A material discharge control method and system

Abstract

This application provides a material discharge control method and system, relating to the field of material conveying technology. The method comprises: obtaining first profile information and second profile information, wherein the first profile information is profile information of the material in the hopper, collected using a first laser scanning device, and the second profile information is profile information of the material being transported on a belt conveyor, collected using a second laser scanning device, the belt conveyor being located below the discharge port of the hopper; determining a target inventory level in the hopper based on the first profile information, and determining a target flow rate in the hopper based on the second profile information; and controlling the material discharge of the hopper based on the target inventory level and / or target flow rate. Implementing the technical solution provided by this application achieves automation and intelligence in the material discharge process, improving operational efficiency.

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] Currently, bulk terminal hopper (or feed hopper) discharge control relies heavily on manual operation or simple mechanized control, resulting in low levels of intelligence and inaccurate discharge and inefficient operation. Furthermore, related technologies typically employ timed or quantitative discharge methods, which lack the ability to adjust to real-time operating conditions and can easily lead to hopper overload, emptying, or uneven discharge. This demonstrates the inherent technical limitations of low discharge efficiency. 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, including: obtaining first contour information and second contour information, wherein the first contour information is the contour information of the material in the funnel collected by using a first laser scanning device, and the second contour information is the contour information of the material transported on the belt of a belt conveyor collected by using a second laser scanning device, and the belt of the belt conveyor is located below the discharge port of the funnel; determining the target inventory of the funnel based on the first contour information, and determining the target flow rate of the funnel based on the second contour information; and controlling the material discharge of the funnel based on the target inventory and / or target flow rate.

[0005] By employing the above technical solution, first profile information of the material in the hopper is acquired, and the target hopper inventory, i.e., the material inventory in the hopper, is determined based on the first profile information. Second profile information of the material being transported on the belt conveyor is also acquired, and the target hopper flow rate, i.e., the hopper discharge flow rate, is determined based on the second profile information. The hopper discharge is then controlled based on the target inventory and / or target flow rate. Specifically, a laser scanning device automatically acquires profile information of the material in the hopper and on the belt conveyor. Based on this real-time profile information, the target hopper inventory and flow rate can be accurately determined, thereby achieving precise control over the discharge process, automating and intelligentizing the discharge process and significantly improving operational efficiency.

[0006] Optionally, 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.

[0007] By employing the above technical solution, the thickness of the material at the center of the hopper can be determined based on the first profile information, and the target stock level of the material in the hopper can then be determined based on this thickness. By directly measuring this key parameter, the actual stock level within the hopper can be more accurately reflected, allowing for a more reasonable target stock level to be set. This helps avoid problems such as hopper overload, empty hopper, or uneven material discharge caused by inaccurate target stock level settings. Determining the target stock level based on the center material thickness makes the discharge control process more precise; dynamically adjusting the target stock level based on real-time changes in the material thickness within the hopper enhances the adaptability and flexibility of the discharge control system to varying operating conditions and material characteristics.

[0008] Optionally, determining the center material thickness of the funnel based on the first contour information includes: determining the center material thickness based on 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 employing this technical solution, the third contour information represents the contour of the hopper, captured by the first laser scanning device when the hopper is empty. Using the empty hopper as a reference, the first contour information (i.e., scan data from a normally operating hopper) is compared with the third contour information to calculate the center thickness of the material in the hopper. This more accurate center thickness measurement enables more reasonable target stock levels to be set and used for material discharge control. This helps mitigate issues such as uneven discharge, hopper overload, or empty hoppers caused by inaccurate target stock level settings, and improves the reliability of material discharge control. Because this method is independent of specific hopper shapes or material characteristics, it is highly versatile and scalable. It can be applied to different types of hoppers and materials, providing strong support for the intelligent transformation and upgrade of bulk terminals.

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

[0011] By employing the above technical solution, the thickness of material accumulation around the hopper can be determined based on the first and third profile information. This thickness refers to the thickness of material remaining on the inner wall of the hopper. When this thickness is greater than or equal to a preset thickness threshold, the arch-breaking motor is activated to drive the vibration device to eliminate material arching within the hopper, effectively removing any remaining material from the inner wall. During the operation of bulk terminal hoppers, material may accumulate (i.e., "arching") on the hopper's inner wall. Traditional discharge control methods often ignore this issue or rely solely on manual intervention, which can lead to poor material flow and affect discharge efficiency and accuracy. By monitoring the material accumulation thickness around the hopper in real time and automatically activating the arch-breaking motor when the thickness exceeds a preset threshold, this arching phenomenon can be effectively eliminated, ensuring smooth material flow and improving discharge efficiency. By integrating the monitoring and elimination of material arching into automated control, the need for manual intervention is reduced, thereby enhancing the automation and intelligence of discharge control.

[0012] Optionally, 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 a belt speed of a belt conveyor.

[0013] By adopting the above technical solution, a target flow rate can be determined based on the second profile information and the belt conveyor speed. Specifically, the target flow rate is determined based on the second profile information of the material being transported on the belt and the conveyor speed. During the material conveying process, properly controlling the hopper flow rate is crucial for ensuring continuous and stable operation of the production line, preventing material accumulation or hopper emptying, and optimizing production efficiency. This method can adjust the target flow rate in real time based on changes in material characteristics and conveying conditions, thus offering greater dynamic adaptability. This helps maintain continuous and stable operation of the production line and reduces production interruptions caused by improper flow rates.

[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 automated 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 door 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 door 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 door 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 door 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 gate 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 gate opening is adjusted to the second opening value. That is, when the target inventory is large, the hopper gate opening value can be appropriately increased, and when the target inventory is small, the hopper gate opening value can be appropriately decreased. When the target flow rate is less than the first preset flow threshold, the hopper gate opening is adjusted according to the first adjustment rule until the difference between the target flow rate 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 rate is greater than the second preset flow threshold, the hopper gate opening is adjusted according to the second adjustment rule until the difference between the target flow rate 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 gate opening can be more accurately controlled, thereby achieving fine adjustment of the material discharge amount.

[0018] In the second aspect of the present application, a discharge control system is also provided for executing any of the aforementioned 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 material to the belt conveyor through the discharge port; the first laser scanning device is arranged above the funnel, for collecting first contour information of the material in the funnel, and transmitting the first contour information to the control device; the second laser scanning device is arranged above the belt conveyor, for collecting second contour information of the material transported on the belt of the belt conveyor, and transmitting 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 to 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 material 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 respectively used to collect first and second contour information and transmit them to the control device. The control device determines the target inventory of the hopper (i.e., the inventory of material in the hopper) based on the first contour information, and determines the target flow rate of the hopper (i.e., the discharge flow rate of the hopper) based on the second contour information. The control device also controls the material discharge of the hopper based on the target inventory and / or target flow rate. In other words, the laser scanning device automatically collects contour information of the material on the hopper and the belt conveyor. Based on the real-time collected contour information, the target inventory and target flow rate of the hopper can be accurately determined, thereby achieving precise control of the material discharge process, realizing automation and intelligence of the material discharge process, and significantly improving operational 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 thickness of the surrounding material accumulation of the funnel based on the first contour information and the third contour information, and when the thickness of the surrounding material accumulation 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.

[0021] By adopting the above technical solution, the discharge control system also includes a camber-breaking motor and a vibration device. The control device can also determine the thickness of material accumulation around the hopper based on the first and third profile information. The camber-breaking motor drives the vibration device to eliminate material camber within the hopper, effectively removing any remaining material from the hopper's inner wall. During the use of bulk terminal hoppers, material may accumulate (i.e., "camber") on the hopper's inner wall. Traditional discharge control methods often ignore this issue or rely solely on manual intervention, which can lead to poor material flow and affect discharge efficiency and accuracy. By monitoring the material accumulation thickness around the hopper in real time and automatically activating the camber-breaking motor when the accumulation exceeds the preset threshold, this camber-breaking phenomenon can be effectively eliminated, ensuring smooth material flow and improving discharge efficiency. By integrating the monitoring and elimination of material camber into automated control, the need for manual intervention is reduced, thereby enhancing the automation and intelligence of discharge control.

[0022] Optionally, the above system also includes: a camera device, wherein the camera device is connected to the control device, the camera device is used to capture images of the funnel and 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 the 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 the 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, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor implements any one of the above method steps when executing the program.

[0025] In a fourth aspect of the present application, a computer-readable storage medium is further provided. The computer-readable storage medium stores instructions. When the instructions are executed, any one 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:

[0027] 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 rate 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 operational efficiency;

[0028] 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, ensuring smooth material flow, thereby improving discharge efficiency, reducing the need for manual intervention, and improving the automation and intelligence level of discharge control;

[0029] 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

[0030] Figure 1 This is a flow chart of a material discharge control method provided in an embodiment of the present application;

[0031] 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;

[0032] Figure 3 This is an example diagram of a laser scanning scene provided in an embodiment of the present application;

[0033] Figure 4 This is a functional architecture diagram of an intelligent material discharge control system provided in an embodiment of the present application;

[0034] Figure 5 It is a structural diagram of an electronic device disclosed in an embodiment of the present application.

[0035] Description of reference numerals: 500 - electronic device; 501 - processor; 502 - communication bus; 503 - user interface; 504 - network interface; 505 - memory. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art 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.

[0037] In the description of the embodiments of this application, words such as "for example" or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "for example" or "for instance" in the embodiments of this application should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "for example" or "for instance" is intended to present the relevant concepts in a concrete manner.

[0038] 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 are not to be understood as indicating or implying relative importance or implicitly indicating the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of such features. The terms "include," "comprise," "have" and their variations all mean "including but not limited to," unless otherwise specifically emphasized.

[0039] This application provides a material discharge control method, referring to Figure 1 , Figure 1 This is a flow chart of a material discharge control method provided in an embodiment of the present application, comprising the following steps:

[0040] Step S101, obtaining first profile information and second profile information, wherein the first profile information is profile information of the material in the hopper collected by a first laser scanning device, and the second profile information is profile information of the material transported on a belt of a belt conveyor collected by a second laser scanning device, wherein the belt of the belt conveyor is located below the discharge port of the hopper;

[0041] 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;

[0042] Step S103: controlling the discharge of the hopper according to the target inventory and / or target flow rate.

[0043] 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 based on 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 based on 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 parameters), and then control the hopper discharge based on the target inventory and / or target flow rate. Specifically, a first laser scanning device and a second laser scanning device respectively collect first and second contour information in real time to determine the target inventory and target flow rate, which are then used to control the hopper discharge. This achieves hopper discharge control based on real-time operating conditions, avoiding the low level of intelligence and operational efficiency inherent in related technologies that rely primarily on manual operation. This improves the intelligence level of discharge control and improves discharge efficiency. Laser scanning devices automatically collect contour information of the material on the hopper and belt conveyor. Based on this real-time contour information, the target inventory and target flow rate in the hopper can be accurately determined, enabling precise control of the discharge process. This automates and intelligentizes the discharge process, significantly improving operational efficiency. This avoids hopper overload, emptying, or uneven discharge. This method dynamically adjusts the discharge strategy based on the material level in the hopper and the real-time status of material transportation on the belt conveyor, ensuring a stable and efficient 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.

[0044] 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.

[0045] In the above embodiment, the center material thickness of the hopper can be determined based on the first profile information. The target material level in the hopper can then be determined based on this center material thickness. For example, the volume of the material in the hopper corresponding to the first profile information can be calculated, and of course, the weight of the material in the hopper can also be calculated. By directly measuring this key parameter, the actual material level in the hopper can be more accurately reflected, allowing for a more reasonable target level to be set. This helps avoid problems such as hopper overload, emptying, or uneven material discharge caused by inaccurate target level settings. Determining the target level based on the center material thickness allows for more precise material discharge control. Because the center material thickness is directly related to the hopper capacity and material distribution, precise control of this parameter allows for fine-tuning of the material discharge process. Dynamically adjusting the target level based on real-time changes in the material thickness in the hopper enhances the adaptability and flexibility of the material discharge control system to varying operating conditions and material characteristics. This is of great significance for improving the automation and intelligence of the hopper discharge process at bulk terminals. 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.

[0046] In an optional embodiment, determining the center material thickness of the funnel based on the first contour information includes: determining the center material thickness based on 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.

[0047] In the above embodiment, the third profile information represents the profile of the hopper captured by the first laser scanning device when the hopper is empty. Specifically, using the empty hopper as a reference, the first profile information (i.e., scan data from a normal hopper operation) is compared with the third profile information to calculate the center thickness of the material within the hopper. By combining the first and third profile information, the actual distribution of material within the hopper, particularly the center thickness, can be more accurately determined. This helps eliminate measurement errors caused by hopper shape and edge effects, thereby improving measurement accuracy. Based on more accurate center thickness measurements, a more reasonable target inventory level can be set and used for material discharge control. This helps reduce problems such as uneven discharge, hopper overload, or empty hoppers caused by inaccurate target inventory settings, thereby improving the reliability of material discharge control. By incorporating the third profile information as a reference, this method achieves precise measurement and dynamic adjustment of material thickness within the hopper. This demonstrates the system's keen awareness and adaptability to real-time operating conditions, contributing to an enhanced level of intelligence within the hopper discharge system at bulk terminals. Because this method is independent of specific hopper shapes or material properties, it is highly versatile and scalable. It can be applied to different types of hoppers and materials, providing strong support for the intelligent transformation and upgrade of bulk terminals. For example, common hopper shapes include frustum, cylinder, or a frustum with a cylindrical upper portion.

[0048] In an optional embodiment, the above method also includes: determining the thickness of the material accumulation around the funnel based on the first contour information and the third contour information, wherein the thickness of the peripheral material accumulation is used to indicate the thickness of the material remaining on the inner wall of the funnel; when the thickness of the peripheral material accumulation is greater than or equal to a preset thickness threshold, turning on the arch-breaking motor, wherein the arch-breaking motor is used to drive a vibration device to eliminate the arching of the material in the funnel, and the vibration device is installed on the side wall of the funnel.

[0049] In the above embodiment, the thickness of the material accumulation around the funnel can also be determined based on the first profile information and the third profile information. The thickness of the material accumulation around the funnel refers to the thickness of the material remaining on the inner wall of the funnel. When the thickness of the material accumulation around the funnel 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 material in the funnel, that is, to remove the material remaining on the inner wall. In actual applications, the opening strategy of the arch-breaking motor can be set according to the thickness of the surrounding material accumulation, 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 material remaining on the inner wall of the funnel. Optionally, the vibration device can be installed on the inner or outer wall of the hopper, or one vibration device can be installed in different directions. In practical applications, for large hoppers, a vibration device can be installed in the east, south, west, and north directions, with each vibration device corresponding to an independent arch-breaking motor. In this way, when it is determined that there is a large amount of residual material on the inner wall in a certain direction based on the thickness of the surrounding material accumulation, the corresponding arch-breaking motor is turned on to drive the vibration device in that direction. During the use of bulk terminal hoppers, material may accumulate on the inner wall of the hopper (i.e., "arching"). Traditional discharge control methods often ignore this problem or only rely on manual intervention to solve it, which can lead to poor material flow and affect discharge efficiency and accuracy. By monitoring the material accumulation thickness around the hopper in real time and automatically activating the arch-breaking motor when the accumulation thickness exceeds a preset threshold, material arching can be effectively eliminated, ensuring smooth material flow and improving material discharge efficiency. Incorporating the monitoring and elimination of material arching into the scope of automated control reduces the need for manual intervention and improves the automation and intelligence level of material discharge control. Long-term material arching may damage the hopper structure, such as increasing stress concentration on the hopper sidewalls. By promptly eliminating arching, the hopper structure can be protected and its service life extended. By introducing an arch-breaking mechanism, this method enhances the system's ability to monitor and respond to material flow conditions, helping to improve the stability and reliability of the entire discharge system. Reducing material discharge problems and downtime caused by material arching can reduce the operating costs of bulk terminals.

[0050] 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.

[0051] In the above embodiment, the target flow rate can be determined based on the second profile information and the belt conveyor's belt speed, that is, the target flow rate is determined based on the second profile information of the material being transported on the belt and the belt conveyor's transport speed. During the material conveying process, reasonable control of the hopper flow rate is crucial to ensuring the continuous and stable operation of the production line, avoiding material accumulation or avoiding hopper emptying, and optimizing production efficiency. Traditional methods may rely solely on experience or simple sensor data to set the hopper flow rate. This method is often imprecise and difficult to adapt to changes in different material properties, conveying conditions, and production needs. This method can adjust the target flow rate in real time based on changes in material properties and conveying conditions, and therefore has greater dynamic adaptability, which helps maintain the continuous and stable operation of the production line and reduces production interruptions caused by improper flow rate. By precisely controlling the hopper flow rate, the smooth flow of materials during the conveying process can be ensured, reducing material accumulation and waste, while also reducing equipment wear and energy consumption, thereby optimizing production efficiency and costs.

[0052] 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.

[0053] In the above embodiment, the cross-sectional area of the material being 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 conveyor's belt speed, thereby achieving the purpose of real-time monitoring of the flow rate of the material being transported by the belt conveyor and the purpose of real-time monitoring of the discharge flow rate of the hopper. 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 errors caused by estimation or indirect measurement can be reduced. This can maintain the stable operation of the production line, reduce production interruptions or material accumulation caused by flow fluctuations, achieve automated control of the material conveying system, reduce manual intervention, and improve production efficiency and safety. This method can adapt to different types and states of materials and different conveying conditions, and has strong adaptability and flexibility.

[0054] 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, the hopper door opening is adjusted to a first opening value; when the target inventory is less than or equal to a second preset inventory threshold, the hopper door opening is adjusted 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, the hopper door opening is adjusted 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, the hopper door opening 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.

[0055] In the above embodiment, when the target inventory is greater than the first preset inventory threshold, the hopper door opening of the funnel 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 of the funnel is adjusted to the second opening value, that is, when the target inventory is large, the hopper door opening value can be appropriately increased; when the target inventory is small, the hopper door opening value can be appropriately reduced. At this time, the hopper can be controlled for feeding, 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 appropriately increased; when the target inventory is small, the hopper door opening value can be appropriately reduced. When the current hopper opening is within a preset inventory threshold, the current hopper opening can be maintained. The hopper opening is measured using a rope displacement sensor that measures the cylinder stroke. A rope displacement sensor is a device that measures linear displacement. It measures the distance an object moves by extending and retracting a stainless steel rope, converting this mechanical motion into an electrical signal output. Its operating principle is that the rope is connected to a threaded hub, which is connected to a precision rotation sensor. When the rope extends or retracts, it rotates the hub, which in turn rotates and outputs an electrical signal proportional to the distance the rope has moved. The hopper opening degree is measured using a rope displacement sensor connected to the piston rod of the cylinder. Movement of the cylinder piston rod moves the rope, which in turn rotates the hub of the rope displacement sensor. By measuring this rotation distance, the cylinder stroke can be determined, and the hopper opening degree can be inferred. When the target flow rate is less than a first preset flow rate threshold, the hopper gate opening is adjusted according to a first adjustment rule until the difference between the target flow rate and the first preset flow rate threshold is less than a preset flow rate error or the target inventory is less than a third preset inventory threshold. For example, the first adjustment rule may include gradually increasing the hopper gate opening according to a preset step size, or adjusting the hopper gate opening value at predetermined intervals. When the target flow rate is greater than a second preset flow rate threshold, the hopper gate opening is adjusted according to a second adjustment rule until the difference between the target flow rate and the second preset flow rate threshold is less than a preset flow rate error. For example, the second adjustment rule may include gradually decreasing the hopper gate opening according to a preset step size, or adjusting the hopper gate opening value at predetermined intervals. The first preset flow rate threshold is less than the second preset flow rate threshold. The first preset flow rate threshold and the second preset flow rate threshold constitute a reasonable flow rate range, which can also be understood as a user's requirement for normal transportation flow rate, and flow rates outside this range require adjustment.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 promptly 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, and waste can be reduced; by optimizing the discharge process, unnecessary energy consumption and material waste can be reduced, and production costs can be reduced; it also realizes the automation and intelligent control of the funnel discharge process, improving the intelligence level of the production line.

[0056] The present application also provides a material discharge control system for executing the material discharge control method in any of the aforementioned embodiments, comprising: a hopper, a first laser scanning device, a second laser scanning device, a belt conveyor, and a control device, wherein:

[0057] The belt conveyor is arranged below the discharge port of the hopper, and the hopper discharges the material to the belt conveyor through the discharge port;

[0058] 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;

[0059] 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;

[0060] The control device is connected to both the first laser scanning device and the second laser scanning device, and is used to determine a target inventory of the funnel according to the first profile information, and to determine a target flow rate of the funnel according to the second profile information;

[0061] 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.

[0062] In the above embodiment, the discharge control system includes a funnel, 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 first profile information and second profile information respectively, and transmit them to the control device. The control device determines the target inventory of the funnel according to the first profile information, that is, the inventory of the material in the funnel, and determines the target flow of the funnel according to the second profile information, that is, the discharge flow of the funnel. 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 parameters). The control device also controls the hopper discharge based on the target inventory and / or target flow rate. Specifically, the first and second laser scanning devices respectively collect first and second contour information in real time to determine the target inventory and target flow rate, and then control the hopper discharge. This achieves hopper discharge control based on real-time operating conditions, avoiding the low level of intelligence and operational efficiency inherent in related technologies that rely primarily on manual operation. This improves the intelligence level of discharge control and improves discharge efficiency. Laser scanning devices automatically collect contour information of the material on the hopper and belt conveyor. Based on this real-time contour information, the target inventory and target flow rate in the hopper can be accurately determined, enabling precise control of the discharge process. This automates and intelligentizes the discharge process, significantly improving operational efficiency. This avoids hopper overload, emptying, or uneven discharge. This method dynamically adjusts the discharge strategy based on the material level in the hopper and the real-time status of material transport on the belt conveyor, ensuring a stable and efficient 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.

[0063] 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 thickness of the surrounding material accumulation of the funnel based on the first contour information and the third contour information, and when the thickness of the surrounding material accumulation is greater than or equal to a preset thickness threshold, the arch-breaking motor is turned on and the vibration device is controlled to vibrate to eliminate the arching of the material in the funnel.

[0064] In the above embodiment, the above-mentioned discharge control system also includes an arch-breaking motor and a vibration device. The control device can also determine the thickness of the surrounding material accumulation of the funnel based on the first profile information and the third profile information. The thickness of the surrounding material accumulation refers to the thickness of the material remaining on the inner wall of the funnel. When the thickness of the surrounding material accumulation 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 material in the funnel, that is, to remove the remaining material on the inner wall. In actual applications, the opening strategy of the arch-breaking motor can be set according to the thickness of the surrounding material accumulation, 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 material on the inner wall of the funnel. Optionally, the vibration device can be installed on the inner or outer wall of the hopper, or one vibration device can be installed in different directions. In practical applications, for large hoppers, a vibration device can be installed in the east, south, west, and north directions, with each vibration device corresponding to an independent arch-breaking motor. In this way, when it is determined that there is a large amount of residual material on the inner wall in a certain direction based on the thickness of the surrounding material accumulation, the corresponding arch-breaking motor is turned on to drive the vibration device in that direction. During the use of bulk terminal hoppers, material may accumulate on the inner wall of the hopper (i.e., "arching"). Traditional discharge control methods often ignore this problem or only rely on manual intervention to solve it, which can lead to poor material flow and affect discharge efficiency and accuracy. By monitoring the material accumulation thickness around the hopper in real time and automatically activating the arch-breaking motor when the accumulation thickness exceeds a preset threshold, material arching can be effectively eliminated, ensuring smooth material flow and improving material discharge efficiency. Incorporating the monitoring and elimination of material arching into the scope of automated control reduces the need for manual intervention and improves the automation and intelligence level of material discharge control. Long-term material arching may damage the hopper structure, such as increasing stress concentration on the hopper sidewalls. By promptly eliminating arching, the hopper structure can be protected and its service life extended. By introducing an arch-breaking mechanism, this method enhances the system's ability to monitor and respond to material flow conditions, helping to improve the stability and reliability of the entire discharge system. Reducing material discharge problems and downtime caused by material arching can reduce the operating costs of bulk terminals.

[0065] In an optional embodiment, the above-mentioned system also includes: a camera device, wherein the camera device is connected to the control device, and the camera device is used to collect images of the funnel and 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 the preset range, the control device is also used to control the system to stop urgently.

[0066] In the above embodiment, the discharge control system further includes a camera device for capturing images of the funnel and the surrounding area within a preset range to obtain a target image and transmit it to the control device. When the control device determines based on the target image that there is a foreign object in the funnel or a target object within a preset range, the target object may be a person, an animal, or other object, and the control system stops urgently, i.e., triggers the emergency stop function to avoid accidents. By introducing a camera device, image capture of the funnel and the surrounding area within a preset range is achieved, providing a real-time visual monitoring method for the control device. This enables the system to promptly detect and identify foreign objects in the funnel or abnormal conditions in the surrounding environment, thereby enhancing the comprehensiveness and accuracy of safety monitoring. In the event that a safety hazard is determined 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 safety accidents and protect the safety of personnel and equipment.

[0067] It should be noted that the above-described embodiments are only part of the embodiments of the present application, rather than all the embodiments. The present application will be described in detail below with reference to specific embodiments.

[0068] The present invention provides a method and method for intelligent material discharge control of a bulk cargo terminal hopper. Figure 2 This diagram illustrates an application scenario for an intelligent material discharge control system provided by an embodiment of this application. This diagram uses the implementation of intelligent duplex hopper control as an example. The overall concept is to ensure that the process flow rate is within a set range, that the hopper discharge flow rate matches the hopper material level, and that the hopper is emptied less frequently, thereby reducing the frequency of activating the empty hopper arch-breaking motor. This embodiment of this application is applicable to material conveying systems, such as those for conveying coal, ore, or other materials.

[0069] The intelligent discharge control system and method are now described in detail from the following aspects.

[0070] 1. Funnel discharge flow measurement

[0071] The hopper discharge flow rate can be measured by the hopper opening and the material accumulation height on the conveyor belt downstream of the hopper outlet. The hopper opening is measured using a pull-rope displacement sensor to measure the cylinder stroke. This sensor requires a measurement distance of at least 2m and an accuracy of no more than 2mm. When operating with highly viscous materials, the hopper opening is not proportional to the flow rate, often resulting in inaccurate flow rate determination. Other methods for determining flow rate magnitude are visual inspection or laser measurement. While feasible, visual inspection is limited in processing speed by complex algorithms such as texture feature extraction and camera calibration, making it inadequate for real-time conveyor material flow acquisition. Therefore, this method is not considered. Laser measurement technology is a highly efficient, high-precision, and real-time method for monitoring bulk volume. Laser measurement is less affected by bulk material texture characteristics.

[0072] Prioritize laser contour scanning for material flow measurement. Install a laser volume scanner (or distance scanner) above the hopper conveyor's inlet and outlet to measure the material accumulation profile. The installation position and height should ensure the scanner can simultaneously scan both belts. The material's cross-sectional area is calculated from the material accumulation profile, and the cross-sectional area, combined with the belt speed, forms the material volume flow rate. Because the belt conveyor's trough is essentially fixed, the flow rate corresponding to the outer contour area of the outlet or the current hopper discharge flow rate (the difference between the inlet and outlet flow rates) can be determined using an algorithm. Two belts are used as an example here, but a single belt could also be used, and this application is not limited to 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.

[0073] The basic principle of laser scanning is achieved 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 on the horizontal section of the belt conveyor and aimed vertically downward at the material so that the direction of the material flow remains 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.

[0074] If laser scanning equipment is used to measure hopper materials, it is necessary to consider whether water mist generated during material discharge will affect laser measurement. Technical requirements for laser scanning equipment: a horizontal scanning range greater than 180°, an accuracy of no more than 2cm, and an automatic electric door that opens automatically during operation to maximize protection for the laser scanner lens.

[0075] 2. Funnel cargo inventory measurement

[0076] The most direct way to measure hopper cargo inventory is to install weighing or strain gauge sensors on the columns or hopper frame base. The biggest drawbacks of these two solutions are the high cost of retrofitting and the relatively abstract data on hopper contents, which cannot be displayed intuitively. Another method uses a belt conveyor contour scanning method to measure the actual hopper inventory. The scanning laser detector is installed on the east and west railings of the circular platform. After the gantry crane moves into position, the detector automatically focuses on the hopper mouth. After focusing, a scan of the empty hopper is completed. The empty hopper is used as a reference for comparison with the scanned data from normal operation to calculate the volume under the contour, and the material inventory inside is estimated based on this volume. The hopper material inventory is a reference value, which controls the hopper flow rate and whether the hopper arch breaking motor is on. The laser scanning method measures the thickness of the material accumulation around the hopper and the thickness of the material in the hopper center. The thickness of the material in the center corresponds to the hopper inventory, and the inventory level determines the hopper door opening (current hopper flow). The thickness of the material around the hopper determines whether the arch breaking motor is on and which side it is on (north-south or east-west).

[0077] If laser scanning equipment is used to measure hopper materials, it is necessary to consider whether water mist generated during material discharge will affect laser measurement. The laser scanning equipment and the hopper must be kept relatively stationary at all times. Any changes in relative position require recalibration of the laser equipment. Technical requirements for laser scanning equipment include: a scanning distance greater than 80m, horizontal and vertical scanning angles greater than 50°, an angular resolution greater than 0.2°, and a stainless steel protective housing to maximize protection for the laser scanner lens.

[0078] 3. Data transmission system

[0079] A control box is set up on the ground, which contains PLC modules, industrial computers, switches, fiber optic transceivers, etc. All new equipment is connected to the control box via wired connections and then transmitted to the remote control room via optical fiber.

[0080] 4. System display

[0081] 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, rotary anchors, etc. are displayed using button colors. Here, the intelligent discharge control of 8 funnels at the same time is taken as an example. In actual applications, it can also be one funnel or other 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 is in a blind discharge state for a long time. The arch breaking motor is turned on more casually, and the empty bucket is often opened and vibrated, causing vibration and cracking in multiple parts of the funnel.

[0082] Developed in Python and C++, the new system uses a three-dimensional interface to display information such as the material level in each hopper, discharge flow rate, debulking motor status, and operational processes. Hopper elements are displayed as icons on the window, and remote control is achieved by clicking buttons on the icons. The system can obtain action signals from existing programmable control systems and PLC systems, including the feeder, debulking motor, rotating mechanism, lighting, and sprinkler system, and simultaneously control the actions of these mechanisms.

[0083] 5. Intelligent discharge of funnel

[0084] (1) The ratio of the volume of the material stored in the funnel to the volume of the discharge port determines the feeding capacity provided by the funnel.

[0085] a. Hopper inventory: The hopper capacity data is obtained by the laser scanning radar above the hopper. The data is transmitted to the hopper fiber optic network via a wireless network, and then sent to the calculation software in real time to convert the inventory weight.

[0086] b. Funnel flow: Scanning radars on both sides of the funnel discharge belt conveyor measure flow data, and real-time data is connected to the funnel optical fiber network via wired access.

[0087] 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 the materials per unit time. The specific gravity of the goods is used as the conversion unit for the system funnel inventory.

[0088] (2) Process flow setting

[0089] The central control operator sets the current process flow according to the large-scale loading and unloading process, material characteristics and process throughput capacity. After the flow is set, it is autonomously controlled by the system.

[0090] (3) Funnel opening setting

[0091] 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 solenoid valve jogs), and the one with greater output is loaded more. During operation, try to ensure that the hopper is not empty and the process flow is kept stable.

[0092] (4) Arch breaking motor starts

[0093] a. The arch breaking motor starts according to the viscosity coefficient of the cargo, and starts separately in the north-south and east-west directions. For cargo with high viscosity, it starts intermittently in the north-south and east-west directions; for cargo with strong passing ability, it starts regularly according to the set time.

[0094] b. It is forbidden to start the hopper when the hopper is empty or the hopper body vibrates violently (a vibration detection sensor can be installed to limit the start of the arch breaking motor).

[0095] 6. Functional Architecture

[0096] Figure 4 This is a functional architecture diagram of an intelligent material discharge control system provided by an embodiment of the present application, such as Figure 4 As 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.

[0097] 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 development, this 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 signal integration platform for the two systems.

[0098] Optionally, machine learning algorithms can be introduced to enhance the intelligence of the control system. The controller collects historical and real-time discharge data and uses machine learning algorithms to continuously optimize the discharge strategy, enabling the system to self-adjust based on actual operating conditions. Furthermore, to ensure operational safety, emergency stop and fault self-diagnosis functions are implemented. When sensors detect an abnormality, such as a hopper overload or a clogged discharge port, the controller immediately triggers an emergency stop and initiates fault self-diagnosis, helping staff quickly locate and resolve the issue. The system also activates an emergency stop when cameras detect foreign objects or the presence of patrol personnel within a dangerous area.

[0099] For example, at a bulk cargo terminal, an intelligent unloading control system was installed, consisting of cameras, temperature and humidity sensors, weight sensors, position sensors, electric actuators, and an intelligent controller. The system first collects data through sensors. Based on this data, the controller uses a machine learning algorithm to calculate the optimal unloading strategy and adjusts the opening of the unloading port in real time through the electric actuator. The system also features emergency stop and fault self-diagnosis functions to ensure safe and reliable operations.

[0100] 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.

[0101] The present application also provides a computer-readable storage medium, which stores instructions. When the instructions are executed, any one of the above-mentioned method steps is executed.

[0102] 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.

[0103] This application also discloses an electronic device. Figure 5 As shown, Figure 5 Schematic diagram of the structure of an electronic device disclosed in an embodiment of the present application. 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.

[0104] The communication bus 502 is used to implement the connection and communication between these components.

[0105] 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.

[0106] The network interface 504 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0107] The processor 501 may include one or more processing cores. The processor 501 utilizes various interfaces and circuits to connect various components within the electronic device (e.g., a server). It executes instructions, programs, code sets, or instruction sets stored in the memory 505 and accesses data stored in the memory 505 to perform various server functions and process data. Optionally, the processor 501 may be implemented using at least one of the following hardware forms: a digital signal processing (DSP), a field-programmable gate array (FPGA), or a programmable logic array (PLA). The processor 501 may integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. The CPU primarily processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing content displayed on the display; and the modem handles wireless communications. It is understood that the modem may also be implemented as a separate chip, rather than integrated into the processor 501.

[0108] Among them, the memory 505 may include a random access memory (RAM) or 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. Reference Figure 5 , as a computer storage medium, the memory 505 may include an operating system, a network communication module, a user interface module and an application program of a material discharge control method.

[0109] exist Figure 5In 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 simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should know that this application is not limited to the described order of actions, because according to this 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 this application.

[0110] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0111] 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 merely schematic, such as the division of units, which is only a logical function division. In actual implementation, there may be other division methods, 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 interface, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0112] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0113] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0114] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of this application, or the portion that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions for causing 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 method of this application. The aforementioned memory includes various media that can store program code, such as USB flash drives, mobile hard drives, magnetic disks, or optical disks.

[0115] The foregoing is merely an exemplary embodiment of the present disclosure and is not intended to limit the scope of the present disclosure. In other words, any equivalent variations and modifications made in accordance with the teachings of the present disclosure are still within the scope of the present disclosure. Those skilled in the art will readily conceive of other embodiments of the present disclosure after considering the disclosure and the practical implications thereof.

[0116] This application is intended to cover any modifications, uses or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary technical means in the technical field not described in the present disclosure.

Claims

1. A material discharge control method, characterized in that: include: Acquiring first profile information and second profile information, wherein the first profile information is profile information of the material in the hopper collected using a first laser scanning device, and the second profile information is profile information of the material transported on a belt of a belt conveyor collected using a second laser scanning device, wherein the belt of the belt conveyor is located below a material outlet of the hopper; determining a target inventory of the hopper according to the first profile information, and determining a target flow rate of the hopper according to the second profile information; Controlling the discharge of the hopper according to the target inventory and the target flow rate; The method further includes: determining the thickness of material accumulation around the funnel based on the first profile information and the third profile information, wherein the thickness of the material accumulation around the funnel is used to represent the thickness of the material remaining on the inner wall of the funnel, and the third profile information is the profile information of the funnel collected by the first laser scanning device when the funnel is empty; when the thickness of the material accumulation around the funnel is greater than or equal to a preset thickness threshold, starting an 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; The method of controlling the discharge of the hopper according to the target inventory and the target flow rate includes: When the target inventory level is greater than a first preset inventory level threshold, the hopper door opening is adjusted to a first opening value; when the target inventory level is less than or equal to a second preset inventory level threshold, the hopper door opening is adjusted to a second opening value, wherein the second preset inventory level threshold is less than the first preset inventory level 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 door 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, wherein the first adjustment rule is used to indicate that the hopper door opening is gradually increased according to a preset step size; when the target flow rate is greater than the second preset flow rate threshold, the hopper door 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, wherein the second adjustment rule is used to indicate that the hopper door opening is gradually reduced according to a preset step size.

2. The method according to claim 1, characterized in that Determining a target inventory of the hopper according to the first profile information includes: determining the central material thickness of the funnel according to the first profile information; The target inventory is determined according to 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 profile information and the third profile information.

4. The method according to claim 1, wherein 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.

5. The method according to claim 4, 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.

6. A material discharge control system, characterized in that: The method for executing the material discharge control method according to any one of claims 1 to 5 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 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 is used to determine a target inventory of the funnel according to the first profile information, and to determine a target flow rate of the funnel according to the second profile 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 the target flow rate; The system further 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 further used to determine the accumulation thickness of the surrounding material of the funnel based on the first profile information and the third profile information, and when the accumulation thickness of the surrounding material 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; The control device is used to control the discharge of the hopper according to the target inventory and the target flow rate, including: When the target inventory level is greater than a first preset inventory level threshold, the hopper door opening is adjusted to a first opening value; when the target inventory level is less than or equal to a second preset inventory level threshold, the hopper door opening is adjusted to a second opening value, wherein the second preset inventory level threshold is less than the first preset inventory level 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 door 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, wherein the first adjustment rule is used to indicate that the hopper door opening is gradually increased according to a preset step size; when the target flow rate is greater than the second preset flow rate threshold, the hopper door 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, wherein the second adjustment rule is used to indicate that the hopper door opening is gradually reduced according to a preset step size.

7. The system according to claim 6, characterized in that The system further comprises: a camera device, wherein: The camera device is connected to the control device, and is used to capture 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; When 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.

Images