.

[0070] (4) Arch breaking motor starts a. The arch breaking motor is turned on according to the viscosity coefficient of the cargo. It is started separately from north to south and from east to west. For cargo with high viscosity, it is started intermittently from north to south and from east to west. For cargo with strong passing ability, it is started regularly according to the set time.

[0071] b. It is forbidden to start the hopper when it is empty or the hopper body vibrates violently (a vibration detection sensor can be installed to limit the start of the arch breaking motor).

[0072] 6. Functional architecture Figure 4 This is a functional architecture diagram of an intelligent material discharge control system provided in an embodiment of the present application. Figure 4As shown, the system can be divided into three sections: laser measurement (scanning) system, funnel control system and three-dimensional display system. The funnel control system is upgraded on the existing basis, and the laser measurement (scanning) system and three-dimensional display system need to be redeveloped. The three systems can be independent or integrated.

[0073] The funnel control system will be upgraded on the existing basis and connected to the three-dimensional real-time system. The laser measurement (scanning) system needs to be redeveloped. After the development, the system will provide the funnel control system with the opening size and arch breaking motor start signal, which can be independent of other systems. The three-dimensional real-time display system is a temporary and signal integration platform for the two systems.

[0074] Optionally, in order to improve the intelligence of the control system, a machine learning algorithm can be introduced. The controller collects historical discharge data and real-time discharge data, and uses machine learning algorithms to continuously optimize the discharge strategy, so that the system can self-adjust according to the actual working conditions. In addition, in order to ensure the safety of the operation, an emergency stop function and a fault self-diagnosis function are set. When the sensor detects an abnormal situation, such as hopper overload, discharge port blockage, etc., the controller will immediately trigger the emergency stop function and start the fault self-diagnosis function to help the staff quickly locate and solve the problem; when the camera detects foreign objects and patrol personnel in the dangerous range, the system will also start the emergency stop function.

[0075] For example, at a bulk cargo terminal, an intelligent unloading control system including cameras, temperature and humidity sensors, weight sensors, position sensors, electric actuators and intelligent controllers was installed. The system first collects data through sensors, and then the controller uses machine learning algorithms to calculate the best unloading strategy based on these data, and adjusts the opening of the unloading port in real time through the electric actuator. At the same time, the system is also equipped with emergency stop and fault self-diagnosis functions to ensure the safety and reliability of the operation process.

[0076] Through the embodiments of the present application, an intelligent discharge control system is constructed, which realizes the precise control of the discharge of the hopper of the bulk terminal, improves the operation efficiency and safety, and makes the entire discharge process more intelligent and automated, reducing the need for manual intervention and operation costs.

[0077] The present application also provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed, any one of the method steps described above is executed.

[0078] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media that can store computer programs, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0079] The present application also discloses an electronic device. Figure 5 As shown, Figure 5 The electronic device 500 may include: at least one processor 501 , at least one network interface 504 , a user interface 503 , a memory 505 , and at least one communication bus 502 .

[0080] The communication bus 502 is used to realize the connection and communication between these components.

[0081] The user interface 503 may include a display screen (Display) and a camera (Camera). Optionally, the user interface 503 may also include a standard wired interface and a wireless interface.

[0082] The network interface 504 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0083] Among them, the processor 501 may include one or more processing cores. The processor 501 uses various interfaces and lines to connect various parts of the entire electronic device (such as a server), and executes various functions of the server and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 505, and calling data stored in the memory 505. Optionally, the processor 501 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The processor 501 can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; and the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 501, and can be implemented separately through a chip.

[0084] Among them, the memory 505 may include a random access memory (Random Access Memory, RAM) and may also include a read-only memory (Read-Only Memory). Optionally, the memory 505 includes a non-transitory computer-readable storage medium. The memory 505 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 505 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 505 may also be optionally at least one storage device located away from the aforementioned processor 501. Refer to Figure 5 , the memory 505 as a computer storage medium may include an operating system, a network communication module, a user interface module and an application program of a material discharge control method.

[0085] exist Figure 5 In the electronic device 500 shown, the user interface 503 is mainly used to provide an input interface for the user and obtain the data input by the user; and the processor 501 can be used to call an application program of a material discharge control method stored in the memory 505. When executed by one or more processors 501, the electronic device 500 executes one or more of the methods described in the above embodiments. It should be noted that for the aforementioned method embodiments, for the sake of simple description, they are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required for the present application.

[0086] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0087] In the several embodiments provided in this application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0088] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0089] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0090] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a memory and includes several instructions for a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned memory includes: various media that can store program codes, such as USB flash drives, mobile hard drives, magnetic disks or optical disks.

[0091] The above is only an exemplary embodiment of the present disclosure and cannot be used to limit the scope of the present disclosure. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the disclosure of the specification and the truth of practice, those skilled in the art will easily think of other embodiments of the present disclosure.

[0092] This application is intended to cover any modifications, uses or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or customary technical means in the technical field not recorded in the present disclosure.

Claims

1. A material discharge control method, characterized in that: include: Acquire first profile information and second profile information, wherein the first profile information is profile information of the material in the hopper collected by using the first laser scanning device, and the second profile information is profile information of the material transported on the belt of the belt conveyor collected by using the second laser scanning device, and the belt of the belt conveyor is located below the discharge port of the hopper; determining a target inventory of the hopper according to the first profile information, and determining a target flow of the hopper according to the second profile information; The discharge of the hopper is controlled according to the target inventory and / or the target flow rate.

2. The method according to claim 1, characterized in that Determining the target inventory of the hopper according to the first profile information includes: Determine the center material thickness of the funnel according to the first profile information; The target inventory is determined based on the center material thickness.

3. The method according to claim 2, characterized in that Determining the center material thickness of the funnel according to the first profile information includes: The center material thickness is determined according to the first contour information and the third contour information, wherein the third contour information is contour information of the funnel collected by the first laser scanning device when the funnel is empty.

4. The method according to claim 3, characterized in that The method further comprises: Determine the material accumulation thickness around the funnel according to the first profile information and the third profile information, wherein the material accumulation thickness around the funnel is used to represent the thickness of the material remaining on the inner wall of the funnel; When the accumulation thickness of the surrounding materials is greater than or equal to a preset thickness threshold, the arch-breaking motor is turned on, wherein the arch-breaking motor is used to drive a vibration device to eliminate the arching of the materials in the funnel, and the vibration device is installed on the side wall of the funnel.

5. The method according to claim 1, characterized in that Determining a target flow rate of the funnel according to the second profile information includes: The target flow rate is determined according to the second profile information and the belt speed of the belt conveyor.

6. The method according to claim 5, characterized in that Determining the target flow rate according to the second profile information and the belt speed of the belt conveyor includes: determining a cross-sectional area of ​​the material transported on the belt according to the second profile information; The target flow rate is determined according to the cross-sectional area and the belt speed of the belt conveyor.

7. The method according to any one of claims 1 to 6, characterized in that The discharge control of the hopper according to the target inventory and / or the target flow rate includes one of the following: When the target inventory is greater than a first preset inventory threshold, adjusting the hopper door opening of the hopper to a first opening value; When the target inventory is less than or equal to a second preset inventory threshold, adjusting the hopper door opening of the hopper to a second opening value, wherein the second preset inventory threshold is less than the first preset inventory threshold, and the second opening value is less than the first opening value; When the target flow rate is less than the first preset flow rate threshold, the hopper opening of the funnel is adjusted according to the first adjustment rule until one of the following conditions is met: the difference between the target flow rate and the first preset flow rate threshold is less than the preset flow error, and the target inventory is less than the third preset inventory threshold; when the target flow rate is greater than the second preset flow rate threshold, the hopper opening of the funnel is adjusted according to the second adjustment rule until the difference between the target flow rate and the second preset flow rate threshold is less than the preset flow error.

8. A material discharge control system, characterized in that: The material discharging control method for executing any one of claims 1 to 7 comprises: a hopper, a first laser scanning device, a second laser scanning device, a belt conveyor, and a control device, wherein: The belt conveyor is arranged below the discharge port of the hopper, and the hopper discharges materials to the belt conveyor through the discharge port; The first laser scanning device is arranged above the funnel, and is used to collect first contour information of the material in the funnel, and transmit the first contour information to the control device; The second laser scanning device is disposed above the belt conveyor, and is used to collect second contour information of the material transported on the belt of the belt conveyor, and transmit the second contour information to the control device; The control device is connected to both the first laser scanning device and the second laser scanning device, and the control device is used to determine the target inventory of the funnel according to the first contour information, and determine the target flow rate of the funnel according to the second contour information; The control device is also connected to the hopper door of the hopper through a driving mechanism, and the control device is also used to control the discharge of the hopper according to the target inventory and / or the target flow rate.

9. The system according to claim 8, characterized in that The system also includes: an arch-breaking motor and a vibration device, wherein: The arch-breaking motor is connected to the control device, and the arch-breaking motor is also electrically connected to the vibration device, and the vibration device is installed on the side wall of the funnel; The control device is also used to determine the accumulation thickness of the surrounding materials of the funnel according to the first contour information and the third contour information, and when the accumulation thickness of the surrounding materials is greater than or equal to a preset thickness threshold, start the arch-breaking motor and control the vibration device to vibrate to eliminate the arching of the material in the funnel.

10. The system according to claim 8, characterized in that The system further comprises: a camera device, wherein: The camera device is connected to the control device, and is used to collect images of the funnel and a preset range around the funnel to obtain a target image, and transmit the target image to the control device; In the case where it is determined based on the target image that there is a foreign object in the funnel or a target object is within the preset range, the control device is further used to control the system to stop urgently.

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