Belt type conveying system suitable for coal

Abstract

The invention provides a belt type conveying system suitable for coal, which is characterized in that a shooting module is used for identifying specification information of conveyed materials on a conveying device, and the conveyed materials with abnormal specification information are marked as processing targets; the limiting module is used for carrying out descending operation according to an identification result of the shooting module and forming a limiting distance with the transportation device; the operation module is used for being connected with the shooting module, determining a positioning parameter of a processing target according to an identification result of the shooting module, and grabbing and removing the processing target according to the positioning parameter; and the control module is used for determining the conveying state of the conveyed materials, the conveying state comprises the stacking state and the paving state, and the conveying speed of the conveying device is adjusted in real time according to the conveying state. The running stability and the conveying efficiency of the conveying belt can be improved, and material loss caused by material pouring, falling or incapability of passing through is reduced.

Description

Technical Field

[0001] The invention relates to belt conveying technology, in particular to a belt type transporting and conveying system suitable for coal. Background Art

[0002] In the transportation of bulk materials such as coal, belt conveyors such as conveyor belts play a vital role.

[0003] However, there are some problems with traditional conveyor belts in actual transportation operations. First, due to the differences in the sizes of materials such as coal, problems such as material accumulation and large material jams often occur during the transportation process. Traditional conveyor belts may not be able to automatically identify and handle abnormal materials, and require manual monitoring and operation, which not only increases labor costs, but also makes it difficult to ensure the timeliness and accuracy of processing, which may affect transportation efficiency. In addition, traditional conveyor belts often use fixed parameter settings for conveying speed control and cannot be dynamically adjusted according to the real-time status of the material, which may affect the stability and efficiency of material transportation.

[0004] Therefore, how to improve the running stability and transmission efficiency of the conveyor belt and reduce the material loss caused by material spilling, falling or inability to pass has become an urgent problem to be solved. Summary of the invention

[0005] The present invention provides a belt-type transport and delivery system suitable for coal, which can improve the running stability and transmission efficiency of the conveyor belt and reduce the material loss caused by material spilling, falling or being unable to pass.

[0006] A first aspect of the present invention provides a belt-type transport system suitable for coal, characterized in that it comprises: A shooting module, used to identify specification information of transport materials on the transport device, and mark the transport materials with abnormal specification information as processing targets; A limiting module, used for performing a descending operation according to the recognition result of the shooting module, and forming a limiting distance between the vehicle and the transport device; An operation module, connected to the shooting module, determines the positioning parameters of the processing target according to the recognition result of the shooting module, and performs grabbing and removing operations on the processing target according to the positioning parameters; The control module is used to determine the conveying state of the transported material, wherein the conveying state includes a stacking state and a flattening state, and adjust the conveying speed of the transport device in real time according to the conveying state.

[0007] Optionally, in a possible implementation manner of the first aspect, the shooting module is used to identify specification information of transport materials on the transport device and mark the transport materials with abnormal specification information as processing targets, including: The photographing modules are arranged at the upper position and the side position of the transport device, and the height information of the transported materials is obtained according to the photographing modules at the side position; Marking the transported materials whose height information is greater than or equal to the height threshold as stacking targets, and sending a descending instruction to the limiting module; Determine the corresponding predicted passing time according to the height information of the stacking target, obtain the material tracking data shot by the shooting module at the upper position based on the predicted passing time, and determine the transport material whose material area is greater than the area threshold as a large block target according to the material area identified by the material tracking data; The specification information includes height information and material area, and the processing targets include accumulation targets and large block targets.

[0008] Optionally, in a possible implementation manner of the first aspect, determining the corresponding predicted passing time according to the height information of the stacking target, acquiring material tracking data photographed by a shooting module at an upper position based on the predicted passing time, and determining that a transport material having an area greater than an area threshold is a large block target according to a material area identified by the material tracking data, includes: Inputting the altitude information into a duration prediction model, and obtaining a predicted passing duration output by the duration prediction model based on the altitude information; Acquire the material tracking data captured by the shooting module at the upper position based on the predicted passing time, and identify the material contour in the material tracking data; Determine the material area of ​​the material contour, obtain the area difference of the material area at consecutive moments, and when the area difference is less than the area difference threshold within a set time period and the material area is greater than the area threshold, determine that the transported material is a large block target.

[0009] Optionally, in a possible implementation of the first aspect, the limiting module, used to perform a descending operation according to a recognition result of the shooting module to form a restricted distance with the transportation device, includes: When the transport material is marked as a stacking target according to the recognition result of the shooting module, the limiting point of the limiting module is determined, and the transport slope of the transport device at the limiting point is obtained; A height adjustment coefficient is obtained by weighting the ratio of the transport slope to the reference slope, and a height adjustment value is obtained by multiplying the height adjustment coefficient and the standard adjustment value; A limit height is obtained by subtracting the height adjustment value from the setting height of the limit module, and the limit module is lowered to the limit height.

[0010] Optionally, in a possible implementation manner of the first aspect, the operating module is used to connect with the shooting module, determine the positioning parameters of the processing target according to the recognition result of the shooting module, and perform the grabbing and removing operations on the processing target according to the positioning parameters, including: When the transported material is marked as a large block target according to the recognition result of the camera module, first image data collected by the camera module at an upper position and second image data collected by the camera module at a side position are obtained; Determine a grasping range and grasping point corresponding to the large block target according to the first image data, and determine a grasping height corresponding to the large block target according to the second image data; Obtaining a grasping positioning parameter based on the grasping range, grasping point and grasping height, and controlling the operation module to perform a grasping operation on the large block target based on the grasping positioning parameter; When the operation module has not completed the grabbing operation, determining a removal direction and a removal starting point corresponding to the large block object according to the first image data, and obtaining a removal positioning parameter based on the removal direction and the removal starting point; The operation module is controlled to perform a removal operation on the large block object based on the removal positioning parameters, where the positioning parameters include a grabbing positioning parameter and a removing positioning parameter.

[0011] Optionally, in a possible implementation manner of the first aspect, determining a grasping range and a grasping point corresponding to the large block target according to the first image data, and determining a grasping height corresponding to the large block target according to the second image data includes: Extracting a bird's-eye view contour corresponding to the large block target in the first image data, and determining a center point of the bird's-eye view contour as a capture point; Obtaining the extreme value points corresponding to the overhead profile in each grabbing direction, and determining the grabbing range corresponding to the large block target according to the spacing between the extreme value points in the corresponding grabbing direction; Extracting a side profile corresponding to the large block target in the second image data, and determining a target height corresponding to the large block target according to a distance between extreme value points in a height direction; The configured top safety distance and bottom safety distance are retrieved to obtain the initial height of the operation module, and the grabbing height corresponding to the large block target is obtained by subtracting the sum of the target height, the top safety distance and the bottom safety distance from the initial height.

[0012] Optionally, in a possible implementation of the first aspect, after the operating module performs a grabbing operation, calibration image data captured by a shooting module at an upper position is acquired; Extracting a calibration material contour from the calibration image data, and comparing the overhead contour of the large block target with the calibration material contour to obtain contour similarity; When the contour similarity is less than a similarity threshold, it is determined that the operation module completes the grabbing operation; when the contour similarity is greater than or equal to the similarity threshold, it is determined that the operation module does not complete the grabbing operation.

[0013] Optionally, in a possible implementation manner of the first aspect, when the operation module has not completed the grabbing operation, determining a removal direction and a removal starting point corresponding to the large block object according to the first image data includes: When the operation module has not completed the grabbing operation, extracting the current overhead contour of the large block target in the first image data; Determine a direction perpendicular to the transport direction as a reference direction, and generate a reference line parallel to the reference direction with the center point of the current overhead profile as a reference; Acquire a first boundary point on the reference line that intersects with the outer contour of the current overhead profile, extract the device contour of the transportation device, and acquire a second boundary point on which the reference line intersects with the outer contour of the device contour; A first boundary point and a second boundary point with the shortest distance between them are selected, a direction from the selected first boundary point to the second boundary point is determined as a removal direction, and another first boundary point is determined as a removal starting point.

[0014] Optionally, in a possible implementation of the first aspect, the control module is used to determine a conveying state of the transported material, the conveying state including a stacking state and a flattening state, and adjust the conveying speed of the transport device in real time according to the conveying state, including: When the transport material is marked as a stacking target according to the recognition result of the shooting module, determining that the conveying state of the transport material is a stacking state; Calculating a first lowering value of the transport device according to the height information of the stacking target and the transport slope of the transport device, and adjusting the conveying speed of the transport device to the first lowering value; When the transported material is marked as a large block target according to the recognition result of the shooting module, a secondary lowering value of the transport device is calculated according to the area value and the height value of the large block target, and the conveying speed of the transport device is adjusted to the secondary lowering value; When no piled objects or large block objects are identified, it is determined that the conveying state of the transported material is a flat state, and the conveying speed of the transport device is not adjusted.

[0015] Optionally, in a possible implementation of the first aspect, calculating a lowering value of the transport device according to the height information of the stacking target and the transport slope of the transport device includes: A first adjustment factor is obtained by weighting the height information, and a second adjustment factor is obtained by weighting the transportation slope; A first speed adjustment coefficient is obtained according to the inverse of the product of the first adjustment factor and the second adjustment factor, and a first speed reduction value is obtained by multiplying the first speed adjustment coefficient and the current speed of the transport device; Calculating a secondary lowering value of the transport device according to the area value and the height value of the large block target, and adjusting the conveying speed of the transport device to the secondary lowering value, including: A third adjustment factor is obtained by weighting the area value, and a fourth adjustment factor is obtained by weighting the height value; A second speed adjustment coefficient is obtained according to the inverse of the product of the third adjustment factor and the fourth adjustment factor, and a second speed adjustment coefficient is multiplied by the first reduction value to obtain a second reduction value.

[0016] The beneficial effects of the present invention are as follows: 1. The present invention realizes the automated processing of coal piled up on the conveyor belt or large pieces of coal through the coordinated operation of the shooting module, the limiting module, the operating module and the control module, which can effectively improve the stability and transmission efficiency of the conveyor belt during transportation, and can reduce equipment failures and material losses caused by objects tilting, falling or being unable to pass.

[0017] 2. When the present invention identifies the state of transported materials through the shooting module, by configuring multiple shooting modules at the upper position and side position of the transport device, it can realize real-time monitoring of the transported materials, so that the height information and area information of the transported materials can be accurately obtained, and the stacked targets can be identified more accurately according to the height information. By calculating the area difference corresponding to the material contours of the transported materials at consecutive moments, the change of the material area can be accurately identified, so that it can be more accurately judged whether the transported materials are large block targets.

[0018] 3. The present invention can control the limiting module to descend to a corresponding limiting height according to the recognition result of the shooting module. When determining the limiting height to which the limiting module descends, the present invention can dynamically adjust the limiting height corresponding to the limiting module by considering the slope of the transportation device, thereby ensuring that the accumulated materials can be effectively flattened under different slope conditions, and can effectively reduce the risk of dumping of the transported materials due to excessive slope during transportation, thereby improving the stability and safety during transmission.

[0019] 4. The present invention can accurately determine the positioning parameters of large-block targets, including the grabbing range, grabbing point, grabbing height, removal direction and removal starting point, based on the recognition results of the shooting module, so as to ensure that the operating module can accurately grab or remove large-block targets and improve processing efficiency. In addition, the present invention takes into account the safety of the operating module during the grabbing process. By reserving the top safety distance and the bottom safety distance, the risk of collision between the operating module and the transport material or transport device can be avoided, thereby ensuring the stable operation of the grabbing operation.

[0020] 5. The present invention can determine the conveying status of the transported materials through the recognition results of the shooting module, and dynamically adjust the conveying speed of the transport device through the control module in combination with the conveying status, thereby avoiding the risk of spillage of the transported materials during transportation and improving the stability of the materials during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic diagram of determining a grabbing range corresponding to a large block target provided by an embodiment of the present invention; Figure 2 is a schematic diagram of generating a reference line provided by an embodiment of the present invention; Figure 3 is a schematic diagram of determining removal positioning parameters provided by an embodiment of the present invention; Figure 4 It is a structural schematic diagram of a belt transport conveying system suitable for coal provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0024] The execution subject of this application may include but is not limited to at least one of the following: user equipment, network equipment, etc. Among them, user equipment may include but is not limited to computers, smart phones, personal digital assistants (PDA) and the electronic devices mentioned above. Network equipment may include but is not limited to a single network server, a server group consisting of multiple network servers, or a cloud based on cloud computing consisting of a large number of computers or network servers, wherein cloud computing is a type of distributed computing, a super virtual computer composed of a group of loosely coupled computers. This embodiment does not limit this. It includes steps S1 to S4, as follows: S1, a shooting module, is used to identify specification information of transport materials on a transport device, and mark the transport materials with abnormal specification information as processing targets.

[0025] Among them, the shooting module refers to a module that allows users to identify items on the conveyor belt in real time, for example, it can be a high-definition surveillance camera; the transportation device refers to a conveyor belt that can be used to transport large materials such as coal; the transported materials refer to the items transported on the transportation device, for example, coal; the specification information refers to the area, height and other information of the transported materials; and the processing target refers to the transported materials with abnormal specification information.

[0026] In actual applications, when conveyor belts are transporting materials such as coal, manual monitoring and operation are often required to identify and handle abnormal materials. This not only increases labor costs, but also makes it difficult to ensure the timeliness and accuracy of processing. In addition, traditional conveyor belts usually use fixed speed parameter settings and cannot be dynamically adjusted according to the real-time status of the material, which may affect the stability and efficiency of material transportation. This solution can realize the automated processing of coal or large pieces of coal piled on the conveyor belt through the collaborative operation of the shooting module, the restriction module, the operation module and the control module, which can effectively improve the stability and transmission efficiency of the conveyor belt during transportation, and can reduce equipment failures and material losses caused by objects tilting, falling or unable to pass.

[0027] Specifically, through a shooting module, such as a monitoring camera, the specifications and sizes of materials transported on the transport device can be identified in real time. If the specification information of the transported material is identified to be abnormal, such as the transported material is too high or the area of ​​the transported material is too large, the corresponding transported material can be determined as a processing target, and the processing target can be processed subsequently.

[0028] In some embodiments, the specific implementation of step S1 may be: S11, the shooting modules are arranged at the upper position and the side position of the transport device, and the height information of the transported material is obtained according to the shooting modules at the side position.

[0029] Specifically, in the present solution, a plurality of shooting modules can be arranged at a certain distance above the transport device. Similarly, a plurality of shooting modules can be arranged at a certain distance on the side of the transport device. By configuring a plurality of shooting modules at the upper and side positions, the specification information of the transported materials at different positions can be viewed in real time, and the height information of the transported materials can be obtained according to the shooting modules arranged at the side positions. When obtaining the height information of the transported materials, the image of the transported materials taken by the shooting modules at the side positions can be obtained, and the extreme points of the contour of the transported materials in the image in the vertical direction can be obtained. For example, when the vertical direction is consistent with the y-axis direction, the maximum y-axis coordinate value and the minimum y-axis coordinate value corresponding to the contour of the transported materials can be obtained. According to the difference between the maximum y-axis coordinate value and the minimum y-axis coordinate value, the height information corresponding to the transported materials can be obtained.

[0030] The upper position refers to the position directly above the transport device, the side position refers to the position on the side of the transport device, and the height information refers to the height of the transported material.

[0031] S12, marking the transported materials whose height information is greater than or equal to the height threshold as stacking targets, and sending a descending instruction to the limiting module.

[0032] Specifically, if the height information of the transported material is greater than or equal to the height threshold, it can be considered that the corresponding transported material may be piled up, and the corresponding transported material can be determined as a pile-up target. When the transported material is piled up too high, it is easy to slide due to the unstable center of gravity, which will not only cause material loss, but also pollute the surrounding environment. Therefore, when the transported material is piled up, a descending instruction can be sent to the restriction module, and the piled up materials can be flattened through the restriction module so that the transported material can be transported stably on the transport device. Among them, the height threshold refers to a threshold that can be used to measure whether the transported material is piled up. If the height information of the transported material is greater than or equal to the height threshold, it can be considered that the transported material is piled up. The pile-up target refers to the transported material that is piled up. The descending instruction refers to the instruction to make the restriction module descend, and the restriction module can be a baffle.

[0033] In actual applications, side shooting modules are arranged in front and rear of the limiting module. This is because the main function of the shooting module is to monitor the status of the transported materials in real time. By configuring the side shooting module in front of the limiting module, the status of the transported materials can be identified, so that when the accumulated materials are identified, the limiting module can be controlled to descend in time. The side shooting module is also arranged behind the limiting module so that after the materials are processed by the limiting module, the rear shooting module can check whether the materials are flattened and monitor whether there are large pieces of materials that have not passed through, so that the large pieces of materials that have not passed through can be grabbed or removed later.

[0034] S13, determining the corresponding predicted passing time according to the height information of the stacking target, obtaining the material tracking data shot by the shooting module at the upper position based on the predicted passing time, and determining the transport material whose material area is greater than the area threshold as a large block target according to the material area identified by the material tracking data.

[0035] The specification information includes height information and material area, and the processing targets include accumulation targets and large block targets.

[0036] In actual applications, the height information corresponding to different stacking targets may be different, so the time it takes for different stacking targets to pass through the restriction module may also be different. A stacking target with a higher height may require a longer time to stably pass through the restriction module. Therefore, the time required for the stacking target to pass through the restriction module can be determined based on the height information of the stacking target, that is, the predicted passing time. Since the stacking target will be gradually flattened when passing through the restriction module, the corresponding material area will change. The video data obtained by the shooting module at the upper position taking a bird's-eye view of the transported material within the predicted passing time can be obtained, that is, the material tracking data, and the shooting module at the upper position can be configured directly above the restriction module, so that the process of the stacking target passing through the restriction module can be observed in real time, and the material area corresponding to the transported material in the material tracking data can be identified. If the material area is greater than the area threshold, the corresponding transported material can be considered to be a large block target.

[0037] Among them, the predicted passing time refers to the time required for the stacking target to pass through the restriction module, the material tracking data refers to the video data obtained by the shooting module at the upper position taking a bird's-eye view of the transported materials within the predicted passing time, the material area refers to the area of ​​the transported materials, the area threshold refers to the threshold that can be used to measure whether the area of ​​the transported materials is too large, and the large block target refers to the transported materials with a larger area.

[0038] Based on the above embodiment, the specific implementation of step S13 may be: S131, input the altitude information into a duration prediction model, and obtain a predicted passing duration output by the duration prediction model based on the altitude information.

[0039] Specifically, when determining the predicted passing time corresponding to the accumulation target, a time prediction model that has been pre-trained with a large amount of data can be called up. When training the time prediction model, a large amount of historical data can be collected, including accumulation targets with different height information and their corresponding passing times. The time prediction model is trained based on a large amount of historical data. During the training process, the time prediction model can learn the mapping relationship between height information and passing time. After inputting the height information of the accumulation target into the time prediction model, the time prediction model can output the predicted passing time based on the input height information.

[0040] The duration prediction model refers to a model that can predict the duration required for a stacking target to pass through a restriction module.

[0041] S132, acquiring material tracking data shot by a shooting module at an upper position based on the predicted passing time, and identifying a material contour in the material tracking data.

[0042] Specifically, when the stacked target passes through the restriction module, the shooting module located above the transport device can collect real-time video of the stacked target within the predicted passing time to obtain corresponding material tracking data. In the material tracking data, the outline of the transported material, i.e., the material outline, can be identified through image processing technology such as edge detection. The material outline is composed of a series of pixel points. Among them, the material outline refers to the outline of the transported material in the material tracking data.

[0043] S133, determining the material area of ​​the material contour, obtaining the area difference of the material area at consecutive moments, and when the area difference is less than the area difference threshold within a set time period and the material area is greater than the area threshold, determining that the transported material is a large block target.

[0044] Specifically, when determining the material area corresponding to the material contour, the number of adjacent pixel points corresponding to the transport material can be counted. For example, the number of adjacent black pixel points can be counted. The material area corresponding to the material contour can be determined based on the number of adjacent pixel points, and the material area corresponding to the material contour at continuous moments can be obtained. For the material areas obtained at continuous moments, the difference between them, that is, the area difference, can be calculated. The area difference can reflect the degree of change of the material area between continuous moments. If the area difference within a preconfigured period of time, that is, the set time period, is less than the area difference threshold, then it can be considered that the area of ​​the transport material during this period of time has not changed significantly. If the material area of ​​the transport material is greater than the area threshold, then the corresponding transport material can be considered to be a large block target, which can be subsequently captured or removed.

[0045] Among them, material area refers to the area of ​​transported materials, area difference refers to the difference between material areas at consecutive moments, and the set time period refers to the time range used to determine whether the material area is stable. During this time period, the area of ​​the materials can be continuously obtained and the area difference between them can be calculated. If all area differences within this time period are less than the area difference threshold, then the material can be considered to be stable during this period. The area difference threshold refers to a pre-configured value used to determine whether the change in the material area is significant. If the area difference at consecutive moments is less than this threshold, then it can be considered that the material area has not changed significantly during this period.

[0046] Through the above implementation, accumulated materials or bulk materials can be discovered in time, and the sliding phenomenon caused by excessive accumulation of materials can be prevented, thereby improving the stability of the transportation process.

[0047] S2, a limiting module, is used to perform a descending operation according to the recognition result of the shooting module to form a limiting distance between the transport device and the vehicle.

[0048] Specifically, when the shooting module identifies a processing target such as piled coal or large pieces of coal, it can send a corresponding command signal to the limiting module. After receiving the command signal, the limiting module can perform a descending operation according to a preset program. During the descent process, a specific limiting distance will be formed between the limiting module and the transportation device. This limiting distance can be set according to the actual situation of the transportation device to ensure that the coal pile can be effectively flattened during the processing process. When the accumulated coal pile passes through the limiting module, due to the limiting distance formed between the limiting module and the conveyor belt, the coal pile can be gradually flattened by the baffle. This process can effectively reduce the risk of coal spilling and falling, and improve the stability during transmission.

[0049] Based on the above embodiment, the specific implementation of step S2 may be: S21, when the transported material is marked as a stacking target according to the recognition result of the shooting module, the limiting point of the limiting module is determined, and the transport slope of the transport device at the limiting point is obtained.

[0050] In actual applications, when controlling the descent of the limiting module, the descent height of the limiting module can be adjusted accordingly in combination with the slope of the transport device. The steeper the slope of the transport device, the greater the risk of material spillage during transportation. In order to effectively address this problem, the limiting module needs to increase its descent height accordingly when flattening the accumulated materials, so that the limiting module can more securely contact and flatten the accumulated materials to prevent the materials from sliding or rolling due to excessive slope.

[0051] Specifically, when the transported material is identified as a stacking target from the image data captured by the shooting module, the limiting module can be controlled to descend, and the position point corresponding to the limiting module, i.e., the limiting point, can be determined, and the slope corresponding to the transport device at the limiting point, i.e., the transport slope, can be obtained. The limiting point refers to the position point where the limiting module descends, and the transport slope refers to the slope of the transport device at the limiting point.

[0052] S22, obtaining a height adjustment coefficient by weighted processing of the ratio of the transport slope to the reference slope, and obtaining a height adjustment value by multiplying the height adjustment coefficient by a standard adjustment value.

[0053] Specifically, by calculating the ratio of the transport slope to the reference slope, and performing weighted processing on the obtained ratio, the corresponding height adjustment coefficient can be obtained, and by multiplying the height adjustment coefficient by the pre-configured standard adjustment value, the corresponding height adjustment value can be obtained. The higher the transport slope, the larger the corresponding height adjustment coefficient, and the larger the obtained height adjustment value. Among them, the reference slope refers to the pre-configured standard slope, the height adjustment coefficient refers to the coefficient that can adjust the descent height of the restriction module, the standard adjustment value refers to the pre-configured standard adjustment value, and the height adjustment value refers to the height value at which the restriction module needs to be lowered.

[0054] S23, obtaining a limit height by subtracting the height adjustment value from the setting height of the limit module, and lowering the limit module to the limit height.

[0055] Specifically, the setting height corresponding to the limiting module can be obtained, and the corresponding limiting height can be obtained by subtracting the height adjustment value from the setting height of the limiting module, and the limiting module can be controlled to descend to the limiting height.

[0056] Through the above implementation, the risk of the transported materials sliding or rolling due to excessive slope during transportation can be effectively reduced, thereby improving the stability and safety of the transmission.

[0057] S3, an operation module, is used to connect with the shooting module, determine the positioning parameters of the processing target according to the recognition result of the shooting module, and perform grabbing and removing operations on the processing target according to the positioning parameters.

[0058] The operation module refers to a module that can grab or remove large pieces of coal, for example, it can be a robotic arm, and the positioning parameter refers to a parameter that can locate the processing target.

[0059] In actual applications, when there are large pieces of coal in the coal pile, the large pieces of coal may not be able to pass through the restriction module. At this time, the operation module can be controlled to grab or remove the large pieces of coal that cannot pass through. Specifically, the operation module, such as a robotic arm, can be connected to the shooting module. The operation module can locate the large piece of processing target based on the image information provided by the shooting module, and obtain the positioning parameters corresponding to the processing target. According to the positioning parameters of the processing target, the operation module can grab the large piece of processing target and place it in an area specially for storing large pieces of materials. In the process of controlling the operation module to grab the large piece of processing target, the grabbing may not be successful. At this time, the removal direction can be determined according to the position of the large piece of processing target, and the large piece of processing target can be moved out of the transportation device.

[0060] Based on the above embodiment, the specific implementation of step S3 may be: S31, when the transported material is marked as a large block target according to the recognition result of the shooting module, the first image data collected by the shooting module at the upper position and the second image data collected by the shooting module at the side position are obtained.

[0061] Specifically, when the transported material is determined to be a large block target according to the recognition result of the shooting module, the image data collected by the shooting module at the upper position, i.e., the first image data, can be obtained. The location point of the large block target and the corresponding area size of the large block target can be determined based on the first image data, which is convenient for the subsequent determination of the range of the operation module to grab it. In addition, the image data collected by the shooting module at the side position, i.e., the second image data, can be obtained. The height corresponding to the large block target can be determined based on the second image data, which is convenient for the subsequent determination of the height when the operation module grabs or removes it. Among them, the first image data refers to the image data collected by the shooting module at the upper position, which can be the image data collected by the shooting module at the upper position of the limiting module, and the second image data refers to the image data collected by the shooting module at the side position, which can be the image data collected by the shooting module at the side position of the limiting module.

[0062] S32: Determine a grasping range and grasping points corresponding to the large block target according to the first image data, and determine a grasping height corresponding to the large block target according to the second image data.

[0063] Specifically, since the first image data is an image obtained by taking a bird's-eye view of the large target, the position corresponding to the large target can be obtained from the first image data, and the position can be determined as the grabbing point when the operating module grabs it. In addition, the range size corresponding to the large target can be determined through the first image data, and the grabbing range of the operating module when grabbing it can be determined based on the range size corresponding to the large target. Since the second image data is image data obtained by taking a side view of the large target, the height corresponding to the large target can be obtained from the second image data, and the grabbing height of the operating module when grabbing the large target can be determined based on the height of the large target.

[0064] Among them, the grasping range refers to the area that the operating module needs to cover when grasping large-scale targets, the grasping point refers to the point that the operating module should specifically aim at when grasping large-scale targets, and the grasping height refers to the height that the operating module should reach when grasping large-scale targets.

[0065] In some embodiments, the specific implementation of step S32 may be: S321, extracting a bird's-eye view contour corresponding to the large block target in the first image data, and determining a center point of the bird's-eye view contour as a capture point.

[0066] Specifically, the contour corresponding to the large block target, i.e., the overhead contour, can be extracted from the first image data through image processing technology such as contour extraction, and the center point of the overhead contour can be determined as the capture point. The overhead contour refers to the contour corresponding to the large block target in the first image data.

[0067] S322, obtaining the extreme value points corresponding to the overhead contour in each grabbing direction, and determining the grabbing range corresponding to the large block target according to the distance between the extreme value points in the corresponding grabbing direction.

[0068] Specifically, when the operating module performs a grabbing operation on a large target, it is necessary to ensure that the operating module can completely cover the large target so that it can be accurately grabbed. Therefore, when determining the grabbing range of the operating module when grabbing large targets, it is necessary to first determine multiple grabbing directions. These directions are usually related to the grabbing closing direction of the robot arm. In each grabbing direction, the corresponding extreme point can be found on the overhead contour along the direction. The extreme point may be the farthest point or the closest point of the contour in this direction. According to the extreme points in each grabbing direction, the distance between them can be calculated. This distance can represent the size of the large target in this direction. According to the calculated distance, the coverage area required by the operating module when grabbing large targets, that is, the grabbing range, can be determined.

[0069] See also Figure 1 , which is a schematic diagram of determining a grabbing range corresponding to a large block target provided by an embodiment of the present invention, such as Figure 1 As shown in , in the first image data, four grasping directions can be determined, which are the directions indicated by four arrows, and in the four grasping directions, two of them correspond to each other, such as Figure 1 As shown in , grasping direction 1 corresponds to grasping direction 2, and grasping direction 3 corresponds to grasping direction 4, so the extreme points of the overhead profile in each grasping direction can be obtained. For example, when grasping direction 1 is consistent with the y-axis direction, the maximum y-axis coordinate value and the minimum y-axis coordinate value of the overhead profile in the y-axis direction can be obtained. By calculating the difference between the maximum y-axis coordinate value and the minimum y-axis coordinate value, the spacing of the overhead profile in grasping direction 1 can be obtained. Since grasping direction 1 corresponds to grasping direction 2, the spacing of the overhead profile in grasping direction 2 is the same as that in The spacing in grasping direction 1 is the same. When grasping direction 3 is consistent with the x-axis direction, the maximum x-axis coordinate value and the minimum x-axis coordinate value of the overhead contour in the x-axis direction can be obtained. By calculating the difference between the maximum x-axis coordinate value and the minimum x-axis coordinate value, the spacing of the overhead contour in grasping direction 3 can be obtained. Since grasping direction 4 corresponds to grasping direction 3, the spacing of the overhead contour in grasping direction 4 is the same as the spacing in grasping direction 3. According to the spacing in each grasping direction, the grasping range corresponding to the large block target can be determined, that is, Figure 1 The range included in the overhead outline.

[0070] Among them, extreme points include maximum points and minimum points, the grasping direction refers to the movement direction of the closed part such as the gripper when the operating module performs a grasping operation, and the grasping range refers to the coverage area required by the operating module when grasping large block targets.

[0071] S323, extracting the side profile corresponding to the large block target in the second image data, and determining the target height corresponding to the large block target according to the distance between extreme value points in the height direction.

[0072] Specifically, the side-shot contour corresponding to the large block target can be extracted from the second image data through the contour extraction technology, and the extreme points of the side-shot contour in the height direction can be obtained. According to the spacing between the extreme points, the target height corresponding to the large block target can be determined. For example, when the height direction is consistent with the y-axis direction, the extreme points corresponding to the side-shot contour in the height direction can be the maximum y-axis coordinate value and the minimum y-axis coordinate value. By calculating the difference between the maximum y-axis coordinate value and the minimum y-axis coordinate value, the target height corresponding to the large block target can be obtained. Among them, the side-shot contour refers to the contour corresponding to the large block target in the second image data, and the target height refers to the height corresponding to the large block target.

[0073] S324, retrieve the configured top safety distance and bottom safety distance, obtain the initial height of the operation module, and subtract the sum of the target height, the top safety distance and the bottom safety distance from the initial height to obtain the grasping height corresponding to the large block target.

[0074] In practical applications, in order to avoid collision between the operating module and the transported materials or transport devices during the grasping process and to ensure stable grasping, a certain safety distance needs to be reserved between the clamp of the operating module and the top of the transported materials and the transport device. Therefore, the pre-configured top safety distance and bottom safety distance can be called out, and the initial height corresponding to the operating module can be obtained. The target height is subtracted from the initial height, and the sum of the top safety distance and the bottom safety distance can be obtained to obtain the grasping height corresponding to the large block target.

[0075] In some embodiments, the grasping height corresponding to the large block target can be calculated by the following formula: H=H_0-(H_1+d_1+d_2 ) Among them, H represents the grasping height corresponding to the large block target, H_0 represents the initial height of the operation module, H_1 represents the target height corresponding to the large block target, d_1 represents the top safety distance, and d_2 represents the bottom safety distance.

[0076] Through the above implementation, the risk of collision between the operating module and the transported material or the transport device can be avoided, thereby ensuring the stable operation of the grabbing operation.

[0077] S33, obtaining a grasping positioning parameter based on the grasping range, grasping point and grasping height, and controlling the operation module to perform a grasping operation on the large block target based on the grasping positioning parameter.

[0078] Specifically, the corresponding grasping positioning parameters can be obtained according to the grasping range, grasping point and corresponding grasping height, and then the operation module can be controlled to go to the corresponding grasping point to grasp the large block target according to the grasping positioning parameters. Among them, the grasping positioning parameters refer to the parameters used to guide the operation module to perform precise grasping actions on large block targets. These parameters usually include key information such as grasping range, grasping point and grasping height, which together determine the specific position and posture that the operation module should take when grasping large block targets.

[0079] In some embodiments, the following steps may be used to determine whether the operation module has completed the crawling operation: A1, after the operating module performs a grabbing operation, the calibration image data collected by the shooting module at the upper position is obtained.

[0080] Specifically, when the operating module performs a grabbing operation, the operating module can send a corresponding grabbing signal, and the camera module at the upper position can perform image acquisition after receiving the corresponding signal, and can obtain the calibration image data acquired by the camera module at the upper position. The calibration image data refers to the image data acquired by the camera module at the upper position after the operating module performs a grabbing operation.

[0081] A2, extracting the calibration material contour in the calibration image data, and comparing the overhead contour of the large block target with the calibration material contour to obtain contour similarity.

[0082] Specifically, the contour corresponding to the transported material, i.e., the calibrated material contour, can be extracted from the calibration image data. The calibrated material contour is compared with the overhead contour corresponding to the large block target to obtain the contour similarity. If the contour similarity is high, it can be considered that the large block target is still on the transport device and the operation module has not completed the capture of the large block target. If the contour similarity is low, it can be considered that the large block target is no longer on the transport device and the operation module has completed the capture of the large block target. Among them, the calibrated material contour refers to the contour of the transported material in the calibration image data, and the contour similarity refers to the similarity between the calibrated material contour and the overhead contour.

[0083] A3: When the contour similarity is less than a similarity threshold, it is determined that the operation module completes the grabbing operation; when the contour similarity is greater than or equal to the similarity threshold, it is determined that the operation module does not complete the grabbing operation.

[0084] Specifically, when the contour similarity is less than the similarity threshold, it means that the currently detected calibration material contour has changed significantly compared with the overhead contour before the operation module grabs it. This change is likely because the large block target has been successfully grabbed by the operation module and removed from the transportation device. Therefore, it can be determined that the operation module has completed the grabbing operation of the large block target at this time. When the contour similarity is greater than or equal to the similarity threshold, it means that the currently detected calibration material contour is still very similar to the overhead contour before the operation module grabs it. It can be considered that the large block target is still on the transportation device and has not been successfully grabbed by the operation module. Therefore, it can be determined that the operation module has not completed the grabbing operation of the large block target at this time. Among them, the similarity threshold refers to a preset value, which is used to determine whether the contour similarity reaches the standard that the operation module can be considered to have completed the grabbing operation. When the contour similarity is less than the similarity threshold, it can be determined that the operation module has completed the grabbing operation of the large block target at this time. When the contour similarity is greater than or equal to the similarity threshold, it can be determined that the operation module has not completed the grabbing operation of the large block target at this time.

[0085] S34, when the operation module has not completed the grabbing operation, determining a removal direction and a removal starting point corresponding to the large block object according to the first image data, and obtaining a removal positioning parameter based on the removal direction and the removal starting point.

[0086] If the operating module does not complete the grabbing operation, the large block target still remains on the transport device, which may hinder the transportation of subsequent materials and reduce the efficiency of the entire transport system. Therefore, the large block target can be removed from the transport device. Specifically, the removal direction and the removal starting point when removing the large block target can be determined according to the first image data, and the corresponding removal positioning parameters can be obtained according to the removal direction and the removal starting point. Among them, the removal direction refers to the direction that should be followed when removing the large block target from the transport device. The removal direction is usually determined according to the layout of the transport device and the position of the large block target. For example, if the transport device is a conveyor belt, the removal direction may be a direction perpendicular to the transport direction of the conveyor belt. The removal starting point refers to the specific position where the operating module starts to act on the large block target when starting to remove the large block target. The removal positioning parameters refer to the parameters used to guide the removal device to accurately find and act on the large block target, usually including the removal direction and the removal starting point.

[0087] In some embodiments, in step S34, "when the operation module has not completed the grabbing operation, determining the removal direction and the removal starting point corresponding to the large block object according to the first image data" includes the following steps: S341: When the operation module has not completed the grabbing operation, extract the current overhead contour of the large block target in the first image data.

[0088] Specifically, when the operation module does not complete the capture operation, the current overhead contour corresponding to the large block target can be extracted from the first image data, wherein the current overhead contour refers to the contour corresponding to the large block target in the first image data when the capture operation is not completed.

[0089] S342, determining a direction perpendicular to the transport direction as a reference direction, and generating a reference line parallel to the reference direction with the center point of the current overhead profile as a reference.

[0090] Specifically, the transport direction of the transport device when transporting materials can be obtained, and the direction perpendicular to the transport direction can be determined as the reference direction. Based on the center point of the current overhead road profile, a reference line parallel to the reference direction can be generated. Figure 2 , which is a schematic diagram of generating a reference line provided by an embodiment of the present invention, such as Figure 2 As shown in , when the transport direction is the vertical direction, the horizontal direction can be determined as the reference direction, and a reference line parallel to the reference direction can be generated based on the center point of the current overhead profile.

[0091] S343, obtaining a first boundary point on the reference line that intersects with the outer contour of the current overhead profile, extracting the device contour of the transportation device, and obtaining a second boundary point on which the reference line intersects with the outer contour of the device contour.

[0092] Specifically, after the reference line is generated, the reference line will intersect with the outer contour of the current overhead profile, and the intersection point can be determined as the first boundary point, and the device contour corresponding to the transportation device can be extracted from the first image data. Since the reference line and the device contour will also intersect, the intersection point can be determined as the second boundary point. Among them, the first boundary point refers to the two intersection points between the outer contour of the current overhead profile and the reference line, the device contour refers to the contour of the transportation device, and the second boundary point refers to the two intersection points between the reference line and the device contour.

[0093] S344, selecting the first boundary point and the second boundary point with the shortest distance, determining the direction from the selected first boundary point to the second boundary point as the removal direction, and determining another first boundary point as the removal starting point.

[0094] See also Figure 3 , is a schematic diagram of determining removal positioning parameters provided by an embodiment of the present invention, such as Figure 3 As shown in , there are two intersection points between the reference line and the outer contour of the current overhead profile, and the two intersection points can be respectively determined as the first boundary point 1 and the first boundary point 2. There are also two intersection points between the reference line and the device contour, and the two intersection points can be respectively determined as the second boundary point 1 and the second boundary point 2. Figure 3As can be seen from the figure, the distance between the first boundary point 1 and the second boundary point 1 is the smallest. The first boundary point 1 and the second boundary point 1 can be selected, and the direction from the first boundary point 1 to the second boundary point 1 can be determined as the removal direction. In order to completely remove the large block object on the transport device, another first boundary point can be determined as the removal starting point. For example, Figure 3 The first boundary point 2 in is determined as the removal starting point.

[0095] S35, controlling the operation module to perform a removal operation on the large block object based on the removal positioning parameters, where the positioning parameters include a capture positioning parameter and a removal positioning parameter.

[0096] Specifically, after the removal positioning parameters are obtained, the operation module may be controlled to perform corresponding removal operations on the large block object according to the removal positioning parameters.

[0097] Through the above implementation, it can be ensured that the operating module can accurately grasp or remove large block objects, thereby improving processing efficiency.

[0098] S4, a control module, is used to determine the conveying state of the transported material, the conveying state includes a stacking state and a flattening state, and adjust the conveying speed of the transport device in real time according to the conveying state.

[0099] During the entire processing process, the control module can make real-time adjustments to the conveying speed of the transport device according to the conveying status of the transported materials. For example, when it is identified that the conveying status of the transported materials is a stacking state, if the conveyor belt continues to run at a high speed, the limiting module and the operating module may find it difficult to respond accurately and in a timely manner. At this time, the conveying speed of the transport device can be reduced to ensure that the limiting module and the operating module have enough time to accurately handle abnormal materials and avoid materials slipping, spilling or damaging equipment.

[0100] Specifically, the control module can determine the conveying state of the transported material according to the state recognition result of the transported material by the shooting module. Among them, the control module refers to a module that can control the speed of the transportation device, the conveying state refers to the state of the transported materials on the transportation device, the stacking state refers to the state in which the materials are stacked on the transportation device during transportation, the flattening state refers to the state in which the materials are evenly and flatly distributed on the transportation device during transportation, and the conveying speed refers to the speed of the transportation device when conveying materials.

[0101] Based on the above embodiment, the specific implementation of step S4 may be: S41, when the transport material is marked as a stacking target according to the recognition result of the shooting module, determining that the conveying state of the transport material is a stacking state.

[0102] Specifically, when it is determined that the transported material is a stacking target according to the recognition result of the shooting module, it can be determined that the conveying state of the transported material is a stacking state.

[0103] S42, calculating a first reduction value of the transport device according to the height information of the stacking target and the transport slope of the transport device, and adjusting the conveying speed of the transport device to the first reduction value.

[0104] Specifically, the height information corresponding to the stacking target and the transportation slope corresponding to the transportation device can be obtained. According to the height information corresponding to the stacking target and the transportation slope corresponding to the transportation device, the value for adjusting the conveying speed of the transportation device for the first time, i.e., the first adjustment reduction value, can be calculated. After obtaining the first adjustment reduction value, the conveying speed of the transportation device can be adjusted to the first adjustment reduction value. The first adjustment reduction value refers to the value for adjusting the speed of the transportation device when the stacking target is identified.

[0105] In some embodiments, the step S42 of “calculating a lowering value of the transport device according to the height information of the stacking target and the transport slope of the transport device” includes the following steps: S421, obtain a first adjustment factor after weighted processing of the altitude information, and obtain a second adjustment factor after weighted processing of the transportation slope.

[0106] Specifically, after obtaining the height information corresponding to the stacking target, the height information can be weighted to obtain a first adjustment factor corresponding to the height information. The higher the height information, the larger the first adjustment factor. After obtaining the transportation slope of the transportation device, the transportation slope can be weighted to obtain a second adjustment factor corresponding to the transportation slope. The larger the transportation slope, the larger the second adjustment factor. The first adjustment factor refers to a speed adjustment factor related to the height, and the second adjustment factor refers to a speed adjustment factor related to the slope.

[0107] S422: Obtain a first speed adjustment coefficient according to the inverse of the product of the first adjustment factor and the second adjustment factor, and multiply the first speed adjustment coefficient by the current speed of the transportation device to obtain a reduced value.

[0108] Specifically, by multiplying the first adjustment factor by the second adjustment factor and taking the reciprocal thereof, a first speed adjustment coefficient can be obtained, and by multiplying the first speed adjustment coefficient by the current speed of the transport device, a lower value can be obtained. The first speed adjustment coefficient refers to the coefficient for adjusting the speed of the transport device for the first time, and the current speed refers to the current conveying speed of the transport device.

[0109] S43, when the transported material is marked as a large block target according to the recognition result of the shooting module, the secondary reduction value of the transport device is calculated according to the area value and height value of the large block target, and the conveying speed of the transport device is adjusted to the secondary reduction value.

[0110] After adjusting the conveying speed of the transport device to the first lowering value, if the transported material is determined to be a large block target according to the recognition result of the shooting module, the first lowering value can be adjusted again on the basis of the first lowering value. Specifically, the area value and height value corresponding to the large block target can be obtained. According to the area value and height value corresponding to the large block target, the value when the conveying speed of the transport device is adjusted again on the basis of the first lowering value can be calculated, that is, the second lowering value. After obtaining the second lowering value, the current corresponding first lowering value of the transport device can be adjusted to the second lowering value. Among them, the second lowering value refers to the value of the first lowering value of the transport device when a large block target is identified.

[0111] In some embodiments, the step S43 of "calculating the secondary lowering value of the transport device according to the area value and the height value of the large block target, and adjusting the conveying speed of the transport device to the secondary lowering value" includes the following steps: S431, weighting the area value to obtain a third adjustment factor, and weighting the height value to obtain a fourth adjustment factor.

[0112] Specifically, after obtaining the area value corresponding to the large block target, the area value can be weighted to obtain the third adjustment factor corresponding to the area value. The higher the area value, the larger the third adjustment factor. After obtaining the height value corresponding to the large block target, the height value can be weighted to obtain the fourth adjustment factor corresponding to the height value. The larger the height value, the larger the fourth adjustment factor. The third adjustment factor refers to the speed adjustment factor related to the area, and the fourth adjustment factor refers to the speed adjustment factor related to the height corresponding to the large block target.

[0113] S432: obtaining a second speed adjustment coefficient according to the inverse of the product of the third adjustment factor and the fourth adjustment factor, and multiplying the second speed adjustment coefficient by the first reduction value to obtain a second reduction value.

[0114] Specifically, by multiplying the third adjustment factor by the fourth adjustment factor and taking the reciprocal thereof, the second speed adjustment coefficient can be obtained, and by multiplying the second speed adjustment coefficient by the first reduction value corresponding to the current speed of the transport device, the second reduction value can be obtained. The second speed adjustment coefficient refers to the coefficient for adjusting the speed of the transport device for the second time, and the second reduction value refers to the value for adjusting the speed of the transport device again.

[0115] S44, when no stacked target or large block target is identified, it is determined that the conveying state of the transported material is a flat state, and the conveying speed of the transport device is not adjusted.

[0116] Specifically, when no accumulated targets or large block targets are identified, it can be determined that the conveying state of the transported material is a flat state, and the conveying speed of the transport device does not need to be adjusted.

[0117] Through the above implementation, See also Figure 4 , is a structural schematic diagram of a belt-type transport system suitable for coal provided by an embodiment of the present invention. The data processing system based on the belt-type transport system suitable for coal includes: A shooting module, used to identify specification information of transport materials on the transport device, and mark the transport materials with abnormal specification information as processing targets; A limiting module, used for performing a descending operation according to the recognition result of the shooting module, and forming a limiting distance between the vehicle and the transport device; An operation module, connected to the shooting module, determines the positioning parameters of the processing target according to the recognition result of the shooting module, and performs grabbing and removing operations on the processing target according to the positioning parameters; The control module is used to determine the conveying state of the transported material, wherein the conveying state includes a stacking state and a flattening state, and adjust the conveying speed of the transport device in real time according to the conveying state.

[0118] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A belt transport system suitable for coal, characterized in that: include: A shooting module, used for identifying specification information of transport materials on the transport device, and marking transport materials with abnormal specification information as processing targets; A limiting module, used for performing a descending operation according to the recognition result of the shooting module, and forming a limiting distance between the vehicle and the transport device; An operation module, connected to the shooting module, determines the positioning parameters of the processing target according to the recognition result of the shooting module, and performs grabbing and removing operations on the processing target according to the positioning parameters; The control module is used to determine the conveying state of the transported material, wherein the conveying state includes a stacking state and a flattening state, and adjust the conveying speed of the transport device in real time according to the conveying state.

2. The system according to claim 1, characterized in that The shooting module is used to identify the specification information of the transported materials on the transport device and mark the transported materials with abnormal specification information as processing targets, including: The photographing modules are arranged at the upper position and the side position of the transport device, and the height information of the transported materials is obtained according to the photographing modules at the side position; Marking the transported materials whose height information is greater than or equal to the height threshold as stacking targets, and sending a descending instruction to the limiting module; Determine the corresponding predicted passing time according to the height information of the stacking target, obtain the material tracking data shot by the shooting module at the upper position based on the predicted passing time, and determine the transport material whose material area is greater than the area threshold as a large block target according to the material area identified by the material tracking data; The specification information includes height information and material area, and the processing targets include accumulation targets and large block targets.

3. The system according to claim 2, characterized in that Determining the corresponding predicted passing time according to the height information of the stacking target, acquiring material tracking data photographed by a shooting module at an upper position based on the predicted passing time, and determining that the transported material with an area greater than an area threshold is a large block target according to the material area identified by the material tracking data, including: Inputting the altitude information into a duration prediction model, and obtaining a predicted passing duration output by the duration prediction model based on the altitude information; Acquire the material tracking data captured by the shooting module at the upper position based on the predicted passing time, and identify the material contour in the material tracking data; Determine the material area of ​​the material contour, obtain the area difference of the material area at consecutive moments, and when the area difference is less than the area difference threshold within a set time period and the material area is greater than the area threshold, determine that the transported material is a large block target.

4. The system according to claim 2, characterized in that The limiting module is used to perform a descending operation according to the recognition result of the shooting module to form a limiting distance between the vehicle and the transport device, including: When the transport material is marked as a stacking target according to the recognition result of the shooting module, the limiting point of the limiting module is determined, and the transport slope of the transport device at the limiting point is obtained; A height adjustment coefficient is obtained by weighting the ratio of the transport slope to the reference slope, and a height adjustment value is obtained by multiplying the height adjustment coefficient and the standard adjustment value; A limit height is obtained by subtracting the height adjustment value from the setting height of the limit module, and the limit module is lowered to the limit height.

5. The system according to claim 2, characterized in that The operation module is used to connect with the shooting module, determine the positioning parameters of the processing target according to the recognition result of the shooting module, and perform the grabbing and removing operations on the processing target according to the positioning parameters, including: When the transported material is marked as a large block target according to the recognition result of the camera module, first image data collected by the camera module at an upper position and second image data collected by the camera module at a side position are obtained; Determine a grasping range and grasping point corresponding to the large block target according to the first image data, and determine a grasping height corresponding to the large block target according to the second image data; Obtaining a grasping positioning parameter based on the grasping range, grasping point and grasping height, and controlling the operation module to perform a grasping operation on the large block target based on the grasping positioning parameter; When the operation module has not completed the grabbing operation, determining a removal direction and a removal starting point corresponding to the large block object according to the first image data, and obtaining a removal positioning parameter based on the removal direction and the removal starting point; The operation module is controlled to perform a removal operation on the large block object based on the removal positioning parameters, where the positioning parameters include a grabbing positioning parameter and a removing positioning parameter.

6. The system according to claim 5, characterized in that Determining a grasping range and a grasping point corresponding to the large block target according to the first image data, and determining a grasping height corresponding to the large block target according to the second image data, includes: Extracting a bird's-eye view contour corresponding to the large block target in the first image data, and determining a center point of the bird's-eye view contour as a capture point; Obtaining the extreme value points corresponding to the overhead profile in each grabbing direction, and determining the grabbing range corresponding to the large block target according to the spacing between the extreme value points in the corresponding grabbing direction; Extracting a side profile corresponding to the large block target in the second image data, and determining a target height corresponding to the large block target according to a distance between extreme value points in a height direction; The configured top safety distance and bottom safety distance are retrieved to obtain the initial height of the operation module, and the grabbing height corresponding to the large block target is obtained by subtracting the sum of the target height, the top safety distance and the bottom safety distance from the initial height.

7. The system according to claim 5, characterized in that The following steps are used to determine whether the operation module completes the grabbing operation, including: After the operation module performs the grabbing operation, the calibration image data collected by the shooting module at the upper position is obtained; Extracting a calibration material contour from the calibration image data, and comparing the overhead contour of the large block target with the calibration material contour to obtain contour similarity; When the contour similarity is less than a similarity threshold, it is determined that the operation module completes the grabbing operation; when the contour similarity is greater than or equal to the similarity threshold, it is determined that the operation module does not complete the grabbing operation.

8. The system according to claim 7, characterized in that When the operation module has not completed the grabbing operation, determining the removal direction and the removal starting point corresponding to the large block object according to the first image data includes: When the operation module has not completed the grabbing operation, extracting the current overhead contour of the large block target in the first image data; Determine a direction perpendicular to the transport direction as a reference direction, and generate a reference line parallel to the reference direction with the center point of the current overhead profile as a reference; Acquire a first boundary point on the reference line that intersects with the outer contour of the current overhead profile, extract the device contour of the transportation device, and acquire a second boundary point on which the reference line intersects with the outer contour of the device contour; A first boundary point and a second boundary point with the shortest distance between them are selected, a direction from the selected first boundary point to the second boundary point is determined as a removal direction, and another first boundary point is determined as a removal starting point.

9. The system according to claim 2, characterized in that A control module is used to determine the conveying state of the transported material, the conveying state includes a stacking state and a flattening state, and adjust the conveying speed of the transport device in real time according to the conveying state, including: When the transport material is marked as a stacking target according to the recognition result of the shooting module, determining that the conveying state of the transport material is a stacking state; Calculating a first lowering value of the transport device according to the height information of the stacking target and the transport slope of the transport device, and adjusting the conveying speed of the transport device to the first lowering value; When the transported material is marked as a large block target according to the recognition result of the shooting module, a secondary lowering value of the transport device is calculated according to the area value and the height value of the large block target, and the conveying speed of the transport device is adjusted to the secondary lowering value; When no piled objects or large block objects are identified, it is determined that the conveying state of the transported material is a flat state, and the conveying speed of the transport device is not adjusted.

10. The system according to claim 9, characterized in that Calculating a lowering value of the transport device according to the height information of the stacking target and the transport slope of the transport device includes: A first adjustment factor is obtained by weighting the height information, and a second adjustment factor is obtained by weighting the transportation slope; A first speed adjustment coefficient is obtained according to the inverse of the product of the first adjustment factor and the second adjustment factor, and a first speed reduction value is obtained by multiplying the first speed adjustment coefficient and the current speed of the transportation device; Calculating a secondary lowering value of the transport device according to the area value and the height value of the large block target, and adjusting the conveying speed of the transport device to the secondary lowering value, including: A third adjustment factor is obtained by weighting the area value, and a fourth adjustment factor is obtained by weighting the height value; A second speed adjustment coefficient is obtained according to the inverse of the product of the third adjustment factor and the fourth adjustment factor, and a second speed adjustment coefficient is multiplied by the first reduction value to obtain a second reduction value.

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