A fully automatic control method for quantitative loading of aggregates and sand and gravel

Abstract

The embodiment of the present application relates to the technical field of transportation and loading, and discloses a fully automatic control method for quantitative loading of aggregates and sand and gravel. The method first requires the user to make an appointment for loading in advance through an APP, and fill in the sand and gravel specifications, quantity and vehicle information; the system allocates a loading workshop number according to the appointment information, and notifies the user through the APP; when the reserved vehicle arrives at the designated loading space, the system automatically opens the unloading port at the bottom of the finished product silo to start loading; during the loading process, the system obtains the loading information in real time, and controls the distribution trolley to reciprocate on the track accordingly to evenly distribute the material; when the unloading quantity reaches the reserved sand and gravel quantity, the system automatically stops unloading and completes the loading. In this way, through automated control and real-time information management, the precise, efficient and safe quantitative loading of aggregates and sand and gravel is achieved, and the overall service quality and user experience are improved.

Description

Technical Field

[0001] The invention relates to the technical field of transport loading, and in particular to a full-automatic control method for quantitative loading of aggregates and sand and gravel. Background Art

[0002] In the current sand and gravel aggregate production and logistics field, traditional loading operations mostly rely on manual operations, which is not only inefficient, but also prone to errors due to human factors, affecting the accuracy and timeliness of loading. Especially in large-scale sand and gravel aggregate production bases, a large number of loading requests need to be processed every day. Manual operations are difficult to cope with such high-intensity operation requirements, and also increase labor costs and safety risks.

[0003] With the continuous development of information technology and automation technology, more and more companies are beginning to explore automated and intelligent loading solutions. However, most of the existing automated loading systems are still in the early stages and can only achieve simple mechanized operations, lacking intelligent scheduling and control. This results in the need for manual intervention during the loading process to ensure the accuracy and efficiency of loading, and has failed to truly achieve fully automated and intelligent loading operations. Summary of the invention

[0004] The main purpose of the present invention is to provide a fully automatic control method for quantitative loading of aggregates and sand and gravel, aiming to solve the technical problem that manual intervention is required in the prior art to ensure the accuracy and efficiency of loading, and the fully automated and intelligent loading operation cannot be truly realized.

[0005] To achieve the above-mentioned purpose, in a first aspect, an embodiment of the present application provides a fully automatic control method for quantitative loading of aggregates and sand and gravel, which is applied to an automatic loading system, wherein the automatic loading system includes a track assembly and a material distribution trolley slidably connected to the track assembly, and the method includes:

[0006] Obtain loading appointment information, which is the appointment information filled in by the target user when making an advance appointment on the APP, including sand and gravel specification information, sand and gravel quantity information and vehicle information;

[0007] Allocate a designated loading workshop number according to the loading reservation information and return it to the target user through the APP;

[0008] In response to the target vehicle corresponding to the vehicle information arriving at the designated loading parking space of the loading workshop, the unloading port at the bottom of the finished product silo is opened to load sand and gravel;

[0009] During the sand and gravel loading process, the sand and gravel loading speed and the moving speed of the material distribution trolley are obtained. The sand and gravel loading speed represents the amount of material discharged per unit time from the discharge port at the bottom of the finished product silo;

[0010] Determine the round-trip movement cycle of the material distribution trolley on the track according to the sand and gravel loading speed and the moving speed of the material distribution trolley; and control the material distribution trolley to reciprocate on the track to unload materials according to the round-trip movement cycle;

[0011] When the unloading quantity meets the sand and gravel quantity in the reservation information, stop unloading to complete the sand and gravel loading.

[0012] In a possible implementation, in response to the target vehicle corresponding to the vehicle information arriving at the designated loading parking space of the loading workshop, before opening the unloading port at the bottom of the finished product silo to load sand and gravel, the method includes:

[0013] Obtaining the size information of the cargo box of the target vehicle and estimating the cargo carrying capacity of the target vehicle according to the size information;

[0014] According to the cargo carrying capacity of the target vehicle, the amount of sand and gravel in the loading reservation information, and the customer's pre-deposit, assess whether the remaining amount is sufficient to fully load the vehicle;

[0015] In the case where the customer's pre-deposit is not sufficient for the vehicle to be fully loaded, an early warning signal is triggered, and the early warning signal is used to remind the driver of the target vehicle and the management personnel in the main control room that the vehicle cannot be fully loaded.

[0016] In a possible implementation, in response to the target vehicle corresponding to the vehicle information arriving at the designated loading parking space of the loading workshop, before opening the unloading port at the bottom of the finished product silo to load sand and gravel, the method includes:

[0017] Acquire the size information of the bucket of the target vehicle, wherein the size information includes length information and width information;

[0018] Determine the length range and width range of the target vehicle bucket according to the length information and the width information;

[0019] Determine whether the moving range of the material distribution trolley is within the length range and width range of the bucket of the target vehicle;

[0020] Make sure that the moving range of the material distribution trolley is within the length and width of the target vehicle bucket, and open the bottom discharge port of the finished product silo to load sand and gravel.

[0021] In a possible implementation, after determining whether the moving range of the material distribution trolley is within the length range and width range of the bucket of the target vehicle, the method further includes:

[0022] Determine that the moving range of the material distribution trolley is not within the length range and / or the width range of the target vehicle bucket, and adjust the initial position of the material distribution trolley so that the moving range of the material distribution trolley is within the length range and the width range of the target vehicle bucket.

[0023] In a possible implementation, obtaining the size information of the bucket of the target vehicle includes:

[0024] When the scale weighs the target vehicle, the laser radar device is started to perform a three-dimensional scan on the target vehicle to obtain three-dimensional point cloud data of the vehicle;

[0025] Use image processing algorithms to perform clustering and filtering on the 3D point cloud data to identify and extract the 3D point cloud data of the target vehicle's cargo box;

[0026] Convert the three-dimensional point cloud data of the target vehicle's bucket into a projection coordinate system to calculate the size information of the target vehicle's bucket;

[0027] Verifying the size information of the bucket of the target vehicle according to the weighing result of the target vehicle weighed by the scale;

[0028] If the verification is successful, the calculated size information of the target vehicle bucket is used as the size information of the target vehicle bucket.

[0029] In a possible implementation manner, the sand and gravel quantity information includes sand and gravel weight information and / or sand and gravel volume information.

[0030] In a possible implementation, determining the round trip movement period of the material distribution trolley on the track according to the sand and gravel loading speed and the moving speed of the material distribution trolley includes:

[0031] The sand and gravel loading speed and the moving speed of the material distribution trolley are input into the pre-trained round-trip movement cycle prediction model to obtain the round-trip movement cycle of the material distribution trolley on the track. The round-trip movement cycle prediction model satisfies the following expression:

[0032] ;

[0033] in, is the sand and gravel loading speed, the volume or weight of the material discharged per unit time; is the moving speed of the material distribution trolley, the speed at which the trolley travels on the track; A is the loading area covered by the material distribution trolley in a single trip; is the loading efficiency coefficient, which characterizes the loss and uniformity during the material distribution process, and its value range is between 0 and 1; K is the adjustment coefficient used to adjust the round trip cycle Control within a reasonable range.

[0034] In a possible implementation, the sand and gravel loading process also includes:

[0035] When the speed of loading sand and gravel or the moving speed of the material distribution trolley is abnormal, the image information of the sand and gravel surface during the loading process is obtained;

[0036] Extracting shape information of the sand and gravel surface according to the image information of the sand and gravel surface, wherein the shape information of the sand and gravel loading surface is used to feedback whether there are crests and troughs on the sand and gravel loading surface, and the height difference between the crests and troughs in the depth direction;

[0037] When it is determined that the height difference between the crest and the trough of the sand and gravel loading surface in the depth direction is greater than or equal to a preset height value, the material distribution trolley is controlled to move from the crest position to the trough position.

[0038] In a second aspect, an embodiment of the present application further provides an automatic loading system, comprising a memory and a processor, wherein the memory is used to store program codes, and the processor is used to call the program codes to execute the method described in the first aspect.

[0039] Different from the prior art, the fully automatic control method for quantitative loading of aggregates and sand and gravel provided in the embodiment of the present application first obtains the loading appointment information, which is the appointment information filled in by the target user when making an advance appointment on the APP, including sand and gravel specification information, sand and gravel quantity information and vehicle information; then the designated loading workshop number is allocated according to the loading appointment information and returned to the target user through the APP; then, in response to the target vehicle corresponding to the vehicle information arriving at the loading space of the designated loading workshop, the unloading port at the bottom of the finished material silo is opened to load sand and gravel; the sand and gravel loading information is obtained in real time during the sand and gravel loading process, and the material distribution trolley is controlled to reciprocate on the track to unload according to the sand and gravel loading information; finally, when the unloading quantity meets the sand and gravel quantity in the appointment information, the unloading is stopped to complete the sand and gravel loading. That is, users make an appointment for loading in advance through the APP, fill in the sand and gravel specifications, quantity and vehicle information; the system assigns a loading workshop number based on the appointment information and notifies the user through the APP; when the scheduled vehicle arrives at the designated loading space, the system automatically opens the unloading port at the bottom of the finished product silo to start loading; during the loading process, the system obtains loading information in real time, and controls the material distribution trolley to travel back and forth on the track accordingly to evenly distribute the material; when the unloading quantity reaches the scheduled sand and gravel quantity, the system automatically stops unloading and completes loading. In this way, through automated control and real-time information management, the precise, efficient and safe quantitative loading of aggregates and sand and gravel is achieved, improving the overall service quality and user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0041] Figure 1 This is a schematic diagram of the planar structure of the automatic loading system in some embodiments of the present application;

[0042] Figure 2 This is a schematic flow chart of a fully automatic control method for quantitative loading of aggregates and sand and gravel in some embodiments of the present application;

[0043] Figure 3 This is a schematic diagram of the hardware structure of the automatic loading system in some embodiments of the present application.

[0044] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0047] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, "and / or" in the full text includes three solutions. Taking A and / or B as an example, it includes technical solution A, technical solution B, and technical solution that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0048] In the current sand and gravel aggregate production and logistics field, traditional loading operations mostly rely on manual operations, which is not only inefficient, but also prone to errors due to human factors, affecting the accuracy and timeliness of loading. Especially in large-scale sand and gravel aggregate production bases, a large number of loading requests need to be processed every day. Manual operations are difficult to cope with such high-intensity operation requirements, and also increase labor costs and safety risks.

[0049] With the continuous development of information technology and automation technology, more and more companies are beginning to explore automated and intelligent loading solutions. However, most of the existing automated loading systems are still in the early stages and can only achieve simple mechanized operations, lacking intelligent scheduling and control. This results in the need for manual intervention during the loading process to ensure the accuracy and efficiency of loading, and has failed to truly achieve fully automated and intelligent loading operations.

[0050] In view of the above problems, the present application proposes a fully automatic control method for quantitative loading of aggregates and sand and gravel, which can be applied to an automatic loading system, which includes a track assembly and a material distribution trolley slidably connected to the track assembly, such as Figure 1 As shown, Figure 1 This is a schematic diagram of the planar structure of the automatic loading system in some embodiments of the present application. When the target vehicle arrives at the loading workshop, the slide rail assembly (including the first slide rail 300 and the second slide rail 400) automatically extends above the target vehicle's bucket 200, and the material distribution trolley 500 is slidably connected to the second slide rail 400, and the second slide rail 400 is slidably connected to the first slide rail 300, so that the material distribution trolley 500 can move in the length direction and width direction of the vehicle to distribute the material evenly. The material distribution trolley 500 is also connected to a sand and gravel introduction pipe (not shown), which introduces the sand and gravel in the finished product silo into the distribution trolley 500 for distribution and loading.

[0051] like Figure 1-Figure 2 As shown, the following takes the automatic loading system to perform the fully automatic control method for quantitative loading of aggregates and sand and gravel as an example for explanation. It should be noted that although the logical sequence is shown in the flow chart, in some cases, the steps shown or described can be performed in a different order from here. Figure 2 The method includes the following steps S100 to S600:

[0052] S100, obtaining loading appointment information, wherein the loading appointment information is the appointment information filled in by the target user when making an advance appointment on the APP, including sand and gravel specification information, sand and gravel quantity information, and vehicle information;

[0053] Specifically, before loading, users can fill in the corresponding sand and gravel specification information, sand and gravel quantity information and vehicle information in the sand and gravel aggregate reservation APP to make a sand and gravel loading reservation. Sand and gravel specification information includes sand and gravel types (such as crushed stone, river sand, machine-made sand, etc.), particle size (such as 5-10mm, 10-20mm, etc.), quality grade, etc.; sand and gravel quantity information can be weight (such as tons) or volume (such as cubic meters), etc.; vehicle information can include license plate number, vehicle full load weight and truck bucket size, etc. After the APP background receives the relevant information, the automatic loading system can obtain the loading reservation information.

[0054] S200, allocating a designated loading workshop number according to the loading reservation information and returning it to the target user via the APP;

[0055] In step S200, the reservation interface on the backend server receives the reservation request from the APP, parses the user-filled data in the request body, and extracts key information such as sand and gravel specifications, quantity, and vehicle information. The system verifies the received information to ensure that they comply with business logic and database constraints. After verification, the reservation information is stored in the database and a unique reservation ID is generated. According to the sand and gravel specifications, quantity, and vehicle information in the reservation information, the system automatically calculates the required sand and gravel loading volume and loading strategy. At the same time, the system assigns a suitable loading workshop and time period to the reservation based on the current usage of the loading workshop. Finally, the system returns the assigned workshop number, estimated loading time, and other information to the APP and displays it on the user interface. At the same time, the system begins to prepare for loading tasks, including scheduling loading equipment, preparing sand and gravel, etc.

[0056] S300, in response to the target vehicle corresponding to the vehicle information arriving at the designated loading parking space of the loading workshop, opening the unloading port at the bottom of the finished product silo to load sand and gravel;

[0057] When the target vehicle enters the loading workshop and parks at the designated loading space, the system automatically identifies the vehicle through license plate recognition technology (such as cameras and license plate recognition algorithms) or RFID technology (if the vehicle is bound to an RFID tag during the reservation).

[0058] In step S300, the system verifies whether the vehicle matches the vehicle information in the reservation information, including the license plate number, vehicle type, etc. Once the vehicle identity is confirmed, the system automatically retrieves the reservation information associated with the vehicle, including the sand and gravel specifications, quantity, vehicle full load weight, and truck bucket size. The system also checks the reservation status to ensure that the reservation is still valid and has not been canceled or changed. Based on the sand and gravel specifications and quantity in the reservation information, the system determines the location and size of the finished product silo and its discharge port that need to be opened. At the same time, the system checks the equipment status of the loading workshop to ensure that key equipment such as loaders and conveyor belts are in good working condition. If necessary, the system can also adjust the environmental parameters of the loading workshop, such as lighting, ventilation, etc., to optimize the loading process. When everything is ready, the system automatically opens the discharge port at the bottom of the finished product silo and starts loading sand and gravel into the truck bucket of the target vehicle.

[0059] In one embodiment, the step S300: in response to the target vehicle corresponding to the vehicle information arriving at the designated loading parking space of the loading workshop, before opening the unloading port at the bottom of the finished product silo to load the sand and gravel, includes:

[0060] Obtaining the size information of the cargo box of the target vehicle and estimating the cargo carrying capacity of the target vehicle according to the size information;

[0061] According to the cargo carrying capacity of the target vehicle, the amount of sand and gravel in the loading reservation information, and the customer's pre-deposit, assess whether the remaining amount is sufficient to fully load the vehicle;

[0062] In the case where the customer's pre-deposit is not sufficient for the vehicle to be fully loaded, an early warning signal is triggered, and the early warning signal is used to remind the driver of the target vehicle and the management personnel in the main control room that the vehicle cannot be fully loaded.

[0063] Specifically, when the target vehicle arrives at the designated loading space, the system first obtains the size information of the truck bed, including length, width and height, through sensors (such as laser rangefinders, cameras combined with image processing algorithms, etc.) or manual input by the driver. Then, the system estimates the cargo capacity of the target vehicle based on the obtained truck bed size information, using geometric calculations or a predefined vehicle model database. This step is crucial for the subsequent determination of the gravel loading volume and avoiding overloading. The system then calculates the amount to be paid based on the gravel quantity information in the loading reservation information (converted into volume or weight units, depending on the system configuration) and the estimated cargo capacity. Then, the system checks the customer's deposit balance to assess whether it is sufficient to pay for the full load of gravel. If the customer's deposit is not sufficient to pay for the full load of gravel, the system immediately triggers an early warning signal. The early warning signal can be conveyed to the driver of the target vehicle and the general control room manager in a variety of ways, including but not limited to APP push notifications, flashing indicator lights on the loading space, warning messages on the display screen in the general control room, etc. The warning signal can contain clear information, indicating the reason why the vehicle cannot be fully loaded (insufficient deposit) and possible solutions (such as recharging the deposit, reducing the loading volume, etc.). After receiving the warning signal, the driver can choose to recharge the deposit immediately to continue loading the vehicle with a full load, or accept the suggestion to reduce the loading volume to avoid additional costs. The management personnel in the control room can understand the situation of each loading space in real time through the monitoring system, and provide assistance or guidance when necessary. If the driver chooses to recharge the deposit and successfully completes the payment, the system will continue to execute the original loading plan. If the driver chooses to reduce the loading volume, the system should adjust the unloading strategy and the sand and gravel loading volume according to the new loading requirements.

[0064] In another embodiment, the step S300: in response to the target vehicle corresponding to the vehicle information arriving at the designated loading parking space of the loading workshop, before opening the unloading port at the bottom of the finished product silo to load the sand and gravel, includes:

[0065] Acquire the size information of the bucket of the target vehicle, wherein the size information includes length information and width information;

[0066] Determine the length range and width range of the target vehicle bucket according to the length information and the width information;

[0067] Determine whether the moving range of the material distribution trolley is within the length range and width range of the bucket of the target vehicle;

[0068] Make sure that the moving range of the material distribution trolley is within the length and width of the target vehicle bucket, and open the bottom discharge port of the finished product silo to load sand and gravel.

[0069] Specifically, when the target vehicle arrives at the designated loading station, the system automatically obtains the size information of the truck bed, especially the length and width information, through sensors (such as laser rangefinders, cameras combined with image processing algorithms, etc.). This information is the basis for determining the moving range of the material distribution trolley in subsequent steps.

[0070] The system then determines the length range and width range of the target vehicle bucket based on the acquired length and width information. This range can take into account a certain safety margin to ensure that the material distribution trolley does not collide with the edge of the bucket when moving. The system then determines whether the maximum movement range of the material distribution trolley (including its movement ability in the X-axis and Y-axis directions) is completely contained in the length range and width range of the target vehicle bucket. This step is the key to ensure that the material distribution trolley can move freely in the bucket and distribute materials evenly. If the movement range of the material distribution trolley is completely within the size range of the target vehicle bucket, the system believes that the material distribution trolley can safely and effectively perform loading operations. If the movement range of the material distribution trolley exceeds the size range of the bucket, the system should trigger a warning signal to prompt the operator or driver to pay attention to potential problems. In addition, when it is determined that the movement range of the material distribution trolley is not completely within the length range and / or width range of the target vehicle bucket, in order to ensure that the material distribution trolley can safely and effectively perform loading operations, the system will promptly adjust the initial position of the material distribution trolley so that the movement range of the material distribution trolley is within the length range and width range of the target vehicle bucket. After confirming that the moving range of the material distribution trolley matches the target vehicle bucket size, the system can safely open the bottom discharge port of the finished product silo and start the material distribution trolley to load the sand and gravel. During the loading process, the system should continuously monitor the position and movement of the material distribution trolley to ensure that it always stays in the bucket and evenly distributes the sand and gravel.

[0071] In one embodiment, obtaining the size information of the target vehicle bucket includes:

[0072] S310, while the scale is weighing the target vehicle, starting a laser radar device to perform a three-dimensional scan on the target vehicle to obtain three-dimensional point cloud data of the vehicle;

[0073] S320, performing clustering filtering processing on the three-dimensional point cloud data using an image processing algorithm to identify and extract the three-dimensional point cloud data of the bucket of the target vehicle;

[0074] S330, converting the three-dimensional point cloud data of the bucket of the target vehicle into a projection coordinate system to calculate the size information of the bucket of the target vehicle;

[0075] S340, verifying the size information of the bucket of the target vehicle according to the weighing result of the target vehicle weighed by the scale;

[0076] S350. If the verification is successful, the calculated size information of the target vehicle bucket is used as the size information of the target vehicle bucket.

[0077] Specifically, before the vehicle enters the target workshop, the scale may be started to weigh the target vehicle.

[0078] When the target vehicle stops on the scale for weighing, the system starts the LiDAR device. The LiDAR device performs a full-scale 3D scan of the target vehicle and obtains the 3D point cloud data of the vehicle. This data contains the overall shape of the vehicle, the outline of the bucket, and information about the surrounding environment. The system then uses image processing algorithms to perform cluster filtering on the acquired 3D point cloud data. Through cluster analysis, the system can identify the point cloud data belonging to the bucket of the target vehicle and extract it from the 3D point cloud data of the entire vehicle. The extracted bucket 3D point cloud data is then converted to a projected coordinate system. In the projected coordinate system, the system uses geometric calculations or specific algorithms to calculate the size information of the bucket of the target vehicle, including length, width, and depth (height). The system then obtains the weighing results of the scale weighing the target vehicle. Based on the weighing results, the system can estimate the load capacity of the target vehicle and indirectly verify the size information of the bucket. For example, if the weighing results show that the vehicle weight is close to its maximum load capacity, but the calculated bucket size is significantly smaller, this may indicate that there is an error in the calculation of the bucket size information. If the system considers the calculated bucket size information to be accurate after verification of the weighing result, it will use this size information as the final size information of the bucket of the target vehicle. If the verification fails, the system can re-perform 3D scanning, data processing and size calculation, or take other measures to verify the accuracy of the bucket size information.

[0079] S400, in the process of loading sand and gravel, obtaining the sand and gravel loading speed and the moving speed of the material distribution trolley, wherein the sand and gravel loading speed represents the amount of material discharged per unit time from the discharge port at the bottom of the finished product silo;

[0080] During the loading process, the system can monitor the sand and gravel loading situation, vehicle stability and surrounding environment in real time through sensors and cameras. If the system detects any abnormal situation (such as vehicle overloading, uneven unloading, etc.), it will automatically adjust the unloading strategy or issue an alarm to notify the operator.

[0081] Moreover, during the sand and gravel loading process, the system can obtain the sand and gravel loading information in real time, and control the material distribution trolley to reciprocate on the track to unload the material according to the sand and gravel loading information, so as to achieve uniform material distribution, thereby improving the sand and gravel loading efficiency.

[0082] In the sand and gravel loading operation, it is crucial to ensure that the sand and gravel can be loaded into the truck bed of the target vehicle evenly and efficiently. This requires that the movement of the material distribution trolley on the track be coordinated with the discharge speed of the discharge port at the bottom of the finished product silo.

[0083] In the embodiment of the present application, the system can obtain the discharge speed of the discharge port at the bottom of the finished product silo and the moving speed of the material distribution trolley preset by the system; the discharge speed is the amount of material discharged per unit time (for example, the volume or weight of the material discharged); the moving speed of the material distribution trolley determines the speed of the material distribution trolley moving and unloading in the bucket. Data such as the sand and gravel loading speed and the moving speed of the material distribution trolley provide an accurate basis for the subsequent calculation of the moving cycle of the material distribution trolley.

[0084] S500: determining the round-trip movement cycle of the material distribution trolley on the track according to the sand and gravel loading speed and the moving speed of the material distribution trolley; and controlling the material distribution trolley to reciprocate on the track to unload materials according to the round-trip movement cycle;

[0085] Specifically, in the embodiment of the present application, the system calculates the round-trip movement cycle of the material distribution trolley on the track based on the sand and gravel loading speed and the moving speed of the material distribution trolley. This frequency can ensure that the material distribution trolley can evenly distribute the sand and gravel in the bucket, while avoiding too fast movement resulting in uneven accumulation of sand and gravel or too slow movement affecting the loading efficiency. The round-trip movement cycle involves multiple factors, such as the size of the bucket, the physical properties of sand and gravel (such as density, fluidity), and the target loading speed. The system can use a preset algorithm or model to calculate the round-trip movement cycle based on these input parameters. Finally, based on the calculated round-trip movement cycle, the material distribution trolley is controlled to reciprocate on the track to unload. For example, the motor or drive mechanism of the material distribution trolley can be precisely controlled to ensure that it moves at a predetermined speed and frequency.

[0086] It should be noted that controlling the material distributing trolley to reciprocate on the track in a reciprocating movement cycle to unload materials can be reciprocating in the length direction of the bucket or reciprocating in the width direction of the bucket.

[0087] In one embodiment, the step of determining the round trip movement cycle of the material distribution trolley on the track according to the sand and gravel loading speed and the moving speed of the material distribution trolley includes:

[0088] The sand and gravel loading speed and the moving speed of the material distribution trolley are input into the pre-trained round-trip movement cycle prediction model to obtain the round-trip movement cycle of the material distribution trolley on the track. The round-trip movement cycle prediction model satisfies the following expression:

[0089] ;

[0090] in, is the sand and gravel loading speed, the volume or weight of the material discharged per unit time; is the moving speed of the material distribution trolley, the speed at which the trolley travels on the track; A is the loading area covered by the material distribution trolley in a single trip; is the loading efficiency coefficient, which characterizes the loss and uniformity during the material distribution process, and its value range is between 0 and 1; K is the adjustment coefficient used to adjust the round trip cycle Control within a reasonable range.

[0091] Specifically, the embodiment of the present application obtains the above-mentioned model expression by collecting a large amount of experimental data related to the sand and gravel loading speed, the moving speed of the material distribution trolley, etc., and using the regression algorithm to train the round-trip movement cycle estimation model and calibrate the parameters. To facilitate the training of the model, the loading area covered by the material distribution trolley in a single trip and the loading efficiency coefficient can be fixed to a certain value.

[0092] After obtaining the round-trip cycle prediction model, the obtained sand and gravel loading speed and material distribution trolley movement speed data are input into the pre-trained round-trip cycle prediction model. The model predicts the round-trip cycle (T) of the material distribution trolley on the track based on the input data and internal algorithm. wf ).

[0093] In another embodiment, the gravel loading information includes the shape of the gravel loading surface, and the gravel loading process also includes:

[0094] When the speed of loading sand and gravel or the moving speed of the material distribution trolley is abnormal, the image information of the sand and gravel surface during the loading process is obtained;

[0095] Extracting shape information of the sand and gravel surface according to the image information of the sand and gravel surface, wherein the shape information of the sand and gravel loading surface is used to feedback whether there are crests and troughs on the sand and gravel loading surface, and the height difference between the crests and troughs in the depth direction;

[0096] When it is determined that the height difference between the crest and the trough of the sand and gravel loading surface in the depth direction is greater than or equal to a preset height value, the material distribution trolley is controlled to move from the crest position to the trough position.

[0097] Specifically, when some reason causes the sand and gravel loading speed or the moving speed of the material distribution trolley to be abnormal, that is, the system cannot obtain relevant data such as the sand and gravel loading speed or the moving speed of the material distribution trolley, this application uses image acquisition to obtain loading information. In this way, by introducing image acquisition technology, the embodiment of this application provides an efficient and reliable alternative solution for the sand and gravel loading and material distribution system, effectively solving the production problems caused by abnormal data acquisition, and opening up a new path for improving overall production efficiency and safety.

[0098] In the embodiment of the present application, a camera or other image acquisition equipment is installed at the gravel loading site to ensure that the full view of the gravel loading surface can be captured. Image information during the gravel loading process is collected in real time. The collected image information is then preprocessed, including denoising, contrast enhancement, etc., to improve image quality. Image processing technology (such as edge detection, contour extraction, etc.) is used to extract the shape information of the gravel surface. According to the extracted shape information, the shape characteristics of the gravel loading surface are analyzed, including the positions of the crests and troughs and the height difference between the crests and troughs in the depth direction. Then the height difference between the crests and troughs in the depth direction obtained by the analysis is compared with the preset height value. When the height difference is greater than or equal to the preset height value, it means that there is a large unevenness on the gravel loading surface, and the material distribution trolley needs to intervene, control the material distribution trolley to move from the crest position to the trough position, and perform material replenishment or material leveling operations to reduce the height difference and make the gravel loading surface smoother. According to the control strategy, movement and unloading instructions are sent to the material distribution trolley to ensure that the material distribution trolley can perform operations accurately and efficiently.

[0099] S600. When the unloading quantity meets the sand and gravel quantity in the reservation information, the unloading is stopped to complete the loading of sand and gravel.

[0100] In step S600, when the gravel loading reaches the quantity specified in the reservation information, the system automatically closes the discharge port and stops the unloading process. The reservation status is updated to "loading completed" in the APP, and key information such as loading time and gravel loading amount are recorded. At the same time, the system can send a notification of loading completion to the user through the APP, and provide relevant loading records and invoice information.

[0101] Based on this, the fully automatic control method for quantitative loading of aggregates and sand and gravel provided in the embodiment of the present application is that the user makes an appointment for loading in advance through the APP, fills in the sand and gravel specifications, quantity and vehicle information; the system allocates the loading workshop number according to the appointment information, and notifies the user through the APP; when the reserved vehicle arrives at the designated loading space, the system automatically opens the unloading port at the bottom of the finished product silo to start loading; during the loading process, the system obtains the loading information in real time, and controls the distribution trolley to travel back and forth on the track accordingly to evenly distribute the material; when the unloading quantity reaches the reserved sand and gravel quantity, the system automatically stops unloading and completes the loading. In this way, through automated control and real-time information management, the precise, efficient and safe quantitative loading of aggregates and sand and gravel is achieved, and the overall service quality and user experience are improved.

[0102] Please see attached Figure 3 , Figure 3A schematic diagram of the hardware structure of the automatic loading system provided for some embodiments of the present application; the automatic loading system provided in the embodiments of the present application includes a memory 110 and a processor 120, wherein the memory 110 is used to store program code, and the processor 120 is used to call the program code to execute the method described above.

[0103] Among them, the processor 120 is used to provide computing and control capabilities to control the automatic loading system to perform corresponding tasks, for example, to control the automatic loading system to execute the fully automatic control method for quantitative loading of aggregates and sand and gravel in any of the above-mentioned method embodiments, the method comprising: obtaining loading appointment information, the loading appointment information is the appointment information filled in by the target user when making an advance appointment on the APP, including sand and gravel specification information, sand and gravel quantity information and vehicle information; according to the loading appointment information, a designated loading workshop number is allocated and returned to the target user through the APP; in response to the target vehicle corresponding to the vehicle information arriving at the loading space of the designated loading workshop, the unloading port at the bottom of the finished material silo is opened to load sand and gravel; in the process of sand and gravel loading, the sand and gravel loading information is obtained in real time, and the material distribution trolley is controlled to reciprocate on the track to unload according to the sand and gravel loading information; when the unloading quantity meets the sand and gravel quantity in the appointment information, the unloading is stopped to complete the sand and gravel loading.

[0104] The processor 120 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), a hardware chip, or any combination thereof; it may also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The above-mentioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0105] The memory 110, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer executable programs and modules, such as program instructions / modules corresponding to the fully automatic control method for quantitative loading of aggregates and sand and gravel in the embodiments of the present application. The processor 120 can implement the fully automatic control method for quantitative loading of aggregates and sand and gravel in any of the above method embodiments by running the non-transitory software programs, instructions and modules stored in the memory 110.

[0106] Specifically, the memory 110 may include a volatile memory (VM), such as a random access memory (RAM); the memory 110 may also include a non-volatile memory (NVM), such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD) or other non-transitory solid-state storage device; the memory 110 may also include a combination of the above types of memory.

[0107] To sum up, the automatic loading system of the present application adopts the technical solution of any one of the above-mentioned fully automatic control method embodiments for quantitative loading of aggregates and sand and gravel. Therefore, it has at least the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here one by one.

[0108] The embodiment of the present application also provides a computer-readable storage medium, such as a memory including a program code, and the program code can be executed by a processor to complete the fully automatic control method for quantitative loading of aggregates and sand and gravel in the above embodiment. For example, the computer-readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CDROM), a magnetic tape, a floppy disk, and an optical data storage device.

[0109] The present application also provides a computer program product, which includes one or more program codes stored in a computer-readable storage medium. The processor of the automatic loading system reads the program code from the computer-readable storage medium, and the processor executes the program code to complete the steps of the fully automatic control method for quantitative loading of aggregates and sand and gravel provided in the above embodiment.

[0110] A person skilled in the art will appreciate that all or part of the steps for implementing the above embodiments may be accomplished by hardware or by hardware associated with a program code, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0111] It should be noted that the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0112] Through the description of the above embodiments, it can be clearly understood by those skilled in the art that each embodiment can be implemented by means of software plus a general hardware platform, or by hardware. It can be understood by those skilled in the art that all or part of the processes in the above embodiment methods can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0113] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A fully automatic control method for quantitative loading of aggregates and sand and gravel, applied to an automatic loading system, the automatic loading system comprising a track assembly and a material distribution trolley slidably connected to the track assembly, characterized in that: The method comprises: Obtain loading appointment information, which is the appointment information filled in by the target user when making an advance appointment on the APP, including sand and gravel specification information, sand and gravel quantity information and vehicle information; Allocate a designated loading workshop number according to the loading reservation information and return it to the target user through the APP; In response to the target vehicle corresponding to the vehicle information arriving at the designated loading parking space of the loading workshop, the unloading port at the bottom of the finished product silo is opened to load sand and gravel; During the sand and gravel loading process, the sand and gravel loading speed and the moving speed of the material distribution trolley are obtained. The sand and gravel loading speed represents the amount of material discharged per unit time from the discharge port at the bottom of the finished product silo; Determine the round-trip movement cycle of the material distribution trolley on the track according to the sand and gravel loading speed and the moving speed of the material distribution trolley; and control the material distribution trolley to reciprocate on the track to unload materials according to the round-trip movement cycle; When the unloading quantity meets the sand and gravel quantity in the reservation information, stop unloading to complete the sand and gravel loading.

2. The fully automatic control method for quantitative loading of aggregates and sand and gravel according to claim 1, characterized in that: In response to the target vehicle corresponding to the vehicle information arriving at the designated loading parking space of the loading workshop, before the unloading port at the bottom of the finished product silo is opened to load the sand and gravel, the method includes: Obtaining the size information of the cargo box of the target vehicle and estimating the cargo carrying capacity of the target vehicle according to the size information; According to the cargo carrying capacity of the target vehicle, the amount of sand and gravel in the loading reservation information, and the customer's pre-deposit, assess whether the remaining amount is sufficient to fully load the vehicle; In the case where the customer's pre-deposit is not sufficient for the vehicle to be fully loaded, an early warning signal is triggered, and the early warning signal is used to remind the driver of the target vehicle and the management personnel in the main control room that the vehicle cannot be fully loaded.

3. The fully automatic control method for quantitative loading of aggregates and sand and gravel according to claim 1, characterized in that: In response to the target vehicle corresponding to the vehicle information arriving at the designated loading parking space of the loading workshop, before the unloading port at the bottom of the finished product silo is opened to load the sand and gravel, the method includes: Acquire the size information of the bucket of the target vehicle, wherein the size information includes length information and width information; Determine the length range and width range of the target vehicle bucket according to the length information and the width information; Determine whether the moving range of the material distribution trolley is within the length range and width range of the bucket of the target vehicle; Make sure that the moving range of the material distribution trolley is within the length and width of the target vehicle bucket, and open the bottom discharge port of the finished product silo to load sand and gravel.

4. The fully automatic control method for quantitative loading of aggregates and sand and gravel according to claim 3, characterized in that: After determining whether the moving range of the material distribution trolley is within the length range and width range of the bucket of the target vehicle, the method further includes: Determine that the moving range of the material distribution trolley is not within the length range and / or the width range of the target vehicle bucket, and adjust the initial position of the material distribution trolley so that the moving range of the material distribution trolley is within the length range and the width range of the target vehicle bucket.

5. The fully automatic control method for quantitative loading of aggregates and sand and gravel according to claim 2 or 3, characterized in that: The step of obtaining the size information of the target vehicle bucket includes: When the scale weighs the target vehicle, the laser radar device is started to perform a three-dimensional scan on the target vehicle to obtain three-dimensional point cloud data of the vehicle; Use image processing algorithms to perform clustering and filtering on the 3D point cloud data to identify and extract the 3D point cloud data of the target vehicle's cargo box; Convert the three-dimensional point cloud data of the target vehicle's bucket into a projection coordinate system to calculate the size information of the target vehicle's bucket; Verifying the size information of the bucket of the target vehicle according to the weighing result of the target vehicle weighed by the scale; If the verification is successful, the calculated size information of the target vehicle bucket is used as the size information of the target vehicle bucket.

6. The fully automatic control method for quantitative loading of aggregates and sand and gravel according to claim 1, characterized in that: The sand and gravel quantity information includes sand and gravel weight information and / or sand and gravel volume information.

7. The fully automatic control method for quantitative loading of aggregates and sand and gravel according to claim 1, characterized in that: Determining the round-trip movement cycle of the material distribution trolley on the track according to the sand and gravel loading speed and the moving speed of the material distribution trolley includes: The sand and gravel loading speed and the moving speed of the material distribution trolley are input into the pre-trained round-trip movement cycle prediction model to obtain the round-trip movement cycle of the material distribution trolley on the track. The round-trip movement cycle prediction model satisfies the following expression: ； in, is the sand and gravel loading speed, the volume or weight of the material discharged per unit time; is the moving speed of the material distribution trolley, the speed at which the trolley travels on the track; A is the loading area covered by the material distribution trolley in a single trip; is the loading efficiency coefficient, which characterizes the loss and uniformity during the material distribution process, and its value range is between 0 and 1; K is the adjustment coefficient used to adjust the round trip cycle Control within a reasonable range.

8. The fully automatic control method for quantitative loading of aggregates and sand and gravel according to claim 1, characterized in that: The gravel loading information includes the shape of the gravel loading surface, and during the gravel loading process, also includes: When the speed of loading sand and gravel or the moving speed of the material distribution trolley is abnormal, the image information of the sand and gravel surface during the loading process is obtained; Extracting shape information of the sand and gravel surface according to the image information of the sand and gravel surface, wherein the shape information of the sand and gravel loading surface is used to feedback whether there are crests and troughs on the sand and gravel loading surface, and the height difference between the crests and troughs in the depth direction; When it is determined that the height difference between the crest and the trough of the sand and gravel loading surface in the depth direction is greater than or equal to a preset height value, the material distribution trolley is controlled to move from the crest position to the trough position.

9. An automatic loading system, characterized in that: The method comprises a memory and a processor, wherein the memory is used to store program codes, and the processor is used to call the program codes to execute the method according to any one of claims 1 to 8.

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