Method, device and system for controlling loading height of floating bulk density materials

Abstract

The present application provides a method, device and system for controlling the loading height of floating bulk density materials. Among them, by dynamically measuring the bulk density of the materials, automatically identifying the carriage model and combining with precise algorithms, the precise control of the height of the telescopic chute is realized, ensuring the evenness of the materials in the carriage from front to back, avoiding problems such as partial load, backing up for feeding and repeated leveling of the carriage, and improving the accuracy and efficiency of intelligent loading.

Description

Technical Field

[0001] The present application relates to a method, device and system for controlling the loading height of floating bulk density materials, and belongs to the technical field of automatic control. Background Art

[0002] In a traditional railway coal loading station, without a quantitative bin configuration, during the railway loading process of coal, the loading weight is controlled by the height of the loaded coal in the early stage. A telescopic chute is used for loading, and the descending height of the chute is the height of the material in the carriage. Therefore, the control of the chute height is crucial. If the front half of the carriage is too high, it will cause a vacancy at the tail, resulting in uneven loading at the front and back.

[0003] The conventional method calculates the chute height through the coal density, but due to the changes in the water content and particle size of the coal, the bulk density of the material often changes during the loading process, and the coal height cannot be accurately calculated and controlled, which directly affects the accuracy of intelligent loading. For example, before precise feeding on the rail scale of the carriage, it has already been overweight or underweight too much, resulting in the inability to feed. Therefore, it is necessary to develop a scheme for controlling the loading height of floating bulk density materials. Summary of the Invention

[0004] The present application provides a method, device and system for controlling the loading height of floating bulk density materials to solve the problem that the loading height of materials cannot be accurately controlled in the prior art.

[0005] In a first aspect, an embodiment of the present application provides a method for controlling the loading height of floating bulk density materials, including:

[0006] Obtain the three-dimensional point cloud data of the upper surface of the coal in the carriage after loading is completed, the tare weight of the carriage and the carriage parameters; wherein, the three-dimensional point cloud data is collected by a 2D lidar, the tare weight of the carriage is collected by a rail scale, and the carriage parameters include the carriage model, self-weight, internal length and internal width;

[0007] Calculate the total volume of the coal in the carriage by using a preset volume algorithm;

[0008] Calculate the difference between the tare weight and the self-weight of the carriage to obtain the coal weight, and calculate the bulk density of the coal based on the coal weight and the total volume;

[0009] Obtain the preloading weight, internal length and internal width of the next carriage to be loaded, and calculate the preloading height of the next carriage to be loaded based on the following formula:

[0010]

[0011] In the formula, represents the preloading height of the next carriage to be loaded, Indicates the preloaded weight of the next carriage to be loaded. Indicates the bulk density of the calculated coal material. Indicates the internal length of the next carriage to be loaded. Indicates the internal width of the next carriage to be loaded. Indicates the supplementary error determined based on the experience of the actual loading process;

[0012] Based on the preloading height of the next carriage to be loaded, control the telescopic chute to load the next carriage to be loaded.

[0013] Among them, using a preset volume algorithm, calculating the total volume of the coal material in the carriage includes:

[0014] Divide the carriage evenly into m parts along the length direction and n parts along the width direction to obtain m*n rectangular areas; determine the center point coordinates of each rectangular area, and determine the coal material height at the center point of each rectangular area through the three-dimensional point cloud data, and then calculate the coal material volume corresponding to each rectangular area through the volume formula; accumulate the coal material volumes corresponding to each rectangular area to obtain the total volume of the coal material in the carriage.

[0015] The volume formula is:

[0016]

[0017] In the formula, Vij Indicates the i th in the length direction and the j th in the width direction, the coal material volume corresponding to the rectangular area, zij Indicates the i th in the length direction and the j th in the width direction, the coal material height corresponding to the center point of the rectangular area, Sij Indicates the i th in the length direction and the j th in the width direction, the coal material surface area corresponding to the rectangular area, Δ x Indicates the width of each rectangular area, Δ y Indicates the length of each rectangular area.

[0018] Based on the above method, optionally, the 2D lidar is set above the middle position of the carriage to ensure its firm installation and the scanning range can cover the entire surface of the coal material.

[0019] Based on the above method, optionally, a carriage database is established in advance for storing the carriage parameters of each carriage.

[0020] Based on the above method, optionally, the acquisition process of the carriage parameters includes:

[0021] Obtain the car body model collected by the car body model recognition device, and query the corresponding remaining car body parameters in the car body database based on the car body model.

[0022] Based on the above method, optionally, the method for determining the coal material height of the center point of each rectangular area through the three-dimensional point cloud data includes:

[0023] If there is no three-dimensional point cloud data that exactly corresponds to the coordinates of the center point of the rectangular area, then determine the coal material height of the center point based on the three-dimensional point cloud data closest to the center point.

[0024] Based on the above method, optionally, it further includes:

[0025] Adjust the values of m and n according to the data and experience accumulated during the actual loading process.

[0026] In a second aspect, an embodiment of the present application further provides a control device, which includes a memory and a processor. When the memory stores a computer program and the processor calls and executes the computer program, the method for controlling the loading height of floating bulk density materials as described in any item of the first aspect is implemented.

[0027] In a third aspect, an embodiment of the present application further provides a system for controlling the loading height of floating bulk density materials, which includes:

[0028] A 2D lidar for collecting three-dimensional point cloud data of the upper surface of the coal material in the car body;

[0029] An axle scale for collecting the gross weight of the car body after loading is completed;

[0030] A car body model recognition and management system for obtaining car body parameters;

[0031] The control device as described in the second aspect.

[0032] The technical solution provided by the present application has the following beneficial effects:

[0033] In the method, equipment and system for controlling the loading height of floating bulk density materials provided by this application, after the loading is completed, the bulk density of the coal material can be calculated through three-dimensional point cloud data, the tare weight of the carriage, and the carriage parameters. Based on the preloading weight, internal dimensions of the next carriage to be loaded, and the calculated bulk density of the coal material, the appropriate preloading height of the next carriage to be loaded is determined, and then the telescopic chute is controlled for loading. With such a setting, by dynamically measuring the bulk density of the material, the bulk density parameter in the loading model is automatically adjusted after the loading is completed, and the chute height is automatically adjusted in combination with the carriage model, effectively solving the problem of controlling the loading height caused by the change of the material bulk density and the difference in carriage models, achieving precise control of the loading height, avoiding front-back partial loading, and improving the loading quality. In addition, operations such as backing up for supplementary feeding and repeated leveling of the carriage are also avoided, reducing the loading time, improving the efficiency of railway coal loading, and reducing the production cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings here are incorporated into the specification and form a part of this specification, showing the embodiments consistent with this application, and are used together with the specification to explain the principles of this application. In addition, these drawings and the text description are not intended to limit the scope of the concept of this application in any way, but to illustrate the concept of this application to those skilled in the art by referring to specific embodiments.

[0035] Figure 1 It is a schematic flow chart of the method for controlling the loading height of floating bulk density materials provided by an embodiment of this application;

[0036] Figure 2 It is a schematic side view of the loading process provided by an embodiment of this application;

[0037] Figure 3 It is a schematic cross-sectional view of the loading process provided by an embodiment of this application;

[0038] Figure 4 It is a schematic structural diagram of the control equipment provided by an embodiment of this application;

[0039] Figure 5 It is a schematic structural diagram of the system for controlling the loading height of floating bulk density materials provided by an embodiment of this application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0040] To make the objectives, technical solutions, and advantages of this application more clear, the following will, in combination with the embodiments of this application, clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without making creative efforts fall within the scope of protection of this application. Without conflict, the following embodiments and the features in the embodiments may be combined with each other.

[0041] In the intelligent railway loading scenario, a telescopic chute is used to control the height of the coal material in the carriage. Before the carriage is fully on the rail scale, the coal loading volume is controlled by adjusting the height of the chute. It is necessary to ensure that the material heights at the front and rear of the carriage are basically the same, avoid front-back uneven loading, avoid reverse loading for making up the material, and avoid repeated leveling of the carriage.

[0042] To achieve the above objectives, there are two difficulties: one is that the bulk density of the material will change continuously, and calculating the volume and height by a fixed bulk density method will cause uneven loading at the front and rear during loading; the other is that the carriage is a mixed-standard carriage, and different types of carriages will be randomly arranged in a column of open wagons.

[0043] To solve the above problems and achieve accurate control of the loading height of materials with floating bulk density, this application provides a solution for controlling the loading height of materials with floating bulk density. By dynamically measuring the bulk density of the material, automatically identifying the carriage type, and combining precise algorithms, precise control of the height of the telescopic chute is achieved, ensuring uniform distribution of materials in the carriage, avoiding problems such as uneven loading, reverse loading for making up the material, and repeated leveling of the carriage, and improving the accuracy and efficiency of intelligent loading. The following provides a non-limiting description of the specific implementation solutions through examples or illustrations.

[0044] Refer to Figure 1 , Figure 1 which is a schematic flowchart of a method for controlling the loading height of materials with floating bulk density provided in an embodiment of this application. As Figure 1 shown, this method at least includes the following steps:

[0045] Step S101: Obtain the three-dimensional point cloud data of the upper surface of the coal material in the carriage after loading is completed, the tare weight of the carriage, and the carriage parameters; among them, the three-dimensional point cloud data is collected by a 2D lidar, the tare weight of the carriage is collected by a rail scale, and the carriage parameters include the carriage type, self-weight, internal length, and internal width.

[0046] Specifically, the three-dimensional point cloud data is collected by a 2D lidar. As Figure 2 and Figure 3As shown in the figure, the 2D lidar can be installed above the middle position of the carriage to ensure its firm installation and that the scanning range can cover the entire surface of the coal material, so as to obtain the three-dimensional point cloud data of the coal material surface. These data provide a key basis for accurately calculating the volume of the coal material in the subsequent process. By analyzing the three-dimensional point cloud data, the height information of the coal material at different positions in the carriage can be accurately obtained.

[0047] In addition, the rail scale is installed under the rail. After the loading is completed, the entire carriage is weighed on the scale to obtain the gross weight of the carriage. Then, combined with the tare weight of the carriage (the self-weight of the carriage), the actual weight of the coal material in the carriage can be accurately calculated, providing data support for the accurate calculation of the bulk density.

[0048] In addition, a car number identification and management system is also set up, which can identify the car parameters such as the car model, load capacity, self-weight, internal dimensions (length and width) of each carriage, and can generate a loading plan. These information are crucial for precisely controlling the loading height for different car models, ensuring that the individual differences of the carriages are fully considered during the loading process.

[0049] Among them, in some embodiments, a carriage database can be established in advance to store the car parameters of each carriage, including but not limited to the car model, load capacity, self-weight, internal dimensions, etc. Based on this, the process of obtaining car parameters includes: obtaining the car model collected by the car model identification device, and querying the corresponding remaining car parameters (that is, the car parameters other than the car model, such as internal dimensions) in the carriage database based on the car model.

[0050] Step S102: Calculate the total volume of the coal material in the carriage by using a preset volume algorithm.

[0051] Specifically, in this step, the total volume of the coal material in the carriage is determined to subsequently determine the corresponding bulk density according to the volume and weight of the coal material.

[0052] To calculate the volume of the coal material in an open wagon carriage, since the height of the coal material in the carriage is a three-dimensional space surface obtained by lidar scanning, the height is variable and cannot be simply calculated by length × width × height. Therefore, an approximate calculation method is used in this solution to calculate the volume.

[0053] In some embodiments, the specific implementation steps of step S102 include:

[0054] Partition the area: Divide the carriage evenly into m parts along the length direction and n parts along the width direction, obtaining m*n rectangular areas. For example, divide it into 13 equal parts along the length direction (m = 13) and 29 equal parts along the width direction (n = 29). It can be understood that in some embodiments, this method may further include: adjusting the values of m and n according to the data and experience accumulated during the actual loading process. In this way, after dividing the carriage area into m*n small rectangular areas, the coal material heights at various positions within each rectangular area can be approximately considered equal, facilitating calculation.

[0055] 2. Determine the central point coordinates of each rectangular area, and determine the coal material height at the central point of each rectangular area through three-dimensional point cloud data, and then calculate the coal material volume corresponding to each rectangular area through the volume formula; where the volume formula is:

[0056]

[0057] In the formula, Vij represents the coal material volume corresponding to the i th rectangle in the length direction and the j th rectangle in the width direction, zij represents the coal material height corresponding to the central point of the i th rectangle in the length direction and the j th rectangle in the width direction, Sij represents the coal material surface area corresponding to the i th rectangle in the length direction and the j th rectangle in the width direction, Δ x represents the width of each rectangular area, Δ y represents the length of each rectangular area.

[0058] For each small rectangular area, the area is . Then, obtain the coal material height , ) at its central point ([[]] through lidar data zij , as the coal material height of the entire rectangular area. Thus, the approximate coal material volume of each rectangular area is calculated. Among them, i = 1, 2, ⋯, m; j = 1, 2, ⋯, n.

[0059] In addition, considering that there may be no data in the three-dimensional point cloud data that exactly corresponds to the center points of each rectangular area. Therefore, determining the coal height at the center point of each rectangular area from the three-dimensional point cloud data includes: if there is no three-dimensional point cloud data that exactly corresponds to the coordinates of the center point of the rectangular area, then determining the coal height at the center point based on the three-dimensional point cloud data closest to the center point. That is, when data that exactly corresponds to the center point of the rectangular area cannot be found in the three-dimensional point cloud data, the point closest in distance is used as a substitute to ensure the normal progress of the calculation.

[0060] 3. Accumulate the coal volumes corresponding to each rectangular area to obtain the total volume of the coal in the carriage. The formula is as follows:

[0061]

[0062] In this way, an approximate value of the total volume of the coal in the carriage can be obtained.

[0063] Step S103: Calculate the difference between the gross weight and the self-weight of the carriage to obtain the weight of the coal, and calculate the bulk density of the coal based on the weight of the coal and the total volume.

[0064] Specifically, the difference between the gross weight and the self-weight of the carriage is the weight of the coal in the carriage. Based on the weight of the coal and the volume, the bulk density can be calculated through the density formula.

[0065]

[0066] In the formula, represents the bulk density, represents the weight of the coal in the carriage, represents the total volume of the coal in the carriage.

[0067] Step S104: Obtain the preloading weight, internal length, and internal width of the next carriage to be loaded, and calculate the preloading height of the next carriage to be loaded based on the formula.

[0068] Among them, the calculation formula is:

[0069]

[0070] In the formula, represents the preloading height of the next carriage to be loaded, represents the preloading weight of the next carriage to be loaded, represents the calculated bulk density of the coal, represents the internal length of the next carriage to be loaded, represents the internal width of the next carriage to be loaded, represents the supplementary error determined according to the experience of the actual loading process.

[0071] The preloading height of the next wagon to be loaded, i.e., the target height, can be calculated through the above formula. This formula comprehensively considers the preloading weight of the next wagon, the material bulk density, and the internal dimensions of the wagon, and further improves the accuracy of the chute loading height calculation by introducing a supplementary error , thus further enhancing the accuracy of the chute loading height calculation and ensuring precise loading height control under different working conditions.

[0072] Step S105: Based on the preloading height of the next wagon to be loaded, control the telescopic chute to load the next wagon to be loaded.

[0073] After calculating the preloading height of the next wagon to be loaded, it can be sent to the telescopic chute for execution to achieve accurate control of the loading height.

[0074] Based on the above solution, after the loading is completed, the bulk density of the coal material can be calculated through 3D point cloud data, the gross weight of the wagon, and the wagon parameters. And based on the preloading weight, internal dimensions of the next wagon to be loaded, and the calculated bulk density of the coal material, determine the appropriate preloading height of the next wagon to be loaded, and then control the telescopic chute to load. With such settings, by dynamically measuring the material bulk density, automatically adjusting the bulk density parameter in the loading model after the loading is completed, and automatically adjusting the chute height in combination with the wagon model, it effectively solves the problem of loading height control caused by changes in material bulk density and differences in wagon models, achieves precise control of the loading height, avoids front-back uneven loading, and improves the loading quality. In addition, operations such as backing up for supplementary feeding and repeatedly leveling the wagon are also avoided, reducing the loading time, improving the efficiency of railway coal loading, and reducing the production cost.

[0075] In addition, it can also adapt to different types of mixed-standard wagons and frequent changes in material bulk density, with wide applicability, and can be popularized and applied in various railway coal loading stations. In addition, using the data collected by the 2D lidar, the rail scale, and the car number identification and management system, through precise algorithm calculation, it provides scientific data support for the loading process, realizes data-driven optimization of loading control, and improves the intelligent level of the entire loading system.

[0076] When specifically implementing the above solution, relevant software and hardware configurations need to be pre-done. Specifically as follows:

[0077] Install a 2D lidar above the middle position of the wagon to ensure its firm installation and that the scanning range can cover the entire surface of the coal material. At the same time, complete the data connection with the data processing and calculation device to ensure the accurate transmission of point cloud data.

[0078] Install a rail scale under the rail, conduct strict calibration and debugging to ensure that its measurement accuracy meets the requirements, and establish a stable data communication link with the data processing and calculation device to accurately obtain the gross weight data of the carriage.

[0079] Deploy a car number identification and management system, including installing identification devices at appropriate positions to ensure that information such as the car number of each carriage can be clearly identified, and integrate it with the data processing and calculation device to achieve automatic data transmission and sharing.

[0080] Perform initialization settings on the data processing and calculation device, including inputting the carriage model database, setting the default number of divisions for volume calculation (such as m = 13, n = 29), presetting the initial value of the supplementary error and establishing data interaction interfaces with other devices to ensure the normal operation of the system.

[0081] The actual loading operation process is as follows:

[0082] When the carriage enters the loading area, the car number identification and management system immediately identifies information such as the car number, load, and internal dimensions of the carriage, generates a loading plan, and transmits this data to the data processing and calculation device.

[0083] Start loading. During the loading process, the telescopic chute performs coal loading operations according to the initial set height. After loading is completed, the entire carriage is placed on the rail scale, and the rail scale measures and transmits the total weight data of the carriage to the data processing and calculation device.

[0084] At the same time, the 2D lidar scans the surface of the coal material in the carriage to obtain three-dimensional point cloud data of the coal material surface, and transmits the data to the data processing and calculation device.

[0085] After the data processing and calculation device receives the rail scale data, 2D lidar point cloud data, and carriage model information, it first calculates the total volume of the coal material in the carriage according to the volume calculation method . Then, calculate the bulk density of the current material according to the bulk density calculation method . Then, combine the pre-loaded weight of the next carriage , the internal dimensions of the carriage and , use the chute loading height calculation method to calculate the control height of the chute when loading the next carriage , and transmit this data to the telescopic chute.

[0086] The telescopic chute adjusts according to the received height data and starts the loading operation for the next carriage. In this way, for each carriage loaded, the system performs a bulk density measurement and chute height adjustment to ensure that the loading height of each carriage can be accurately controlled.

[0087] Among them, the software implementation idea is as follows:

[0088] 1. Data preparation: Obtain the length and width of the carriage from the database, and receive the three-dimensional point cloud data uploaded by the lidar from the server.

[0089] 2. Area division: Divide the length and width of the carriage according to the specified number of parts to obtain the size of each small area.

[0090] 3. Calculate the center point of each small area: Calculate the center point coordinates of each small area according to the divided areas.

[0091] 4. Match the height value: Find the height value corresponding to each center point from the three-dimensional point cloud data.

[0092] 5. Calculate the volume: Calculate the volume of each small area according to the height value and area of each small area, and add up the volumes of all small areas to obtain the total volume.

[0093] In addition, during the actual application process, system optimization and maintenance can be carried out to ensure the stable and efficient operation of the system. Including but not limited to:

[0094] 1. Regularly check and maintain the 2D lidar, rail scale, and car number identification management system to ensure the normal operation of the equipment and the accuracy of data collection. For example, clean the lens of the lidar, check whether the sensors of the rail scale are working properly, and calibrate the identification accuracy of the car number identification device, etc.

[0095] 2. According to the data and experience accumulated during the actual loading process, continuously optimize the algorithms for volume calculation, bulk density calculation, and chute loading height calculation. For example, adjust the number of parts m and n for area division, optimize the method for obtaining height values from point cloud data, and more accurately determine the value of the supplementary error to further improve the accuracy of loading height control and the overall performance of the system.

[0096] 3. Continuously update the carriage model database. When a new carriage model appears, promptly enter its relevant information into the database to ensure that the system can adapt to the loading requirements of various carriage models. At the same time, regularly upgrade the software of the system to repair possible vulnerabilities and improve the stability and compatibility of the system.

[0097] In addition, the embodiment of the present application also provides a control device, as Figure 4 shown. This control device 4 includes a memory 41 and a processor 42; among them, the memory 41 stores a computer program, and when the processor 42 calls and executes the computer program, it implements the method for controlling the loading height of floating bulk density materials in any of the above embodiments.

[0098] Among them, the control device 4 can be a controller, a server, or the like.

[0099] In addition, the embodiment of the present application further provides a system for controlling the loading height of floating heap density materials, as Figure 5 shown, which includes:

[0100] A 2D lidar 1 for collecting three-dimensional point cloud data of the upper surface of the coal material in the carriage;

[0101] A rail scale 2 for collecting the gross weight of the carriage after loading is completed;

[0102] A carriage model identification and management system 3 for obtaining carriage parameters;

[0103] And the above-mentioned control device 4.

[0104] It can be understood that the same or similar parts in the above embodiments can be referred to each other, and the content not detailed in some embodiments can be seen in the same or similar content in other embodiments.

[0105] It should be noted that in the description of the present invention, terms such as "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "a plurality of" refers to at least two.

[0106] Any process or method description in the flowchart or described in other ways herein can be understood as representing a module, segment, or part of executable instructions including one or more steps for implementing a specific logical function or process, and the scope of the preferred embodiments of the present invention includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in the reverse order according to the involved functions, rather than in the order shown or discussed, which should be understood by those skilled in the technical field of the embodiments of the present invention.

[0107] It should be understood that each part of the present invention can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following well-known technologies in the art can be used: discrete logic circuits with logic gate circuits for implementing logical functions on data signals, application-specific integrated circuits with appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0108] Those of ordinary skill in the art can understand that all or part of the steps carried by the method for implementing the above embodiments can be completed by instructing relevant hardware through a program. This program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0109] In addition, in each embodiment of the present invention, each functional unit can be integrated in a processing module, or each unit can exist physically alone, or two or more units can be integrated in a module. The above integrated module can be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. The storage medium mentioned above can be a read-only memory, a magnetic disk, an optical disk, or the like.

[0110] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0111] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for controlling the loading height of floating bulk density materials, characterized in that, Including: Obtain the three-dimensional point cloud data of the upper surface of the coal material in the carriage after loading is completed, the gross weight of the carriage, and the carriage parameters; wherein, the three-dimensional point cloud data is collected by a 2D lidar, the gross weight of the carriage is collected by a rail scale, and the carriage parameters include the carriage model, self-weight, internal length, and internal width; Calculate the total volume of the coal material in the carriage by using a preset volume algorithm; Calculate the difference between the gross weight of the carriage and the self-weight to obtain the weight of the coal material, and calculate the bulk density of the coal material based on the weight of the coal material and the total volume; Obtain the preloading weight, internal length, and internal width of the next carriage to be loaded, and calculate the preloading height of the next carriage to be loaded based on the following formula: Wherein, represents the preloading height of the next carriage to be loaded; represents the preloading weight of the next carriage to be loaded; represents the calculated bulk density of the coal material; represents the internal length of the next carriage to be loaded; represents the internal width of the next carriage to be loaded; represents the supplementary error determined according to the experience of the actual loading process; Based on the preloading height of the next carriage to be loaded, control the telescopic chute to load the next carriage to be loaded; Among them, calculating the total volume of the coal material in the carriage by using a preset volume algorithm includes: Divide the carriage evenly into m parts along the length direction and n parts along the width direction to obtain m*n rectangular areas; determine the center point coordinates of each rectangular area, and determine the coal material height at the center point of each rectangular area through the three-dimensional point cloud data. If there is no three-dimensional point cloud data that exactly corresponds to the coordinates of the center point of the rectangular area, then determine the coal material height at the center point based on the three-dimensional point cloud data closest to the center point, and then calculate the coal material volume corresponding to each rectangular area through the volume formula; accumulate the coal material volumes corresponding to each rectangular area to obtain the total volume of the coal material in the carriage; The volume formula is: In the formula, Vij represents the volume of the coal material corresponding to the i th rectangular area in the length direction and the j th rectangular area in the width direction, zij represents the height of the coal material corresponding to the center point of the i th rectangular area in the length direction and the j th rectangular area in the width direction, Sij represents the surface area of the coal material corresponding to the i th rectangular area in the length direction and the j th rectangular area in the width direction, Δ x represents the width of each rectangular area, Δ y represents the length of each rectangular area.

2. The method according to claim 1, characterized in that, The 2D lidar is arranged above the middle position of the carriage to ensure that it is firmly installed and the scanning range can cover the entire surface of the coal material.

3. The method according to claim 1, wherein Establish a carriage database in advance for storing the carriage parameters of each carriage.

4. The method according to claim 3, wherein The process of obtaining the carriage parameters includes: Obtain the carriage model collected by the carriage model identification device, and query the corresponding remaining carriage parameters in the carriage database based on the carriage model.

5. The method according to claim 1, wherein Also including: Adjust the values of m and n according to the data and experience accumulated in the actual loading process.

6. A control device, characterized in that, Including a memory and a processor, when the memory stores a computer program and the processor calls and executes the computer program, the method for controlling the loading height of floating bulk density materials as described in any one of claims 1 to 5 is implemented.

7. A system for controlling the loading height of floating bulk density materials, characterized in that, Including: A 2D lidar for collecting the three-dimensional point cloud data of the upper surface of the coal material in the carriage; A rail scale for collecting the gross weight of the carriage after loading is completed; A carriage model identification and management system for obtaining carriage parameters; The control device as described in claim 6.

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