Automatic material distribution system and material distribution method for sandstone aggregate bin

Abstract

The invention relates to the technical field of aggregate conveying and storage equipment, in particular to an automatic material distribution system and method for a gravel aggregate bin. According to the automatic material distribution system for the gravel aggregate bin, the bin comprises a plurality of discharging openings, the interior of the bin is divided into discharging areas with different priorities, a data acquisition module is installed on the bin and used for acquiring three-dimensional point cloud data of aggregate in the bin in real time, the three-dimensional shape of the aggregate is established according to the acquired three-dimensional point cloud data of the aggregate in the bin, and the three-dimensional shape of the aggregate is obtained according to the three-dimensional shape of the aggregate. And the control module is used for selecting one unloading area as a distribution target position and controlling the distribution trolley to distribute at the distribution target position. The method has the following effects: firstly, the target position of the cloth is determined by adopting a mode of selecting the priority of the cloth; secondly, the material level values of the unloading areas with different priorities in the stock bin can be accurately calculated; and thirdly, the material distribution target position is updated in real time, the material distribution trolley is controlled to move to the material distribution target position, and real-time, accurate and automatic control is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of aggregate conveying and storage equipment, and in particular to an automatic material distribution system and a material distribution method for a sand and gravel aggregate silo. Background Art

[0002] In the building materials industry, the material distribution trolley is a common and important equipment for conveying sand and gravel aggregates. Its function is to transport materials to designated silos for storage. In the traditional material distribution operation process, the movement of the material distribution trolley and the material distribution position control are usually manually operated by operators on-site visual observation or in the control room through video monitoring observation. On-site observation and operation are seriously harmful to health. In order to solve the above problems, the invention patent application with application number CN202110246550.1 discloses an intelligent material distribution system for a long strip warehouse, including a long strip warehouse, a discharge belt, a discharge trolley and a control system. Several discharge ports are opened at the bottom of the long strip warehouse for feeding aggregate production equipment; the discharge trolley is provided with a positioning module, a bin material level detection module and a wireless communication module, the positioning module is used to determine the position of the discharge trolley relative to the long strip warehouse in real time, and obtain a trolley positioning signal; the bin material level detection module is facing the long strip warehouse, and is used to detect the material level value height of the long strip warehouse at the position of the discharge trolley in real time to obtain a material level value signal; the wireless communication module is electrically connected to the positioning module and the bin material level detection module respectively, and is used to transmit the obtained trolley positioning signal and material level value signal to the control system through wireless communication, and the control system is used to analyze and match the trolley positioning signal and the material level value signal, and adjust the movement speed of the discharge trolley by controlling the discharge belt in real time through electrical connection to realize intelligent material distribution of the discharge trolley.

[0003] The existing distribution system is based on the lowest point distribution method, that is, the lowest point of the aggregate height in the silo is selected for distribution. However, during the unloading process, the aggregate level is constantly changing. For example, discharge port A is a discharge port with a fast unloading speed and a high frequency of use. It should be distributed in time before the lowest value of the material level is reached. If the use frequency of discharge port B is low, if the discharge port B always maintains a high material level, it will lead to problems such as material accumulation and aggregate solidification. The existing distribution system cannot be intelligently arranged according to the material level value and material shape in the silo. It is urgent to provide an automatic distribution system and method for sand and gravel aggregate silo that automatically controls the distribution position value of the distribution trolley in real time, realizes automatic distribution, and improves the utilization rate of the silo. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an automatic material distribution system and method for a sand and gravel aggregate silo.

[0005] To solve the above technical problems, the technical solution adopted by the present invention is as follows: an automatic feeding system for a sand and gravel aggregate silo, comprising a silo and a feeding trolley, the feeding trolley moves on a hopper, and also comprises a data acquisition module, an analysis control module and a motion execution module, the silo comprises a plurality of discharge ports, the silo is divided into discharge areas with different priorities, the data acquisition module is installed on the silo, and is used to collect three-dimensional point cloud data of aggregates in the silo in real time, the analysis control module is data-connected with the data acquisition module, and a three-dimensional morphology of the aggregates is established according to the three-dimensional point cloud data of the aggregates in the silo, and is used to select a discharge area as a feeding target position, the analysis control module is data-connected with the analysis control module, and the motion execution module is data-connected with the feeding trolley, and is used to receive a control signal sent by the analysis control module, and control the feeding trolley to feed at the feeding target position.

[0006] Furthermore, the material distributing trolley is provided with a material distributing port, and the material distributing trolley moves at a constant speed above the silo.

[0007] Furthermore, the data acquisition module includes a plurality of laser radars installed on the silo, and the three-dimensional point cloud data includes one or more of color data information, reflection intensity information, and transparency information of the aggregate.

[0008] Furthermore, the analysis and control module includes a data analysis unit, which is data-connected to the data acquisition module and establishes a three-dimensional shape of the aggregate based on the three-dimensional point cloud data of the aggregate in the silo, so as to select a discharge area as the target position for distribution.

[0009] Furthermore, the analysis and control module also includes a logic control unit, which obtains the position of the material distribution cart in real time, generates control instructions according to the material distribution target position and the position of the material distribution cart, and outputs the control instructions to the motion execution module.

[0010] The automatic material distribution method of sand and gravel aggregate silo is characterized by:

[0011] Divide the silo into unloading areas with different priorities according to the usage of the unloading port;

[0012] Collect the three-dimensional point cloud data of aggregate in the silo in real time, the three-dimensional point cloud data includes color data information, reflection intensity information, transparency information, etc. of the aggregate, and select a discharge area as the distribution target position X1 according to the three-dimensional point cloud data;

[0013] The position X2 of the material distribution cart is obtained in real time, and the required moving direction D, moving distance S and moving time t of the material distribution cart are obtained according to the difference between the material distribution target position X1 and the position X2 of the material distribution cart, and a control instruction is generated;

[0014] Control the cloth carriage to move to the selected cloth target position X1 for cloth laying.

[0015] Furthermore, the priority of the unloading area is set according to the silo shape, the location of the silo discharge port, the material distribution requirements, the frequency of use of the discharge port, the discharge amount and other working conditions.

[0016] Furthermore, the three-dimensional morphology of the aggregate is established based on the three-dimensional point cloud data, and the material level values ​​of the unloading areas with different priorities are obtained. If the material level value of the unloading area with the highest priority does not exceed the preset threshold, the target position of the material distribution is judged to be the unloading area. If the material level value in the unloading area with the highest priority has reached the preset threshold, the unloading area with the next highest priority is judged, and so on, and finally the target position X1 of the material distribution is determined.

[0017] Furthermore, the moving speed V of the cloth cart is uniform. According to the uniform motion formula S=Vt, the moving time t required for the cart to move from the cloth cart position X2 to the cloth target position X1 can be obtained, and the control instruction is generated according to the moving direction D and moving time t of the cloth cart.

[0018] Furthermore, the storage capacity and storage capacity ratio of the aggregate in the silo are calculated according to the three-dimensional morphology of the aggregate to determine whether the silo is full. If the silo is full, a full signal is output to stop the material distribution trolley from distributing the material.

[0019] As can be seen from the above description, the automatic distribution system and method for sand and gravel aggregate silo provided by the present invention have the following beneficial effects: First, the automatic distribution system for sand and gravel aggregate silo of the present invention adopts the method of selecting distribution priority to determine the distribution target position. Compared with the existing lowest point distribution method, it has the advantages of more reasonable distribution position control and higher storage capacity utilization rate; second, in order to accurately calculate the material level values ​​of unloading areas of different priorities in the silo, the three-dimensional point cloud data of the aggregate in the silo is collected in real time. Compared with the existing collection methods of rotary paddle level meters and ultrasonic radar level meters, it has the advantages of a larger collection range, more collection data, and fewer collection blind spots; third, the three-dimensional morphology of the aggregate in the silo and the position of the distribution trolley change in real time. The automatic distribution system and method for sand and gravel aggregate silo provided by the present invention can implement control and adjustment according to the real-time distribution situation, update the distribution target position in real time, and control the position of the distribution trolley to move to the distribution target position, so as to realize real-time, precise and automatic control. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the automatic material distribution system of the sand and gravel aggregate silo;

[0021] Figure 2 This is a control schematic diagram of the automatic material distribution system for sand and gravel aggregate silos;

[0022] Figure 3 It is a working diagram of the target position of the automatic material distribution system of the sand and gravel aggregate silo;

[0023] Figure 4 It is a working diagram of the automatic distribution system of the sand and gravel aggregate silo when the target position changes;

[0024] Figure 5 This is a schematic diagram of the working of the automatic feeding system of the sand and gravel aggregate silo when the silo is full. DETAILED DESCRIPTION

[0025] The present invention is further described below through specific implementation modes.

[0026] like Figures 1 to 5 As shown, the automatic material distribution system of the sand and gravel aggregate silo of the present invention comprises a silo 1, a material distribution trolley 2, a data acquisition module 3, an analysis and control module 4, and a motion execution module 5;

[0027] The silo 1 includes a plurality of discharge ports 11. The silo 1 is divided into discharge areas with different priorities according to the usage of the discharge ports 11. The priorities are set according to the silo shape, the location of the silo discharge port, the material distribution requirements, the frequency of use of the discharge port, the discharge amount and other working conditions;

[0028] A material distributing port 21 is provided on the material distributing trolley 2, and the material distributing trolley 2 moves at a constant speed above the silo 1, and is used for distributing materials between unloading areas with different priorities;

[0029] The data acquisition module 3 includes a plurality of laser radars 31 installed on the silo 1, and the laser radars 31 are used to collect three-dimensional point cloud data of aggregates in the silo 1 in real time. The three-dimensional point cloud data includes color data information, reflection intensity information, transparency information, etc. of the aggregates. The data acquisition module 3 is data-connected with the analysis and control module 4;

[0030] The analysis control module 4 includes a data analysis unit 41 and a logic control unit 42.

[0031] The data analysis unit 41 obtains the three-dimensional point cloud data of the aggregate in the silo 1 for selecting a discharge area as the distribution target position X1. The data analysis unit 41 pre-processes the received three-dimensional point cloud data, filters out the silo wall and other data that does not belong to the aggregate, and establishes the filtered three-dimensional point cloud data into the three-dimensional morphology of the aggregate. The material level values ​​of the discharge areas with different priorities are obtained through the three-dimensional morphology of the aggregate. If the material level value of the discharge area with the highest priority does not exceed the preset threshold, the distribution target position is judged to be the discharge area. If the material level value in the discharge area with the highest priority has reached the preset threshold, the discharge area with the next higher priority is judged, and so on. Finally, the distribution target position X1 is determined. The material level value is one or more of the highest height value, the lowest height value, the bin share value, etc. of the aggregate in the discharge area.

[0032] The logic control unit 42 obtains the position information X2 of the cloth distributing trolley 2 in real time, and obtains the required moving direction D and moving distance S of the cloth distributing trolley 2 according to the difference between the cloth distributing target position X1 and the position information X2 of the cloth distributing trolley 2. Since the moving speed V of the cloth distributing trolley is uniform, the required moving time t of the trolley can be obtained according to the uniform motion formula S=Vt. A control instruction is generated according to the moving direction D and moving time t of the cloth distributing trolley, and output to the motion execution module 5. The preferred position information X2 of the cloth distributing trolley 2 is the position information of the cloth distributing port 21 of the cloth distributing trolley 2, and the position information can be collected by the laser radar 31 of the data acquisition module 3, or a positioning module can be separately set at the cloth distributing port 21;

[0033] The motion execution module 5 is data-connected with the logic control unit 42, and is used to receive the control signal sent by the logic control unit 42, and control the material distribution trolley 2 to distribute materials between different unloading areas. During the distribution process, the three-dimensional morphology of the aggregate in the silo 1 and the position of the material distribution trolley 2 change in real time. The three-dimensional point cloud data of the aggregate in the silo 1 is collected in real time, the distribution target position X1 is updated in real time, the distribution trolley position X2 is collected in real time, the moving direction D and moving time t of the distribution trolley 2 are adjusted in real time, and the distribution trolley is monitored to see whether it moves to the distribution target position, so as to realize real-time, accurate and automatic control.

[0034] Reference Figures 1 to 5 As shown, the automatic distribution method of sand and gravel aggregate silo,

[0035] The silo 1 is divided into unloading areas with different priorities according to the usage of the unloading port 11. The priority division is set according to the silo shape, the position of the silo unloading port, the material distribution requirements, the frequency of use of the unloading port, the unloading amount and other working conditions. In this embodiment, the first area 101 corresponding to the first unloading port 111 has the highest priority, the second area 102 corresponding to the second unloading port 112 has the second highest priority, and the third area 103 corresponding to the third unloading port 113 has the lowest priority;

[0036] Collecting three-dimensional point cloud data of aggregates in the first area 101, the second area 102, and the third area 103 in the silo 1 in real time, wherein the three-dimensional point cloud data includes color data information, reflection intensity information, transparency information, etc. of the aggregates;

[0037] The analysis and control module 4 pre-processes the received three-dimensional point cloud data, filters out the silo wall and other data that does not belong to the aggregate, and establishes the filtered three-dimensional point cloud data into the three-dimensional shape of the aggregate. According to the three-dimensional point cloud data, a discharge area is selected as the distribution target position X1, and the material level values ​​of the discharge areas with different priorities are obtained according to the three-dimensional shape of the aggregate. The material level value can be one or more of the highest height value, the lowest height value, the bin ratio value, etc. of the aggregate in the discharge area. In this embodiment, the highest height value of the aggregate in the area is used as the material level value;

[0038] like Figure 3 As shown, at this time, if the material level value of the first area 101 with the highest priority does not exceed the preset height threshold, the material distribution target position X1 is determined to be the first area 101, and the material distribution trolley 2 moves to the top of the first area 101 for unloading;

[0039] like Figure 4 As shown, if the material level value in the first area 101 has reached the preset threshold, it is then determined whether the material level value in the second area 102 exceeds the preset height threshold. At this time, the material level value in the second area 102 also exceeds the preset height threshold, and finally the material distribution target position X1 is determined to be the third area 103, and the material distribution trolley 2 moves to the top of the third area 103 for unloading;

[0040] The position information X2 of the cloth distributing trolley 2 is obtained in real time, and the moving direction D and moving distance S required by the cloth distributing trolley 2 are obtained according to the difference between the cloth distributing target position X1 and the position information X2 of the cloth distributing trolley 2. Since the moving speed V of the cloth distributing trolley is uniform, the moving time t required by the trolley can be obtained according to the uniform motion formula S=Vt. A control instruction is generated according to the moving direction D and moving time t of the cloth distributing trolley, and output to the motion execution module 5. The preferred position information X2 of the cloth distributing trolley 2 is the position information of the cloth distributing port 21 of the cloth distributing trolley 2.

[0041] The material distribution cart 2 is controlled to move to the selected material distribution target position X1 for material distribution. During the material distribution process, the three-dimensional morphology of the aggregate in the silo 1 and the position of the material distribution cart 2 change in real time. The three-dimensional point cloud data of the aggregate in the silo 1 is collected in real time, the material distribution target position X1 is updated in real time, the material distribution cart position X2 is collected in real time, the moving direction D and moving time t of the material distribution cart 2 are adjusted in real time, and it is monitored whether the material distribution cart moves to the material distribution target position, so as to realize real-time, precise and automatic control.

[0042] like Figure 5 As shown, the shape distribution of aggregates in the silo is analyzed according to the three-dimensional morphology of the aggregates, the silo capacity and silo capacity ratio of the aggregates in silo 1 are calculated, and it is determined whether silo 1 is full. If it is full, a full signal is output to stop the material distribution trolley 2 from distributing the materials.

[0043] The above-mentioned automatic distribution system and method for sand and gravel aggregate silo: first, the automatic distribution system for sand and gravel aggregate silo of the present invention adopts the method of selecting distribution priority to determine the distribution target position. Compared with the existing lowest point distribution method, it has the advantages of more reasonable distribution position control and higher warehouse capacity utilization rate; second, in order to achieve the ability to accurately calculate the material level values ​​of unloading areas of different priorities in the silo, the three-dimensional point cloud data of the aggregate in the silo is collected in real time. Compared with the existing collection methods of rotary paddle level meters and ultrasonic radar level meters, it has the advantages of a larger collection range, more collection data, and fewer collection blind spots; third, the three-dimensional morphology of the aggregate in the silo and the position of the distribution trolley change in real time. The automatic distribution system and method for sand and gravel aggregate silo provided by the present invention can implement control and adjustment according to the real-time distribution situation, update the distribution target position in real time, and control the position of the distribution trolley to move to the distribution target position, so as to realize real-time, precise and automatic control.

[0044] The above are only some specific implementation methods of the present invention, but the design concept of the present invention is not limited thereto. Any non-substantial changes to the present invention using this concept shall be deemed as an infringement of the protection scope of the present invention.

Claims

1. Automatic material distribution system for sand and gravel aggregate silo, including silo and material distribution trolley, the material distribution trolley moves on the hopper, characterized in that: It also includes a data acquisition module, an analysis and control module and a motion execution module. The silo includes multiple discharge ports. The silo is divided into discharge areas with different priorities. The data acquisition module is installed on the silo and is used to collect three-dimensional point cloud data of aggregate in the silo in real time. The analysis and control module is data-connected with the data acquisition module, and a three-dimensional morphology of the aggregate is established based on the three-dimensional point cloud data of the aggregate in the silo, so as to select a discharge area as a target position for material distribution. The analysis and control module is data-connected with the analysis and control module, and the motion execution module is data-connected with the material distribution trolley, so as to receive the control signal sent by the analysis and control module and control the material distribution trolley to distribute materials at the target position for material distribution.

2. The automatic material distribution system for sand and gravel aggregate silo according to claim 1 is characterized by: The material distributing trolley is provided with a material distributing opening, and the material distributing trolley moves at a constant speed above the silo.

3. The automatic material distribution system for sand and gravel aggregate silo according to claim 1 is characterized by: The data acquisition module includes a plurality of laser radars installed on the silo, and the three-dimensional point cloud data includes one or more of color data information, reflection intensity information, and transparency information of the aggregate.

4. The automatic material distribution system for sand and gravel aggregate silo according to claim 1 is characterized by: The analysis and control module includes a data analysis unit, which is data-connected to the data acquisition module and establishes a three-dimensional shape of the aggregate based on the three-dimensional point cloud data of the aggregate in the silo, so as to select a discharge area as the target position for distribution.

5. The automatic distribution system for sand and gravel aggregate silo according to claim 4 is characterized by: The analysis and control module also includes a logic control unit, which obtains the position of the material distribution trolley in real time, generates control instructions according to the material distribution target position and the position of the material distribution trolley, and outputs the control instructions to the motion execution module.

6. Automatic distribution method for sand and gravel aggregate silo, characterized by: Divide the silo into unloading areas with different priorities according to the usage of the unloading port; Collect three-dimensional point cloud data of aggregate in the silo in real time, the three-dimensional point cloud data includes color data information, reflection intensity information, transparency information, etc. of the aggregate, and select a discharge area as the distribution target position X1 according to the three-dimensional point cloud data; Obtain the position X2 of the material distribution cart in real time, obtain the required moving direction D, moving distance S and moving time t of the material distribution cart according to the difference between the material distribution target position X1 and the position information X2 of the material distribution cart 2, and generate control instructions; Control the cloth carriage to move to the selected cloth target position X1 for cloth laying.

7. The automatic distribution method for sand and gravel aggregate silo according to claim 6 is characterized by: The priority of the unloading area is set according to the shape of the silo, the position of the silo discharge port, the material distribution requirements, the frequency of use of the discharge port, the discharge amount and other working conditions.

8. The automatic distribution method for sand and gravel aggregate silo according to claim 6 is characterized by: The three-dimensional morphology of aggregate is established according to the three-dimensional point cloud data, and the material level values ​​of unloading areas with different priorities are obtained. If the material level value of the unloading area with the highest priority does not exceed the preset threshold, the target position of material distribution is judged to be the unloading area. If the material level value in the unloading area with the highest priority has reached the preset threshold, the unloading area with the next highest priority is judged, and so on, and finally the target position X1 of material distribution is determined.

9. The automatic distribution method for sand and gravel aggregate silo according to claim 6, characterized in that: The moving speed V of the material distribution trolley is uniform. According to the uniform motion formula S=Vt, the required moving time t of the trolley can be obtained, and the control instruction is generated according to the moving direction D and moving time t of the material distribution trolley.

10. The automatic material distribution method for sand and gravel aggregate silo according to claim 6, characterized in that: The silo capacity and silo ratio of the aggregate are calculated based on the three-dimensional shape of the aggregate to determine whether the silo is full. If the silo is full, a full signal is output to stop the material distribution trolley from distributing the material.

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