Method for determining unloading state of unloading system, processor and unloading system

Abstract

The invention discloses a method for determining the discharging state of a discharging system, a processor and the discharging system, and belongs to the technical field of engineering machinery, the discharging system comprises a feeding hopper used for receiving output materials, and the method comprises the steps that in the discharging operation process of the discharging system, the processor is used for determining the discharging state of the discharging system; acquiring first position information of the edge of the feeding hopper and second position information of the edge of the material; determining a target distance according to the first position information and the second position information, wherein the target distance is the minimum distance between the edge of the material and the edge of the feeding hopper; and the unloading state of the unloading system is determined according to the target distance and a preset distance threshold value, wherein the unloading state comprises a normal unloading state, a full material state and an overflow state. The discharging state of the discharging system can be determined according to the minimum distance between the feeding hopper and the edge of the material in the feeding hopper, all-directional monitoring of the material in the feeding hopper is achieved, and the accuracy of a judgment result can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and in particular to a method for determining a discharging state of a discharging system, a processor and a discharging system. Background Art

[0002] At present, in the material production process, the material unloading process is controlled by the operator. Due to the large differences in the fluidity of most materials, the unloading speed is extremely difficult to control, and the feed hopper is prone to overflow, resulting in waste and increasing costs. Take concrete as an example. The process of concrete being unloaded from the unloading hopper into the feed hopper of the mixer truck is prone to overflow. The overflowed concrete adheres to the rear of the mixer truck and is difficult to clean, which can easily block the license plate. In order to monitor the unloading status of the unloading system, the traditional method judges the unloading status of the unloading system by comparing the material area in the feed hopper with the feed hopper area. However, this method does not take into account the situation of local overflow of materials. Therefore, there is a large error in the judgment result. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a method, a processor and a unloading system for determining the unloading state of a unloading system, so as to solve the problem of large errors in the judgment results in the prior art.

[0004] In order to achieve the above-mentioned object, a first aspect of an embodiment of the present application provides a method for determining a discharging state of a discharging system, wherein the discharging system includes a feed hopper for receiving output materials, and the method includes:

[0005] During the unloading operation of the unloading system, first position information of the edge of the feed hopper and second position information of the edge of the material are obtained;

[0006] Determine a target distance according to the first position information and the second position information, the target distance being the minimum distance between the edge of the material and the edge of the feed hopper;

[0007] The unloading state of the unloading system is determined according to the target distance and the preset distance threshold, and the unloading state includes a normal unloading state, a full state and an overflow state.

[0008] In an embodiment of the present application, the unloading system further includes a unloading hopper for outputting materials, and the method further includes: controlling the opening and closing state of the unloading hopper according to the unloading state.

[0009] In an embodiment of the present application, controlling the opening and closing state of the discharge hopper according to the discharge state includes: when the discharge state is a full state, obtaining the current opening of the discharge hopper; when the current opening is greater than a preset opening, controlling the opening of the discharge hopper to be adjusted to a preset opening; when the current opening is less than or equal to the preset opening, controlling the discharge hopper to close.

[0010] In an embodiment of the present application, controlling the opening and closing state of the discharge hopper according to the discharge state includes: when the discharge state is an overflow state, controlling the discharge hopper to close.

[0011] In an embodiment of the present application, the unloading system also includes an image acquisition device to obtain first position information of the edge of the feed hopper and second position information of the edge of the material, including: obtaining image information of the unloading system acquired by the image acquisition device; determining the first position information of the edge of the feed hopper based on the image information; and determining the second position information of the edge of the material based on the image information based on the dense optical flow detection technology.

[0012] In an embodiment of the present application, the unloading system also includes a unloading hopper for outputting materials, and based on dense optical flow detection technology, second position information of the edge of the material is determined according to the image information, including: determining third position information of the unloading hopper according to the image information; determining an initial material area in the image information according to the first position information and the third position information; and detecting the initial material area of ​​the image information based on the dense optical flow detection technology to determine the second position information of the edge of the material.

[0013] In an embodiment of the present application, the target distance is determined based on the first position information and the second position information, including: determining the distance data between each point on the edge of the material and the corresponding point on the edge of the feed hopper in the same horizontal direction based on the first position information and the second position information to obtain multiple distance data; and determining the minimum value of the multiple distance data as the target distance.

[0014] In an embodiment of the present application, the preset distance threshold includes a first distance threshold and a second distance threshold, the second distance threshold is greater than the first distance threshold, and the unloading state of the unloading system is determined according to the target distance and the preset distance threshold, including: comparing the target distance with the first distance threshold and the second distance threshold respectively; when the target distance is less than or equal to the first distance threshold, determining that the unloading state of the unloading system is an overflow state; when the target distance is greater than the first distance threshold and less than the second distance threshold, determining that the unloading state of the unloading system is a full state; when the target distance is greater than or equal to the second distance threshold, determining that the unloading state of the unloading system is a normal unloading state.

[0015] A second aspect of an embodiment of the present application provides a processor configured to execute the above-mentioned method for determining the unloading state of a unloading system.

[0016] A third aspect of an embodiment of the present application provides a discharge system, comprising: a feed hopper for receiving output materials; and the above-mentioned processor.

[0017] The above technical solution first obtains the first position information of the edge of the feed hopper and the second position information of the edge of the material during the unloading operation of the unloading system, and then determines the target distance based on the first position information and the second position information. The target distance is the minimum distance between the edge of the material and the edge of the feed hopper. Finally, the unloading state of the unloading system is determined based on the target distance and the preset distance threshold. The unloading state includes a normal unloading state, a full material state, and an overflow state. The present application can determine the unloading state of the unloading system based on the minimum distance between the edge of the feed hopper and the material in the feed hopper, thereby realizing all-round monitoring of the material in the feed hopper, which is conducive to improving the accuracy of the judgment result.

[0018] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0020] Figure 1 A flow chart of a method for determining the unloading state of a unloading system provided in an embodiment of the present application;

[0021] Figure 2 A flowchart of a method for controlling a discharging system provided in accordance with a specific embodiment of the present application. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0023] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications 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.

[0024] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. 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 this application.

[0025] The unloading system is a system composed of an unloading device and a feeding device. The feeding device includes a feeding hopper for receiving materials output by the unloading device, and the materials enter the feeding device from the feeding hopper for storage or transportation. The unloading system can be a concrete unloading system, an agricultural material unloading system, and the like. Since the unloading operation of the unloading system currently relies mainly on manual operation, it is very easy to cause material overflow due to human error, thereby causing a waste of resources. In order to monitor the unloading state of the material system in real time, an embodiment of the present application provides a method for determining the unloading state of the unloading system.

[0026] Figure 1 A flow chart of a method for determining the unloading state of an unloading system provided in an embodiment of the present application. Figure 1 As shown, an embodiment of the present application provides a method for determining the unloading state of a unloading system. The unloading system includes a feed hopper for receiving output materials. The method is described by applying it to a processor as an example. The method may include the following steps.

[0027] Step S101, during the unloading operation of the unloading system, first position information of the edge of the feed hopper and second position information of the edge of the material are obtained.

[0028] Specifically, during the unloading operation of the unloading system, the processor can obtain the first position information of the edge of the feed hopper and the second position information of the material in the feed hopper in real time. It can be understood that the first position information is the position information of each point on the outer edge of the feed hopper; the edge of the concrete is the outer boundary of the area where the concrete is located in the feed hopper, and the second position information is the position information of each point on the outer boundary of the area. In one example, the first position information and the second position information can be determined by a variety of methods, including image processing technology, deep learning methods, geometric methods, sensor technology, and measurement and modeling methods, such as edge detection algorithms or contour detection in image processing technology to determine the first position information and the second position information. It can be understood that considering the problem of material splashing during the unloading process, in order to ensure the accuracy of the subsequent judgment results, when determining the second position information, the second position information can be filtered to filter out the deviation points in the second position information to prevent the detection of splashing materials from affecting the subsequent judgment results, thereby ensuring the accuracy of the judgment results.

[0029] Step S102, determining a target distance according to the first position information and the second position information, where the target distance is the minimum distance between the edge of the material and the edge of the feed hopper.

[0030] Specifically, the target distance refers to the minimum distance between the edge of the material and the edge of the feed hopper, that is, the minimum distance between the material in the feed hopper and the outer edge of the feed hopper. It can be understood that when the first position information and the second position information are determined, the distance data of each point on the edge of the material and each point on the edge of the feed hopper can be determined, and then the minimum value of the distance data is determined as the target distance.

[0031] Step S103, determining the unloading state of the unloading system according to the target distance and the preset distance threshold, the unloading state including a normal unloading state, a full state and an overflow state.

[0032] It can be understood that the target distance can be used to determine the state of the material in the feed hopper. The smaller the target distance, the closer the material is to the edge of the feed hopper, and the greater the risk of material overflow. Conversely, the smaller the risk of material overflow. In this way, the unloading state of the unloading system can be quantified by setting a preset distance threshold, wherein the preset distance threshold can be set by experiment or experience according to the specific situation of the unloading system. In one example, the unloading state of the unloading system can be determined according to the size relationship between the target distance and the preset distance threshold. Among them, the unloading state includes a normal unloading state, a full state, and an overflow state. The normal unloading state means that the material falls completely into the feed hopper without overflow risk; the full state means that the material is close to the edge of the feed hopper, which is usually caused by the fullness of the feeding equipment. The overflow state means that the material overflows the feed hopper. In this way, the distance from the edge of the material to the edge of the feed hopper is used to quantify the state of the material in the feed hopper. Compared with the traditional method of using the area ratio of the feed hopper to the material to describe the unloading state, it is more specific, which is conducive to reducing errors and improving the accuracy of the judgment results.

[0033] The above technical solution first obtains the first position information of the edge of the feed hopper and the second position information of the edge of the material during the unloading operation of the unloading system, and then determines the target distance based on the first position information and the second position information. The target distance is the minimum distance between the edge of the material and the edge of the feed hopper. Finally, the unloading state of the unloading system is determined based on the target distance and the preset distance threshold. The unloading state includes a normal unloading state, a full material state, and an overflow state. The present application can determine the unloading state of the unloading system based on the minimum distance between the edge of the feed hopper and the material in the feed hopper, thereby realizing all-round monitoring of the material in the feed hopper, which is conducive to improving the accuracy of the judgment result.

[0034] In an embodiment of the present application, the unloading system also includes an image acquisition device to obtain first position information of the edge of the feed hopper and second position information of the edge of the material, including: obtaining image information of the unloading system acquired by the image acquisition device; determining the first position information of the edge of the feed hopper based on the image information; and determining the second position information of the edge of the material based on the image information based on the dense optical flow detection technology.

[0035] Specifically, the unloading system may further include an image acquisition device, and the installation position of the image acquisition device may be determined according to the actual unloading scene of the unloading system. During the unloading operation of the unloading system, the processor may acquire in real time the image information of the unloading system acquired and sent by the image acquisition device, wherein the image information includes images of the feed hopper and the concrete in the feed hopper, and the image information may be composed of multiple images within a continuous time period. Furthermore, the first position information of the edge of the feed hopper in the image may be determined based on the image information. In one example, a plurality of identification points may be set at the edge of the feed hopper, and then the identification points in the image information may be identified by image recognition technology, thereby determining the first position of the edge of the feed hopper.

[0036] In another example, a feed hopper recognition model can be constructed based on a deep learning segmentation model, and then the first position information of the edge of the feed hopper in the image can be determined through the feed hopper recognition model according to the acquired image information. Among them, the feed hopper recognition model can collect video data of the material unloading process of the unloading system at different times, and annotate the feed hopper in each image frame of the video data to obtain a feed hopper image database; then, feature learning is performed on the feed hopper image database based on the deep learning model to realize the construction of the feed hopper recognition model. In this way, compared with the limitations of traditional image processing, the embodiment of the present application adopts a deep learning segmentation model, and the features used by the deep learning model are automatically learned from a large amount of data in the feed hopper image database, rather than features extracted by a manually designed feature extractor. The deep learning model has strong learning ability and feature expression ability, and can be applied to detection in complex environments of unloading systems.

[0037] Furthermore, for the second position information, the embodiment of the present application selects a dense optical flow scheme to detect the material in the feed hopper according to the fluidity of the material in the feed hopper. Optical flow is the instantaneous speed of the pixel movement of a spatial moving object on the observation imaging plane. It contains important information about the surface structure and dynamic behavior of the object, and is an approximate estimate of the real movement. Different colors in the optical flow field represent the phase angle of the pixel point, and the brightness of the color represents the amplitude intensity. That is, the optical flow field of a certain frame can reflect the state of the material movement in the feed hopper. Therefore, by setting the amplitude intensity threshold, the movement area of ​​the material in the feed hopper can be determined, and then the second position information of the edge of the material in the feed hopper in the image can be determined. In this way, the influence of residual material on the inner wall of the feed hopper can be avoided, and the accuracy of the detection result can be ensured.

[0038] In an embodiment of the present application, the unloading system also includes a unloading hopper for outputting materials, and based on dense optical flow detection technology, second position information of the edge of the material is determined according to the image information, including: determining third position information of the unloading hopper according to the image information; determining an initial material area in the image information according to the first position information and the third position information; and detecting the initial material area of ​​the image information based on the dense optical flow detection technology to determine the second position information of the edge of the material.

[0039] It can be understood that the unloading system also includes a unloading hopper, which is used to output the materials in the unloading device. Due to the limitations of the installation position and shooting angle of the image acquisition device, in the image information collected by the image acquisition device, the images of the feed hopper and the unloading hopper usually overlap partially, that is, the unloading hopper will block part of the image of the feed hopper, and the second position information in this application is the position information of the edge of the material in the feed hopper. Therefore, in order to improve data processing efficiency, the detection range of the second position information can be narrowed based on the positional relationship between the feed hopper and the unloading hopper in the image, thereby reducing the amount of calculation and improving subsequent detection efficiency.

[0040] Specifically, the third position information of the discharge hopper can be determined based on the image information collected by the image acquisition device, and the third position information can be determined in the same way as the first position information of the feed hopper. Then, the overlapping part of the area formed by the first position information and the area formed by the third position information in the image information is removed to obtain the initial material area. Furthermore, the initial material area in each image in the image information is detected using dense optical flow detection technology to obtain the second position information in the image. In this way, by reducing the dense optical flow detection area, the amount of calculation can be reduced, and at the same time, the interference of other movements outside the area can be filtered out, which not only improves the data processing efficiency, but also helps to improve the accuracy of the detection results of the second position information of the material.

[0041] In an embodiment of the present application, the target distance is determined based on the first position information and the second position information, including: determining the distance data between each point on the edge of the material and the corresponding point on the edge of the feed hopper in the same horizontal direction based on the first position information and the second position information to obtain multiple distance data; and determining the minimum value of the multiple distance data as the target distance.

[0042] It can be understood that the feed hopper is usually circular, and the processor can determine the position of the center point of the feed hopper based on the first position information. Furthermore, taking the center of the feed hopper as the center of the circle, connect each point on the edge of the feed hopper and the center of the circle according to the radius of the feed hopper, and determine the distance data of the point on the edge of the feed hopper and the corresponding point on the edge of the material on the connecting line in the same horizontal direction. It can be understood that the distance data can be a negative value. In this way, the distance data of each point on the edge of the material and each point on the edge of the feed hopper can be obtained, and the minimum value of the multiple distance data is determined as the target distance. In this way, determining the above distance data based on the geometric characteristics of the feed hopper is conducive to accurate correspondence and ensures the accuracy of the results.

[0043] In an embodiment of the present application, the preset distance threshold includes a first distance threshold and a second distance threshold, the second distance threshold is greater than the first distance threshold, and the unloading state of the unloading system is determined according to the target distance and the preset distance threshold, including: comparing the target distance with the first distance threshold and the second distance threshold respectively; when the target distance is less than or equal to the first distance threshold, determining that the unloading state of the unloading system is an overflow state; when the target distance is greater than the first distance threshold and less than the second distance threshold, determining that the unloading state of the unloading system is a full state; when the target distance is greater than or equal to the second distance threshold, determining that the unloading state of the unloading system is a normal unloading state.

[0044] It can be understood that the embodiment of the present application can quantify the unloading state of the unloading system by setting a preset distance threshold, and the preset distance threshold includes a first distance threshold and a second distance threshold, and the second distance threshold is greater than the first distance threshold. Among them, the first distance threshold is the critical value of the material overflowing in the feed hopper. The second distance threshold is the critical value of the feed hopper being full. In one example, if the target distance is less than or equal to the first distance threshold, it means that the material has overflowed the feed hopper, and the unloading state of the unloading system is determined to be an overflow state. In another example, if the target distance is between the first distance threshold and the second distance threshold, it means that the feed hopper is full, and the unloading state is determined to be a full state. In another example, if the target distance is greater than the second distance threshold, it means that the material enters the feed hopper normally, and the unloading state of the unloading system is determined to be a normal unloading state. In this way, the quantification of the material state in the feed hopper is achieved through the distance from the edge of the material to the edge of the feed hopper. Compared with the traditional method of using the area ratio of the feed hopper to the material to describe the unloading state, it is more specific, which is conducive to reducing errors and improving the accuracy of the judgment results.

[0045] In an embodiment of the present application, the unloading system further includes a unloading hopper for outputting materials, and the method further includes: controlling the opening and closing state of the unloading hopper according to the unloading state.

[0046] It can be understood that the unloading system also includes a unloading hopper, which is used to output the materials in the unloading equipment. In order to reduce material waste, the embodiment of the present application can also automatically control the opening and closing state of the unloading hopper according to the unloading state of the unloading system to adjust the amount of material discharged by the unloading hopper. In this way, material overflow can be effectively prevented, which is conducive to cost saving.

[0047] In an embodiment of the present application, controlling the opening and closing state of the discharge hopper according to the discharge state includes: when the discharge state is a full state, obtaining the current opening of the discharge hopper; when the current opening is greater than a preset opening, controlling the opening of the discharge hopper to be adjusted to a preset opening; when the current opening is less than or equal to the preset opening, controlling the discharge hopper to close.

[0048] It can be understood that when the processor determines that the unloading state of the unloading system is a full state, it means that the feed hopper cannot accommodate too much material at this time, the opening of the unloading hopper is high, and material overflow is likely to occur. In order to prevent material overflow, the processor can determine the adjustment strategy of the opening and closing state of the unloading hopper according to the current opening and preset opening of the unloading hopper. Among them, the preset opening can be set according to actual needs, for example, the opening can be set to 50%, that is, the unloading hopper is half open. In one example, if the processor determines that the current opening of the unloading hopper is greater than the preset opening, the opening of the unloading hopper is directly controlled to be adjusted to the preset opening to reduce the flow of the material and prevent overflow. In another example, if the processor determines that the current opening of the unloading hopper is less than or equal to the preset opening, it means that the current flow of the unloading hopper is already small, and the full state may be caused by the fullness of the feeding equipment. At this time, the unloading hopper is directly controlled to be closed to stop unloading and prevent overflow. In this way, inspiration unloading can be achieved.

[0049] In an embodiment of the present application, controlling the opening and closing state of the discharge hopper according to the discharge state includes: when the discharge state is an overflow state, controlling the discharge hopper to close.

[0050] Specifically, when the processor determines that the unloading state of the unloading system is an overflow state, it means that the material has overflowed from the feed hopper. At this time, the processor can directly control the unloading hopper to close to prevent more material from overflowing.

[0051] Figure 2 A flow chart of a method for controlling a discharge system provided in a specific embodiment of the present application is shown in FIG. Figure 2 As shown, the concrete unloading system is taken as an example for explanation. The concrete unloading system includes a feed hopper and a discharge hopper. The discharge hopper includes a concrete discharge door. The concrete discharge door is used to control the discharge amount of the discharge hopper. The method may include the following steps:

[0052] S1. Receive the unloading signal from the production system.

[0053] S2. Collect video data of concrete unloading.

[0054] S3. Input the video data into the feed hopper and discharge hopper recognition model to obtain the feed hopper edge position information and the discharge hopper edge position information.

[0055] S4. Detecting the edge position information of the concrete based on the edge position information of the feed hopper and the edge position information of the discharge hopper in combination with the dense optical flow.

[0056] S5. Determine the target distance according to the concrete edge position information and the feed hopper edge position information.

[0057] S6. Determine whether the target distance is less than or equal to the first preset distance. If so, proceed to S7; otherwise, proceed to S9.

[0058] S7, the unloading state is overflow state.

[0059] S8, control the concrete outlet door of the discharge hopper to close. Enter S2.

[0060] S9, determine whether the target distance is greater than or equal to the second preset distance, if so, proceed to S20, otherwise proceed to S11.

[0061] S10: The unloading state is normal. Enter S2.

[0062] S11, the unloading state is full.

[0063] S12, obtaining the current opening of the concrete outlet door of the discharge hopper.

[0064] S13, determine whether the current opening > preset opening, if yes, go to S8, otherwise go to S14.

[0065] S14, controlling the opening of the concrete outlet door of the discharge hopper to be adjusted to a preset opening. Entering S2.

[0066] The traditional method uses an instance segmentation model of a deep model to determine the area ratio of concrete and the feed hopper. However, simply using an instance segmentation model that is even more powerful than a deep model has limitations, mainly reflected in the difficulty of detecting concrete in the feed hopper. When unloading, some concrete is easily left on the inner wall of the feed hopper, resulting in errors in concrete detection, which in turn affects the subsequent area ratio. In addition, this method needs to detect the starting point of the baffle on the feed hopper, which is difficult to detect. If this point is manually marked, the workload is large. At the same time, the size and shape of the feed hopper of each vehicle are different. At the same time, due to long-term feeding, some residual concrete solidifies on the inner wall of the feed hopper, increasing the difference between the feed hoppers.

[0067] The embodiment of the present application uses a dense optical flow solution to detect the concrete in the feed hopper based on the fluidity of the concrete in the feed hopper. This solution eliminates the influence of residual concrete on the inner wall of the feed hopper. At the same time, the manual marking of key points (such as the starting point of the baffle on the feed hopper) is cancelled. By detecting the discharge hopper, the optical flow detection area is determined, and the starting point of the concrete edge calculation is determined. In addition, compared with using the area ratio of the feed hopper to the concrete to describe the concrete state, it is more specific and has a smaller error.

[0068] An embodiment of the present application also provides a processor configured to execute the method for determining the unloading state of the unloading system in the above-mentioned embodiment.

[0069] An embodiment of the present application also provides a discharge system, comprising: a feed hopper for receiving output materials; and the processor in the above embodiment.

[0070] In an embodiment of the present application, the unloading system also includes a unloading hopper for outputting materials.

[0071] In an embodiment of the present application, the material system further includes an image acquisition device for acquiring image information of the unloading system.

[0072] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0073] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0074] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0075] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0076] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0077] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0078] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0079] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0080] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for determining the unloading state of an unloading system, characterized in that: The discharge system includes a feed hopper for receiving output material, and the method includes: During the unloading operation of the unloading system, first position information of the edge of the feed hopper and second position information of the edge of the material are obtained; Determine a target distance according to the first position information and the second position information, wherein the target distance is a minimum distance between an edge of the material and an edge of the feed hopper; The unloading state of the unloading system is determined according to the target distance and a preset distance threshold, and the unloading state includes a normal unloading state, a full state, and an overflow state.

2. The method according to claim 1, characterized in that The unloading system further comprises a unloading hopper for outputting materials, and the method further comprises: The opening and closing state of the discharge hopper is controlled according to the discharge state.

3. The method according to claim 2, characterized in that The controlling the opening and closing state of the discharge hopper according to the discharge state comprises: When the unloading state is a full state, obtaining the current opening degree of the unloading hopper; When the current opening is greater than a preset opening, controlling the opening of the discharge hopper to be adjusted to the preset opening; When the current opening is less than or equal to the preset opening, the discharge hopper is controlled to be closed.

4. The method according to claim 2, characterized in that: The controlling the opening and closing state of the discharge hopper according to the discharge state comprises: When the unloading state is an overflow state, the unloading hopper is controlled to be closed.

5. The method according to claim 1, characterized in that: The unloading system further includes an image acquisition device, and the acquisition of first position information of the edge of the feed hopper and second position information of the edge of the material includes: Acquiring image information of the unloading system acquired by the image acquisition device; Determine first position information of the edge of the feed hopper according to the image information; Based on dense optical flow detection technology, second position information of the edge of the material is determined according to the image information.

6. The method according to claim 5, characterized in that The unloading system further includes a unloading hopper for discharging materials. The method of determining the second position information of the edge of the material according to the image information based on the dense optical flow detection technology includes: Determining third position information of the discharge hopper according to the image information; determining an initial material area in the image information according to the first position information and the third position information; The initial material area of ​​the image information is detected based on the dense optical flow detection technology to determine the second position information of the edge of the material.

7. The method according to claim 1, characterized in that The determining the target distance according to the first position information and the second position information includes: Determine, according to the first position information and the second position information, distance data between each point on the edge of the material and a corresponding point on the edge of the feed hopper in the same horizontal direction to obtain a plurality of distance data; The minimum value among the plurality of distance data is determined as the target distance.

8. The method according to claim 1, characterized in that The preset distance threshold includes a first distance threshold and a second distance threshold, the second distance threshold is greater than the first distance threshold, and determining the unloading state of the unloading system according to the target distance and the preset distance threshold includes: Comparing the target distance with the first distance threshold and the second distance threshold respectively; When the target distance is less than or equal to the first distance threshold, determining that the unloading state of the unloading system is an overflow state; When the target distance is greater than the first distance threshold and less than the second distance threshold, determining that the unloading state of the unloading system is a full-load state; When the target distance is greater than or equal to the second distance threshold, it is determined that the unloading state of the unloading system is a normal unloading state.

9. A processor, characterized in that: The method is configured to execute the method for determining the unloading state of the unloading system according to any one of claims 1 to 8.

10. A discharging system, characterized in that: include: a feed hopper for receiving output material; and A processor according to claim 9.

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