Loading stacking machine and control system thereof

Abstract

The invention relates to the technical field of agricultural machinery control, in particular to a loading stacker and a control system thereof, and the system comprises an information obtaining module which is used for periodically obtaining the operation information and warehouse information of the loading stacker; the region division module is used for analyzing a cloth region; the operation control module is used for controlling the loading stacker to distribute materials; the detection analysis module is used for analyzing the node numbers; the operation analysis module is used for analyzing the filling time, the detection offset parameter, the time difference parameter according to the filling time and the material distribution area, and the operation control parameter according to the detection variable quantity, the filling time, the detection offset parameter, the time difference parameter and the material distribution area; and the control iteration module is used for iterating the control process of the loading stacker according to the operation control parameters. Accurate distribution of agricultural products in and out of a warehouse is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery control, and in particular to a loading and stacking machine and a control system thereof. Background Art

[0002] After the harvest of agricultural products such as potatoes and onions, the loading, warehousing and storage of bulk materials must be completed using special loading and warehousing machinery. Currently, most farmers pack the harvest in bags in the fields for transportation and storage.

[0003] Chinese patent publication number: CN102897540A discloses a stacker, including a base plate; a translation assembly, which includes a first drive motor, a first ball screw, and a first screw nut; a lifting assembly, which includes a base, a bracket, a second drive motor, a second ball screw, and a second screw nut; a feeding assembly, which includes a mounting plate fixed on the second screw nut, a cylinder mounted on the mounting plate and whose free end can be extended along the width direction of the base plate, a first gear linked to the free end of the cylinder, a second rack linked to the first gear and whose teeth are arranged along the width direction of the base plate, and a suction cup fixed to the second rack. This invention realizes the sequential stacking of items, but does not realize the analysis of the transmission of crops, and there is a problem of low efficiency in the distribution of agricultural products in and out of the warehouse. Summary of the invention

[0004] To this end, the present invention provides a loading stacker and a control system thereof, so as to overcome the problem of low efficiency in the prior art in distributing agricultural products in and out of the warehouse.

[0005] To achieve the above object, the present invention provides a control system for a loading and stacking crane, comprising:

[0006] An information acquisition module is used to periodically acquire the operation information of the loading stacker and the warehouse information;

[0007] An area division module is used to analyze the length division parameter and the width division parameter according to the warehouse information and the operation information, and is also used to analyze the cloth area according to the length division parameter and the width division parameter;

[0008] Operation control module, used to control the loading and stacking crane to lay materials according to the material laying area, warehouse information and operation information;

[0009] A detection analysis module is used to analyze the detection change amount according to the operation information, and is also used to analyze the node number according to the detection change amount;

[0010] An operation analysis module is used to analyze the filling time according to the node number, to analyze the detection offset parameter according to the filling time and the operation information, to analyze the time difference parameter according to the filling time and the distribution area, and to analyze the operation control parameter according to the detection change amount, the filling time, the detection offset parameter, the time difference parameter and the distribution area;

[0011] The control iteration module is used to iterate the control process of the loading and stacking crane according to the operation control parameters.

[0012] Furthermore, the area division module is provided with a division analysis unit, which is used to calculate the length division parameter and the width division parameter through a division formula according to the transmission speed, the conveyor belt width, the cargo bin width and the cargo bin length. The division analysis unit is provided with a division formula as follows:

[0013] A1=D1×2 / [V(i)×T+L]

[0014] A2=D2 / L

[0015] Wherein, A1 represents the length division parameter, A1 is rounded down, A2 represents the width division parameter, A2 is rounded down, D1 represents the cargo bin length, D2 represents the cargo bin width, V(i) represents the transmission speed, i represents the analysis cycle number, T represents the duration of the preset analysis cycle, and L represents the width of the conveyor belt;

[0016] The area division module is further provided with an area division unit, which is used to analyze the cloth area according to the length division parameter and the width division parameter. The area division unit divides the warehouse into A1×A2 rectangular areas of equal area, sorts the divided rectangular areas, and numbers the rectangular areas in the sorting order. The numbering adopts the area number, and the area number is set to j, j∈N + , and use the numbered rectangular area as the cloth area.

[0017] Furthermore, the operation control module controls the loading and stacking machine to extend out of the lower conveyor, with the extension length equal to the length of the lower conveyor, and controls the feed port of the loading and stacking machine to be located above the material distribution area with area number j+n. When j+n>A1×A2, the operation control module controls the rotating mechanism of the loading and stacking machine to raise the feed port, and controls the feed port to be located above the material distribution area with area number (j+n)-A1×A2×b, wherein n represents the number of control iterations, b represents the number of lifting times, b=(j+n) / (A1×A2), and b is rounded down.

[0018] Furthermore, the detection and analysis module is provided with a detection and analysis unit, which is used to analyze the detection change amount according to the detection distance, and set the detection change amount to P(i,j)=M1(i=m(j),j)-M1(i,j), wherein P(i,j) represents the detection change amount, and M1(i,j) represents the detection distance of each analysis cycle when the feeding port of the loading stacker is located above the material distribution area with area number j;

[0019] The detection and analysis module is also provided with a node analysis unit, which is used to analyze the node number according to the detection change amount, wherein:

[0020] When P(i,j)≥A3, the node analysis unit uses the analysis cycle number corresponding to the current analysis detection change as the node number, and sets the node number to K(j);

[0021] When P(i,j)≤A3, the node analysis unit does not analyze the node number.

[0022] Furthermore, the operation analysis module is provided with a filling analysis unit, which is used to analyze the filling time according to the node number, and set the filling time to W(j)=[K(j)-m(j)]×T, where W(j) represents the filling time.

[0023] Furthermore, the operation analysis module is further provided with an offset analysis unit, which is used to calculate the detection offset parameter according to the filling time and the detection change through an offset analysis formula. The offset analysis unit is provided with an offset analysis formula as follows:

[0024] R(j)=P(i=K(j-1)+W(j-1) / T,j)-A3

[0025] The operation analysis module is further provided with a time analysis unit, which is used to calculate the time difference parameter according to the filling time and the cloth area through a time analysis formula. The time analysis unit is provided with a time analysis formula as follows:

[0026]

[0027] Wherein, S(j) represents the time difference parameter, and v represents a positive integer parameter.

[0028] Furthermore, the operation analysis module is further provided with an operation analysis unit, which is used to calculate the operation control parameter through an operation analysis formula according to the detected change amount and the filling time. The operation analysis unit is provided with an operation analysis formula as follows:

[0029] F(i,j)=[P(i,j) / A3+W(j) / W(j-1)] / 2

[0030] Among them, F(i,j) represents the operation control parameter.

[0031] Furthermore, the operation analysis module is further provided with an operation adjustment unit, which is used to adjust the analysis process of the operation control parameters according to the detection offset parameters, wherein:

[0032] When R(j)<r1, the operation adjustment unit determines that the detection offset parameter does not meet the threshold value, and adjusts the analysis process of the operation control parameter. The adjusted operation control parameter is F1(i,j), and F1(i,j)=F(i,j)×e R(j) ;

[0033] When r1≤R(j)≤r2, the operation adjustment unit determines that the detection offset parameter meets the threshold value and does not adjust the analysis process of the operation control parameter;

[0034] When R(j)>r2, the operation adjustment unit determines that the detection offset parameter does not meet the threshold value, and adjusts the analysis process of the operation control parameter. The adjusted operation control parameter is F1(i,j), and F1(i,j)=F(i,j)×ln[e+R(j)] is set;

[0035] Wherein, r1 represents the first offset threshold, and r2 represents the second offset threshold;

[0036] The operation analysis module is further provided with an operation optimization unit, which is used to compare the time difference parameter with the difference threshold, and optimize the adjustment process of the operation control parameter according to the comparison result, wherein:

[0037] When S(j)<s, the operation optimization unit determines that the time difference parameter does not meet the threshold value, optimizes the adjustment process of the operation control parameter, and the optimized operation control parameter is F2(i,j), and F2(i,j)=F1(i,j)×s / S(j);

[0038] When S(j)≥s, the operation optimization unit determines that the time difference parameter meets the threshold value and does not optimize the adjustment process of the operation control parameter;

[0039] Where s represents the difference threshold.

[0040] Furthermore, the control iteration module compares the operation control parameter with the control threshold, and iterates the control process of the loading stacker according to the comparison result, wherein:

[0041] When F(i,j)≥f, the control iteration module iterates the control process of the loading stacker, and counts the number of iterations of the control process of the loading stacker as the number of loading iterations;

[0042] When F(i,j)<f, the control iteration module does not iterate the control process of the loading stacker;

[0043] Where f represents the control threshold.

[0044] Furthermore, the loading and stacking machine comprises:

[0045] a cloth structure for spreading cloth in the cargo hold;

[0046] a transfer structure for transferring agricultural products to the fabric structure;

[0047] A driving structure for providing driving power;

[0048] A chassis for mounting functional components;

[0049] The balance wheel support mechanism is used to maintain the balance of the fuselage, and the balance wheel support structure is installed on both sides of the chassis;

[0050] The counterweight box is used to counterweight the fuselage to keep it balanced. The counterweight box is installed below one end of the chassis;

[0051] A hydraulic station is used to provide power to the balance wheel support mechanism, and the hydraulic station is installed above the middle of the chassis;

[0052] The power distribution box is used to provide power for the telescopic structure and the transmission structure. The power distribution box is installed above the middle of the base frame and close to the counterweight box.

[0053] Compared with the prior art, the beneficial effect of the present invention lies in that the operation information and cargo hold information of the loading and stacking machine are acquired by the information acquisition module to improve the accuracy of information acquisition, thereby improving the distribution efficiency of agricultural products in and out of the warehouse, and improving the accuracy of the distribution of agricultural products in and out of the warehouse; the area division module analyzes the cargo hold information and operation information to analyze the length division parameter and the width division parameter, and uses the length division parameter and the width division parameter to respectively represent the proportional relationship between the cargo hold length and width and the operation data of the machine during distribution, thereby improving the distribution efficiency of agricultural products in and out of the warehouse, and improving the accuracy of the distribution of agricultural products in and out of the warehouse; the area division module analyzes the length division parameter and the width division parameter to analyze the distribution area, and divides the cargo hold into The distribution area is divided into a plurality of equal-sized distribution areas, thereby improving the distribution efficiency of agricultural products in and out of the warehouse, and improving the accuracy of the distribution of agricultural products in and out of the warehouse. The operation control module analyzes the distribution area, cargo hold information and operation information to control the loading stacker to distribute the materials, thereby improving the distribution efficiency of agricultural products in and out of the warehouse, and improving the accuracy of the distribution of agricultural products in and out of the warehouse. The detection analysis module analyzes the operation information to analyze the detection change amount, and uses the detection change amount to represent the change amount of the detection distance affected by the distribution of agricultural products, thereby improving the distribution efficiency of agricultural products in and out of the warehouse, and improving the accuracy of the distribution of agricultural products in and out of the warehouse. The detection analysis module analyzes the detection change amount to analyze the node number, and uses the node number to represent the completion of the current distribution area. The number of the analysis cycle corresponding to the material distribution is used to improve the material distribution efficiency of agricultural products in and out of the warehouse, and the accuracy of the material distribution of agricultural products in and out of the warehouse is improved. The operation analysis module analyzes the node number to analyze the filling time, and the filling time is used to represent the material distribution time of the loading and stacking machine in each material distribution area, thereby improving the material distribution efficiency of agricultural products in and out of the warehouse and the accuracy of the material distribution of agricultural products in and out of the warehouse. The operation analysis module analyzes the filling time and operation information to analyze the detection offset parameter, and the detection offset parameter is used to represent the deviation of the detection distance when the current material distribution area is distributed according to the data of the previous material distribution area, thereby improving the material distribution efficiency of agricultural products in and out of the warehouse and the accuracy of the material distribution of agricultural products in and out of the warehouse. The operation analysis module analyzes the filling time and operation information to analyze the detection offset parameter, and the detection offset parameter is used to represent the deviation of the detection distance when the current material distribution area is distributed according to the data of the previous material distribution area, thereby improving the material distribution efficiency of agricultural products in and out of the warehouse and the accuracy of the material distribution of agricultural products in and out of the warehouse. The filling time and the distribution area are analyzed to analyze the time difference parameters, and the time difference parameters are used to represent the difference between the average time used and the initial distribution time when the distribution of each row of distribution area is completed, so as to improve the distribution efficiency of agricultural products in and out of the warehouse, and improve the accuracy of the distribution of agricultural products in and out of the warehouse. The operation analysis module analyzes the detection change, filling time, detection offset parameter, time difference parameter and distribution area to analyze the operation control parameters, and uses the operation control parameters to represent the change relationship between the filling time and the detection distance of each analysis cycle, so as to improve the distribution efficiency of agricultural products in and out of the warehouse, and improve the accuracy of the distribution of agricultural products in and out of the warehouse. The control iteration module analyzes the operation control parameters to iterate the control process of the loading and stacking machine.Thereby improving the efficiency of placing agricultural products in and out of the warehouse and improving the accuracy of placing agricultural products in and out of the warehouse. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is a structural schematic diagram of the control system of the loading and stacking crane in this embodiment.

[0055] Figure 2 It is a structural diagram of the area division module of this embodiment.

[0056] Figure 3 Schematic diagram of the structure of the detection and analysis module of this embodiment.

[0057] Figure 4 Schematic diagram of the structure of the operation analysis module described in this embodiment.

[0058] Figure 5 It is a schematic side structural diagram of the loading and stacking machine of this embodiment.

[0059] Figure 6 It is a schematic diagram of the front structural view of the loading and stacking crane in this embodiment.

[0060] Figure 7 It is a side structural schematic diagram of the rear wheel steering mechanism of this embodiment.

[0061] Figure 8 It is a schematic diagram of the front view of the rear wheel steering mechanism of this embodiment.

[0062] Fig. 9 Schematic diagram of the structure of the balance wheel support mechanism of this embodiment.

[0063] Fig.10 Schematic diagram of the structure of the rotating mechanism of this embodiment.

[0064] Fig.11 It is a schematic diagram of the side structure of the cloth screen of this embodiment.

[0065] Fig.12 It is a schematic diagram of the main structure of the cloth screen of this embodiment.

[0066] Fig.13 It is a schematic diagram of the structure of the upper conveyor and the lower conveyor of this embodiment.

[0067] Fig.14 Schematic diagram of the structure of the attachment point assembly of this embodiment. DETAILED DESCRIPTION

[0068] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0069] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0070] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0071] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0072] See also Figure 1 As shown, it is a control system of a loading stacker in this embodiment, including:

[0073] An information acquisition module is used to periodically acquire the operation information and cargo warehouse information of the loading and stacking machine, wherein the operation information includes transmission speed, conveyor belt width, upper conveyor length, lower conveyor length and detection distance, wherein the transmission speed is the operation speed of the conveyor belt, and the detection distance is the distance between the rotating mechanism of the loading and stacking machine and the agricultural products after being laid in the cargo warehouse, and the cargo warehouse information includes cargo warehouse width, cargo warehouse height and cargo warehouse length, and the cargo warehouse includes storage warehouses and carriages, etc. The information acquisition module acquires the operation information and agricultural product information once per preset analysis period, and the preset analysis period in this embodiment is 3 seconds. In this embodiment, the setting of the preset analysis period is not specifically limited, and those skilled in the art can freely set it, such as 1 second, 2 seconds and 5 seconds, etc. The setting of the preset analysis period should meet the requirement of being less than or equal to 10 seconds, and the operation information and cargo warehouse information are acquired by sensors installed on the loading and stacking machine;

[0074] A region division module, used for analyzing the length division parameter and the width division parameter according to the warehouse information and the operation information, and also for analyzing the cloth region according to the length division parameter and the width division parameter, the region division module being connected to the information acquisition module;

[0075] An operation control module, used for controlling the loading stacker to carry out material distribution according to the material distribution area, warehouse information and operation information, and the operation control module is connected to the area division module;

[0076] A detection analysis module, used to analyze the detection change amount according to the operation information, and also used to analyze the node number according to the detection change amount, and the detection analysis module is connected to the operation control module;

[0077] An operation analysis module is used to analyze the filling time according to the node number, to analyze the detection offset parameter according to the filling time and the operation information, to analyze the time difference parameter according to the filling time and the distribution area, and to analyze the operation control parameter according to the detection change amount, the filling time, the detection offset parameter, the time difference parameter and the distribution area, and the operation analysis module is connected to the detection analysis module;

[0078] The control iteration module is used to iterate the control process of the loading and stacking crane according to the operation control parameters, and the control iteration module is connected to the operation analysis module.

[0079] See also Figure 2 As shown, the area division module includes:

[0080] A partition analysis unit for analyzing a length partition parameter and a width partition parameter according to a transmission speed, a conveyor belt width, a cargo bin width, and a cargo bin length;

[0081] The area division unit is used to analyze the cloth area according to the length division parameter and the width division parameter, and the area division unit is connected to the division analysis unit.

[0082] See also Figure 3 As shown, the detection and analysis module includes:

[0083] A detection analysis unit, used to analyze the detection change amount according to the detection distance;

[0084] The node analysis unit is used to analyze the node number according to the detection change amount, and the node analysis unit is connected to the detection analysis unit.

[0085] See also Figure 4 As shown, the operation analysis module includes:

[0086] A filling analysis unit for analyzing the filling time according to the node number;

[0087] An offset analysis unit, used for analyzing the detection offset parameter according to the filling time and the detection change amount, the offset analysis unit is connected to the filling analysis unit;

[0088] A time analysis unit, used for analyzing the time difference parameter according to the filling time and the fabric area, the time analysis unit being connected to the filling analysis unit;

[0089] An operation analysis unit, used for analyzing the operation control parameters according to the detected variation and the filling time, the operation analysis unit being connected to the offset analysis unit and the time analysis unit;

[0090] An operation adjustment unit, used for adjusting the analysis process of the operation control parameter according to the detection offset parameter, the operation adjustment unit being connected to the operation analysis unit;

[0091] The operation optimization unit is used to optimize the adjustment process of the operation control parameter according to the time difference parameter, and the operation optimization unit is connected to the operation adjustment unit.

[0092] Specifically, in this embodiment, the information acquisition module acquires the operation information and cargo hold information of the loading stacker to improve the accuracy of information acquisition, thereby improving the distribution efficiency of agricultural products in and out of the warehouse, and improving the accuracy of distribution of agricultural products in and out of the warehouse. The area division module analyzes the cargo hold information and operation information to analyze the length division parameter and the width division parameter, and uses the length division parameter and the width division parameter to respectively represent the proportional relationship between the cargo hold length and width and the operation data of the machine during distribution, thereby improving the distribution efficiency of agricultural products in and out of the warehouse, and improving the accuracy of distribution of agricultural products in and out of the warehouse. The area division module analyzes the length division parameter and the width division parameter to analyze the distribution area, and divides the cargo hold into a plurality of equal-sized areas. A small distribution area is used to improve the distribution efficiency of agricultural products in and out of the warehouse, and the accuracy of the distribution of agricultural products in and out of the warehouse is improved. The distribution area, cargo hold information and operation information are analyzed by the operation control module to control the loading and stacking machine to distribute the materials, thereby improving the distribution efficiency of agricultural products in and out of the warehouse, and the accuracy of the distribution of agricultural products in and out of the warehouse is improved. The operation information is analyzed by the detection and analysis module to analyze the detection change amount, and the detection change amount is used to represent the change amount of the detection distance affected by the distribution of agricultural products, thereby improving the distribution efficiency of agricultural products in and out of the warehouse, and the accuracy of the distribution of agricultural products in and out of the warehouse is improved. The detection and analysis module analyzes the detection change amount to analyze the node number, and the node number is used to represent the distribution of the current distribution area when the distribution is completed. The corresponding analysis cycle number is used to improve the distribution efficiency of agricultural products in and out of the warehouse, and the accuracy of the distribution of agricultural products in and out of the warehouse is improved. The operation analysis module analyzes the node number to analyze the filling time, and the filling time is used to represent the distribution time of the loading and stacking machine in each distribution area, thereby improving the distribution efficiency of agricultural products in and out of the warehouse and the accuracy of the distribution of agricultural products in and out of the warehouse. The operation analysis module analyzes the filling time and operation information to analyze the detection offset parameter, and the detection offset parameter is used to represent the deviation of the detection distance when the current distribution area is distributed according to the data of the previous distribution area, thereby improving the distribution efficiency of agricultural products in and out of the warehouse and the accuracy of the distribution of agricultural products in and out of the warehouse. The operation analysis module analyzes the filling time and operation information to analyze the detection offset parameter, and the detection offset parameter is used to represent the deviation of the detection distance when the current distribution area is distributed according to the data of the previous distribution area, thereby improving the distribution efficiency of agricultural products in and out of the warehouse and the accuracy of the distribution of agricultural products in and out of the warehouse. The operation analysis module analyzes the detection change amount, filling time, detection offset parameter, time difference parameter and distribution area to analyze the time difference parameter, and uses the time difference parameter to represent the difference between the average time used and the initial distribution time when the distribution of each row of distribution area is completed, so as to improve the distribution efficiency of agricultural products in and out of the warehouse, and improve the accuracy of the distribution of agricultural products in and out of the warehouse. The operation analysis module analyzes the detection change amount, filling time, detection offset parameter, time difference parameter and distribution area to analyze the operation control parameter, and uses the operation control parameter to represent the change relationship between the filling time and the detection distance of each analysis cycle, so as to improve the distribution efficiency of agricultural products in and out of the warehouse, and improve the accuracy of the distribution of agricultural products in and out of the warehouse. The control iteration module analyzes the operation control parameter to iterate the control process of the loading and stacking machine.Thereby improving the efficiency of placing agricultural products in and out of the warehouse and improving the accuracy of placing agricultural products in and out of the warehouse.

[0093] Specifically, the division analysis unit in this embodiment calculates the length division parameter and the width division parameter through a division formula according to the transmission speed, the conveyor belt width, the cargo bin width and the cargo bin length. The division analysis unit is provided with a division formula as follows:

[0094] A1=D1×2 / [V(i)×T+L]

[0095] A2=D2 / L

[0096] Among them, A1 represents the length division parameter, A1 is rounded down, A2 represents the width division parameter, A2 is rounded down, D1 represents the warehouse length, D2 represents the warehouse width, V(i) represents the transmission speed, i represents the analysis cycle number, T represents the duration of the preset analysis cycle, and L represents the width of the conveyor belt.

[0097] Specifically, the area division unit in this embodiment analyzes the cloth area according to the length division parameter and the width division parameter. The area division unit divides the warehouse into A1×A2 rectangular areas of equal area, sorts the divided rectangular areas, and numbers the rectangular areas in the sorting order. The numbering adopts the area number, and the area number is set to j, j∈N + , the numbered rectangular area is used as the fabric area. The rectangular area is a rectangular area with a side length of A3×A4, A3 represents the area length, A3=D1 / A1, and A4 represents the area width, A4=D2 / A2.

[0098] Specifically, the area division unit in this embodiment divides the cargo warehouse into A1×A2 rectangular areas of equal area, each rectangular area corresponds to a row number and a column number, and the row number is set to a1, a1∈N + And a1≤A1, set column number a2, a2∈N + And a2≤A2, the row numbers from small to large represent the order of the distances of the rectangular areas in the warehouse from far to near to the loading stacker, and the column numbers from small to large represent the order from left to right in the warehouse facing away from the loading stacker. The rectangular areas are sorted according to the row number and the column number. When the row number is an odd number, the rectangular areas are sorted in the order of the column number from small to large, and when the row number is an even number, the rectangular areas are sorted in the order of the column number from large to small.

[0099] Specifically, the operation control module in this embodiment controls the loading stacker to extend out of the lower conveyor, the extension length is equal to the length of the lower conveyor, and controls the feeding port of the loading stacker to be located above the material distribution area with area number j+n. When j+n>A1×A2, the operation control module controls the rotating mechanism of the loading stacker to raise the feeding port, and controls the feeding port to be located above the material distribution area with area number (j+n)-A1×A2×b, where n represents the number of control iterations, b represents the number of lifting times, b=(j+n) / (A1×A2), and b is rounded down. The feeding port of the loading stacker is defined as the vertex on the lower conveyor away from the end of the upper conveyor.

[0100] Specifically, the operation control module in this embodiment controls the material feeding port of the loading and stacking crane to be located above the material distributing area with area number 1 when controlling the loading and stacking crane for the first time.

[0101] Specifically, the operation control module in this embodiment controls the analysis cycle number corresponding to when the material feeding port of the loading stacker is located above the material distribution area with area number j as the control cycle number, and sets the control cycle number to m(j).

[0102] Specifically, the detection and analysis unit described in this embodiment analyzes the detection change according to the detection distance, and sets the detection change to P(i,j)=M1(i=m(j),j)-M1(i,j), wherein P(i,j) represents the detection change, and M1(i,j) represents the detection distance of each analysis cycle when the feeding port of the loading stacker is located above the material distribution area with area number j.

[0103] Specifically, the node analysis unit in this embodiment analyzes the node number according to the detected change amount, wherein:

[0104] When P(i,j)≥A3, the node analysis unit uses the analysis cycle number corresponding to the current analysis detection change as the node number, and sets the node number to K(j);

[0105] When P(i,j)≤A3, the node analysis unit does not analyze the node number.

[0106] Specifically, the filling analysis unit in this embodiment analyzes the filling time according to the node number, and sets the filling time to W(j)=[K(j)-m(j)]×T, where W(j) represents the filling time.

[0107] Specifically, in this embodiment, the offset analysis unit calculates the detection offset parameter according to the filling time and the detection change amount through the offset analysis formula. The offset analysis unit is provided with an offset analysis formula as follows:

[0108] R(j)=P(i=K(j-1)+W(j-1) / T,j)-A3

[0109] Wherein, R(j) represents the detection offset parameter.

[0110] Specifically, in this embodiment, the time analysis unit calculates the time difference parameter according to the filling time and the cloth area through the time analysis formula, and the time analysis unit is provided with the following time analysis formula:

[0111]

[0112] Wherein, S(j) represents the time difference parameter, and v represents a positive integer parameter.

[0113] Specifically, the operation analysis unit in this embodiment calculates the operation control parameter according to the detection change amount and the filling time through the operation analysis formula. The operation analysis unit is provided with the following operation analysis formula:

[0114] F(i,j)=[P(i,j) / A3+W(j) / W(j-1)] / 2

[0115] Among them, F(i,j) represents the operation control parameter.

[0116] Specifically, the operation adjustment unit in this embodiment adjusts the analysis process of the operation control parameter according to the detection offset parameter, wherein:

[0117] When R(j)<r1, the operation adjustment unit determines that the detection offset parameter does not meet the threshold value, and adjusts the analysis process of the operation control parameter. The adjusted operation control parameter is F1(i,j), and F1(i,j)=F(i,j)×e R(j) ;

[0118] When r1≤R(j)≤r2, the operation adjustment unit determines that the detection offset parameter meets the threshold value and does not adjust the analysis process of the operation control parameter;

[0119] When R(j)>r2, the operation adjustment unit determines that the detection offset parameter does not meet the threshold value, and adjusts the analysis process of the operation control parameter. The adjusted operation control parameter is F1(i,j), and F1(i,j)=F(i,j)×ln[e+R(j)] is set;

[0120] Wherein, r1 represents the first offset threshold, -0.2≤r1<0, r2 represents the second offset threshold, 0<r2≤0.2. It can be understood that the value of the offset threshold is not specifically limited in this embodiment, and those skilled in the art can freely set it as long as the adjustment of the operation control parameters is satisfied. The optimal value of the offset threshold is: r1=-0.15, r2=0.15.

[0121] Specifically, the operation optimization unit in this embodiment compares the time difference parameter with the difference threshold, and optimizes the adjustment process of the operation control parameter according to the comparison result, wherein:

[0122] When S(j)<s, the operation optimization unit determines that the time difference parameter does not meet the threshold value, optimizes the adjustment process of the operation control parameter, and the optimized operation control parameter is F2(i,j), and F2(i,j)=F1(i,j)×s / S(j);

[0123] When S(j)≥s, the operation optimization unit determines that the time difference parameter meets the threshold value and does not optimize the adjustment process of the operation control parameter;

[0124] Wherein, s represents the difference threshold, 1≤s≤1.2. It is understandable that the value of the difference threshold is not specifically limited in this embodiment, and those skilled in the art can freely set it, as long as the optimization of the operation control parameter adjustment process is satisfied. The best value of the difference threshold is: s=1.1.

[0125] Specifically, the control iteration module in this embodiment compares the operation control parameter with the control threshold, and iterates the control process of the loading stacker according to the comparison result, wherein:

[0126] When F(i,j)≥f, the control iteration module iterates the control process of the loading stacker, and counts the number of iterations of the control process of the loading stacker as the number of loading iterations;

[0127] When F(i,j)<f, the control iteration module does not iterate the control process of the loading stacker;

[0128] Wherein, f represents the control threshold, 0.9≤f≤1. It can be understood that the value of the control threshold is not specifically limited in this embodiment, and those skilled in the art can freely set it, as long as it satisfies the iteration of the control process of the loading stacker, and the optimal value of the control threshold is: f=0.9.

[0129] Specifically, in this embodiment, when performing calculations, when j=0, the value of the data is set to be equal to the data when j=1, such as W(0)=W(1).

[0130] See also Figure 5-6 As shown, it is a schematic diagram of the structure of the loading and stacking machine of this embodiment, including:

[0131] a cloth structure for spreading cloth in the cargo hold;

[0132] a transfer structure for transferring agricultural products to the fabric structure;

[0133] A driving structure for providing driving power;

[0134] The chassis 1 is used to install functional components such as the front wheel drive axle 2 and the cloth screen 7. The chassis 1 adopts a steel structure welding manufacturing process;

[0135] The balancing wheel support mechanism 4 is used to maintain the balance of the fuselage. The balancing wheel support mechanism 4 is retracted by a cylinder. The balancing wheel support structure 4 is installed on both sides of the chassis 1.

[0136] The counterweight box 11 is used to counterweight the fuselage to keep the fuselage balanced. The counterweight box 11 is installed below one end of the base frame 1;

[0137] A hydraulic station 13, used to provide power for the balance wheel support mechanism 4, and the hydraulic station 13 is installed above the middle of the chassis 1;

[0138] The power distribution box 14 is used to provide power for the telescopic structure and the transmission structure. The power distribution box 14 is installed above the middle of the base frame 1 and is adjacent to the counterweight box 11.

[0139] Please continue reading Figure 5 As shown, the cloth structure described in this embodiment includes: a rotating mechanism 5, which is used to lift and rotate the upper conveyor 8 and the lower conveyor 9. The upper conveyor 8 is provided above the rotating mechanism 5, and the upper conveyor 8 is used to retract the cloth. The end of the upper conveyor 8 away from the rotating mechanism 5 is provided with a rack retractable mechanism 6, and the rack retractable mechanism 6 is used to drive the upper conveyor 8 and the lower conveyor 9. The end of the upper conveyor 8 away from the rotating mechanism 5 is provided with a lower conveyor 9, and the lower conveyor 9 is used to retract the cloth. A maintenance safety support rod 12 is provided below the upper conveyor 8 to support the upper conveyor 8 and the lower conveyor 9 to prevent the machine from accidentally falling. The maintenance safety support rod 12 adopts a steel structure welding manufacturing process.

[0140] Please continue reading Figure 5 As shown, the transmission structure in this embodiment includes: a cloth screen 7 for transmitting agricultural products, one end of the cloth screen 7 is provided with a hanging point assembly 10, the hanging point assembly 10 is used to hang agricultural product transportation equipment, and the hanging point assembly 10 adopts a steel structure welding manufacturing process.

[0141] Please continue reading Figure 5-6 As shown, the driving structure described in this embodiment includes: a front-wheel drive axle 2, which is connected to a motor reducer to provide driving power. The front-wheel drive axle 2 is installed below one end of the chassis 1, and a rear-wheel steering mechanism 3 is provided at the end of the chassis 1 away from the front-wheel drive axle 2. The rear-wheel steering mechanism 3 is used to control the rotation of the fuselage, and the rear-wheel steering mechanism 3 adopts a cylinder to telescopically rotate the steering rod.

[0142] See also Figure 7-8As shown, it is a schematic structural diagram of the rear wheel steering mechanism of this embodiment, including:

[0143] The rear wheel steering rod 16 is used to realize the turning of the fuselage. The rear wheel steering rod 16 is a steel structure welded component. Rear wheel steering shafts 15 are provided above both ends of the rear wheel steering rod 16. The rear wheel steering shaft 15 is used to realize the turning control of the fuselage. The upper part of the rear wheel steering shaft 15 is connected to the chassis 1 by a joint bearing, and the lower part of the rear wheel steering shaft 15 is connected to the rear wheel steering rod 16 by a pin shaft. A wheel assembly 17 is provided on one side of the rear wheel steering shaft 15. The vehicle assembly 17 is used to realize the movement of the fuselage. The vehicle assembly 17 is connected to the rear wheel steering shaft 15 by a transverse axis.

[0144] See also Fig. 9 As shown, it is a schematic diagram of the structure of the balance wheel support mechanism of this embodiment, including:

[0145] A balancing arm mounting plate 19 is used to mount structural components. A balancing arm 18 is disposed at one end of the balancing arm mounting plate 19. The balancing arm 18 is used to control the lifting and lowering of the balancing wheel supporting mechanism 4. The balancing arm 19 is retracted by a cylinder. A supporting arm 20 is disposed at one end of the balancing arm 18 of the balancing arm mounting plate 19. The supporting arm 20 is used to assist a balancing wheel 21 in maintaining the balance of the fuselage. The supporting arm 20 is a welded steel structure component. A balancing wheel 21 is disposed on the outside of the supporting arm 20. The balancing wheel 21 is used to touch the ground to assist driving and maintain the balance of the fuselage.

[0146] See also Fig.10 As shown, it is a schematic diagram of the structure of the rotating mechanism of this embodiment, including:

[0147] A slewing bearing mounting plate 22 is used to connect the rotating mechanism 5 and the base frame 1. The slewing bearing mounting plate 22 is fastened to the base frame 1 with bolts. An upper conveyor lifting lower fulcrum 23 is provided above the slewing support mounting plate. The upper conveyor lifting lower fulcrum 23 is used to complete the lifting action of the upper and lower conveyors 8. A lifting cylinder mounting plate 24 is provided on one side above the slewing bearing mounting plate 22. The lifting cylinder mounting plate 24 is used to install the lifting cylinder. The lifting cylinder mounting plate 24 is a steel structure welded component. A rotating cylinder mounting plate 25 is provided on one side above the slewing bearing mounting plate 22. The lifting rotating cylinder mounting plate 25 is used to install the rotating cylinder. The rotating cylinder mounting plate 25 is a steel structure welded component.

[0148] See also Figure 11-12 As shown, it is a schematic diagram of the structure of the cloth screen of this embodiment, including:

[0149] The cloth screen assembly 31 is used to protect the crop skin and avoid bumps when lifting crops. The cloth screen assembly 31 is arranged around the driving wheel 27, the guide wheel 28, the upper supporting wheel 29 and the lower tug wheel 30. The cloth screen assembly 31 adopts the alloy steel strip rubber packaging production process. The cloth screen assembly 31 is provided with a lifting screen drive shaft 26 at one end. The lifting screen drive shaft 26 is connected to the lifting screen motor reducer 33 through a coupling 32. The lifting screen drive shaft 26 is used to transmit the power of the lifting screen motor reducer 33. The lifting screen drive shaft 26 is provided with a coupling 32 at one end. The coupling 32 is used to connect the lifting screen drive shaft 26 and the lifting screen A motor reducer 33 and a lifting screen motor reducer 33 are provided on one side of the coupling 32. The lifting screen motor reducer 33 is used to provide driving power. A driving wheel 27 is provided at one end of the cloth screen assembly 31 close to the lifting screen transmission shaft 26. The driving wheel 27 is used to drive the cloth screen assembly 31 to rotate. A guide wheel 28 is provided at one end of the cloth screen assembly 31 away from the lifting screen transmission shaft 26 to rotate the cloth screen assembly 31. An upper supporting wheel 29 is provided inside the cloth screen assembly 31. The upper supporting wheel 29 is used to support the cloth screen assembly 31. A lower supporting wheel 30 is provided below the cloth screen assembly 31. The upper supporting wheel 30 is used to support the cloth screen assembly 31.

[0150] See also Fig.13 As shown, it is a schematic diagram of the structure of the upper conveyor and the lower conveyor of this embodiment, including:

[0151] The upper conveyor main frame 36 is used to install functional components. The upper conveyor main frame 36 is a steel structure welded component. A lifting fulcrum rotating mechanism 34 is provided at one end of the upper conveyor main frame 36. The lifting fulcrum rotating mechanism 34 is used to connect the upper conveyor main frame 36 and the rotating mechanism 5 using a pin shaft. A lifting cylinder upper mounting plate 35 is provided at one end of the upper conveyor main frame 36 close to the lifting fulcrum rotating mechanism 34. The lifting cylinder upper mounting plate 35 is used to install the lifting cylinder. The lifting cylinder upper mounting plate 35 is a steel structure welded component. A driving roller 40 is provided at one end of the upper conveyor main frame 36 close to the lifting fulcrum rotating mechanism 34. The driving roller 40 is used to drive the conveyor belt 42 to rotate. A motor reducer 44 is provided at one end of the upper conveyor main frame 36 close to the lifting fulcrum rotating mechanism 34. The motor reducer 44 is used to provide driving power. A telescopic driving motor reducer 38 is provided at one end of the upper conveyor main frame 36 away from the lifting fulcrum rotating mechanism 34. The driving motor reducer 38 provides power for the telescopic operation of the lower conveyor. A rack telescopic mechanism 39 is provided on one side of the telescopic driving motor reducer 38. The rack telescopic mechanism 39 is used to realize the telescopic operation of the lower conveyor. A lower conveyor main frame 37 is provided at one end of the upper conveyor main frame 36 away from the lifting fulcrum rotating mechanism 34. The lower conveyor main frame 37 is used to install functional components. The lower conveyor main frame 37 is a steel structure welded component. A redirecting roller 41 is provided at one end of the lower conveyor main frame 37 away from the upper conveyor 36 to drive the conveyor belt 42 to rotate. A conveyor belt 42 is arranged around the driving roller 40 and the redirecting roller 41. The conveyor belt 42 is used to transport agricultural products for distribution. An anti-collision flexible finger comb 43 is provided on the outer side of the conveyor belt 42 at one end of the lower conveyor main frame 37 away from the upper conveyor 36. The anti-collision flexible finger comb 43 has a buffering effect on the agricultural products falling from the conveyor belt. The anti-collision flexible finger comb 43 is a molded soft rubber strip.

[0152] See also Fig.14 As shown, it is a schematic diagram of the structure of the attachment point assembly of this embodiment, including:

[0153] The hook rod mounting plate 45 is used to connect the hook point assembly 10 and the chassis 1, and the hook rod mounting plate 45 is a steel structure welded component;

[0154] A hooking ball head 46 is used to hook up the upper conveyor 8;

[0155] The hook rod angle adjustment pull rod 47 is used to adjust the height of the upper conveyor 8 and the lower conveyor 9.

[0156] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A control system for a loading and stacking crane, characterized in that: include: An information acquisition module is used to periodically acquire the operation information of the loading stacker and the warehouse information; An area division module is used to analyze the length division parameter and the width division parameter according to the warehouse information and the operation information, and is also used to analyze the cloth area according to the length division parameter and the width division parameter; Operation control module, used to control the loading and stacking crane to carry out material distribution according to the material distribution area, warehouse information and operation information; A detection analysis module is used to analyze the detection change amount according to the operation information, and is also used to analyze the node number according to the detection change amount; An operation analysis module is used to analyze the filling time according to the node number, to analyze the detection offset parameter according to the filling time and the operation information, to analyze the time difference parameter according to the filling time and the distribution area, and to analyze the operation control parameter according to the detection change amount, the filling time, the detection offset parameter, the time difference parameter and the distribution area; The control iteration module is used to iterate the control process of the loading and stacking crane according to the operation control parameters.

2. The control system for a loading and stacking crane according to claim 1, characterized in that: The area division module is provided with a division analysis unit, which is used to calculate the length division parameter and the width division parameter through a division formula according to the transmission speed, the conveyor belt width, the cargo bin width and the cargo bin length. The division analysis unit is provided with a division formula as follows: A1=D1×2 / [V(i)×T+L] A2=D2 / L Wherein, A1 represents the length division parameter, A1 is rounded down, A2 represents the width division parameter, A2 is rounded down, D1 represents the cargo bin length, D2 represents the cargo bin width, V(i) represents the transmission speed, i represents the analysis cycle number, T represents the duration of the preset analysis cycle, and L represents the width of the conveyor belt; The area division module is further provided with an area division unit, which is used to analyze the cloth area according to the length division parameter and the width division parameter. The area division unit divides the warehouse into A1×A2 rectangular areas of equal area, sorts the divided rectangular areas, and numbers the rectangular areas in the sorting order. The numbering adopts the area number, and the area number is set to j, j∈N + , and use the numbered rectangular area as the cloth area.

3. The control system of the loading and stacking crane according to claim 2, characterized in that: The operation control module controls the loading and stacking machine to extend out of the lower conveyor, with the extension length equal to the length of the lower conveyor, and controls the feeding port of the loading and stacking machine to be located above the material distribution area with area number j+n. When j+n>A1×A2, the operation control module controls the rotating mechanism of the loading and stacking machine to raise the feeding port, and controls the feeding port to be located above the material distribution area with area number (j+n)-A1×A2×b, wherein n represents the number of control iterations, b represents the number of lifting times, b=(j+n) / (A1×A2), and b is rounded down.

4. The control system for a loading and stacking crane according to claim 1, characterized in that: The detection and analysis module is provided with a detection and analysis unit, which is used to analyze the detection change amount according to the detection distance, and the detection change amount is set to P(i,j)=M1(i=m(j),j)-M1(i,j), wherein P(i,j) represents the detection change amount, and M1(i,j) represents the detection distance of each analysis cycle when the feeding port of the loading stacker is located above the material distribution area with area number j; The detection and analysis module is also provided with a node analysis unit, which is used to analyze the node number according to the detection change amount, wherein: When P(i,j)≥A3, the node analysis unit uses the analysis cycle number corresponding to the current analysis detection change as the node number, and sets the node number to K(j); When P(i,j)≤A3, the node analysis unit does not analyze the node number.

5. The control system for a loading and stacking crane according to claim 4, characterized in that: The operation analysis module is provided with a filling analysis unit, which is used to analyze the filling time according to the node number, and set the filling time to W(j)=[K(j)-m(j)]×T, where W(j) represents the filling time.

6. The control system for a loading and stacking crane according to claim 5, characterized in that: The operation analysis module is further provided with an offset analysis unit, which is used to calculate the detection offset parameter according to the filling time and the detection change through an offset analysis formula. The offset analysis unit is provided with an offset analysis formula as follows: R(j)=P(i=K(j-1)+W(j-1) / T,j)-A3 The operation analysis module is further provided with a time analysis unit, which is used to calculate the time difference parameter according to the filling time and the cloth area through a time analysis formula. The time analysis unit is provided with a time analysis formula as follows: Wherein, S(j) represents the time difference parameter, and v represents a positive integer parameter.

7. The control system for a loading and stacking crane according to claim 6, characterized in that: The operation analysis module is further provided with an operation analysis unit, which is used to calculate the operation control parameter through an operation analysis formula according to the detected change amount and the filling time. The operation analysis unit is provided with an operation analysis formula as follows: F(i,j)=[P(i,j) / A3+W(j) / W(j-1)] / 2 Among them, F(i,j) represents the operation control parameter.

8. The control system for a loading and stacking crane according to claim 7, characterized in that: The operation analysis module is further provided with an operation adjustment unit, which is used to adjust the analysis process of the operation control parameters according to the detection offset parameters, wherein: When R(j)<r1, the operation adjustment unit determines that the detection offset parameter does not meet the threshold value, and adjusts the analysis process of the operation control parameter. The adjusted operation control parameter is F1(i,j), and F1(i,j)=F(i,j)×e R(j) ; When r1≤R(j)≤r2, the operation adjustment unit determines that the detection offset parameter meets the threshold value and does not adjust the analysis process of the operation control parameter; When R(j)>r2, the operation adjustment unit determines that the detection offset parameter does not meet the threshold value, and adjusts the analysis process of the operation control parameter. The adjusted operation control parameter is F1(i,j), and F1(i,j)=F(i,j)×ln[e+R(j)] is set; Wherein, r1 represents the first offset threshold, and r2 represents the second offset threshold; The operation analysis module is further provided with an operation optimization unit, which is used to compare the time difference parameter with the difference threshold, and optimize the adjustment process of the operation control parameter according to the comparison result, wherein: When S(j)<s, the operation optimization unit determines that the time difference parameter does not meet the threshold value, optimizes the adjustment process of the operation control parameter, and the optimized operation control parameter is F2(i,j), and F2(i,j)=F1(i,j)×s / S(j); When S(j)≥s, the operation optimization unit determines that the time difference parameter meets the threshold value and does not optimize the adjustment process of the operation control parameter; Where s represents the difference threshold.

9. The control system for a loading and stacking crane according to claim 8, characterized in that: The control iteration module compares the operation control parameters with the control threshold, and iterates the control process of the loading stacker according to the comparison result, wherein: When F(i,j)≥f, the control iteration module iterates the control process of the loading stacker, and counts the number of iterations of the control process of the loading stacker as the number of loading iterations; When F(i,j)<f, the control iteration module does not iterate the control process of the loading stacker; Where f represents the control threshold.

10. The control system for a loading and stacking crane according to any one of claims 1 to 9, characterized in that: The loading and stacking machine comprises: a cloth structure for spreading cloth in the cargo hold; a transfer structure for transferring agricultural products to the fabric structure; A driving structure for providing driving power; A chassis for mounting functional components; The balance wheel support mechanism is used to maintain the balance of the fuselage, and the balance wheel support structure is installed on both sides of the chassis; The counterweight box is used to counterweight the fuselage to keep it balanced. The counterweight box is installed below one end of the chassis; A hydraulic station is used to provide power to the balance wheel support mechanism, and the hydraulic station is installed above the middle of the chassis; The power distribution box is used to provide power for the telescopic structure and the transmission structure. The power distribution box is installed above the middle of the base frame and close to the counterweight box.

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