Belt conveyor system for coal

Abstract

The present invention provides a belt-type conveyor system suitable for coal. The system includes a camera module for identifying the specifications of materials being transported on a conveyor and marking materials with abnormal specifications as processing targets. A restriction module is configured to lower the material based on the camera module's recognition results, establishing a restricted distance from the conveyor. An operation module is coupled to the camera module, determines positioning parameters of the processing target based on the camera module's recognition results, and performs grabbing and removal operations on the target based on the positioning parameters. A control module is configured to determine the conveying state of the material, including a stacked state and a flattened state, and adjust the conveying speed of the conveyor in real time based on the conveying state. This system can improve the operational stability and transmission efficiency of the conveyor belt and reduce material loss caused by spillage, dropping, or inability of the material to pass through.

Description

Technical Field

[0001] The invention relates to belt conveying technology, in particular to a belt type transporting 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, traditional conveyor belts have some problems in the actual transportation process. First, due to the differences in the sizes of materials such as coal, problems such as material accumulation and large material blockage 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. This 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 operating stability and transmission efficiency of the conveyor belt and reduce material losses caused by material spilling, falling or inability to pass has become an urgent problem that needs 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 operation stability and transmission efficiency of the conveyor belt and reduce material losses caused by material spilling, falling or being unable to pass through.

[0006] A first aspect of the present invention provides a belt conveyor system suitable for coal, characterized by comprising:

[0007] A 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;

[0008] A limiting module, configured to perform a descending operation based on the recognition result of the shooting module, and form a restricted distance between the vehicle and the transport device;

[0009] 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;

[0010] The control module is used to determine the conveying state of the transported material, which 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.

[0011] Optionally, in a possible implementation of the first aspect, the photographing module is configured to identify specification information of transported materials on the transport device and mark transported materials with abnormal specification information as processing targets, including:

[0012] The photographing modules are arranged at the upper and side positions of the transport device, and the height information of the transported materials is obtained according to the photographing modules at the side positions;

[0013] 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;

[0014] Determining a corresponding predicted passing time based on the height information of the stacked object, obtaining material tracking data captured by a camera module at an upper position based on the predicted passing time, and identifying a material area based on the material tracking data to determine that a transported material having an area greater than an area threshold is a large block object;

[0015] The specification information includes height information and material area, and the processing targets include accumulation targets and large block targets.

[0016] Optionally, in a possible implementation of the first aspect, determining a corresponding predicted passage time according to the height information of the stacked target, acquiring material tracking data captured by a camera module at an upper position based on the predicted passage time, and determining, based on a material area identified by the material tracking data, that a transported material having an area greater than an area threshold is a large block target includes:

[0017] 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;

[0018] Acquiring material tracking data captured by a shooting module at an upper position based on the predicted passing duration, and identifying a material outline in the material tracking data;

[0019] 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.

[0020] Optionally, in a possible implementation of the first aspect, the limiting module, configured to perform a descending operation based on the recognition result of the shooting module to form a restricted distance between the vehicle and the transport device, includes:

[0021] When the transport material is marked as a stacking target according to the recognition result of the shooting module, a limit point of the limit module is determined, and a transport slope of the transport device at the limit point is obtained;

[0022] 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 by the standard adjustment value;

[0023] 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.

[0024] Optionally, in a possible implementation of the first aspect, the operation module is configured to be connected to the shooting module, determine positioning parameters of the processing target according to a recognition result of the shooting module, and perform grabbing and removing operations on the processing target according to the positioning parameters, including:

[0025] When the transported material is marked as a large block object according to the recognition result of the camera module, first image data captured by the camera module at an upper position and second image data captured by the camera module at a side position are acquired;

[0026] Determine a grasping range and grasping points corresponding to the large block object according to the first image data, and determine a grasping height corresponding to the large block object according to the second image data;

[0027] 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;

[0028] 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;

[0029] 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.

[0030] Optionally, in a possible implementation of the first aspect, determining a grasping range and a grasping point corresponding to the large blocky object according to the first image data, and determining a grasping height corresponding to the large blocky object according to the second image data includes:

[0031] Extracting a bird's-eye view outline corresponding to the large block-shaped target in the first image data, and determining a center point of the bird's-eye view outline as a capture point;

[0032] Obtaining the extreme points corresponding to the overhead profile in each grasping direction, and determining the grasping range corresponding to the large block object based on the spacing between the extreme points in the corresponding grasping direction;

[0033] Extracting a side profile corresponding to the large blocky target in the second image data, and determining a target height corresponding to the large blocky target based on a distance between extreme value points in a height direction;

[0034] The configured top safety distance and bottom safety distance are retrieved to obtain the initial height of the operation module. The sum of the target height, the top safety distance and the bottom safety distance is subtracted from the initial height to obtain the grasping height corresponding to the large block target.

[0035] Optionally, in a possible implementation of the first aspect, after the operating module performs the grabbing operation, calibration image data captured by the shooting module at an upper position is acquired;

[0036] Extracting a calibration material contour from the calibration image data, and comparing the overhead profile of the large block target with the calibration material contour to obtain contour similarity;

[0037] 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.

[0038] Optionally, in a possible implementation 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:

[0039] 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;

[0040] 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;

[0041] Obtain 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 obtain a second boundary point on the reference line that intersects with the outer contour of the device contour;

[0042] A first boundary point and a second boundary point with the closest distance 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.

[0043] Optionally, in a possible implementation of the first aspect, the control module is configured to determine a conveying state of the transported material, the conveying state including a stacking state and a flattening state, and adjust a conveying speed of the transport device in real time according to the conveying state, including:

[0044] When the transport material is marked as a pile target according to the recognition result of the shooting module, determining that the conveying state of the transport material is a pile state;

[0045] Calculating a first adjustment 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 adjustment reduction value;

[0046] When the transported material is marked as a large block object according to the recognition result of the camera module, a secondary reduction value of the transport device is calculated according to the area value and the height value of the large block object, and the conveying speed of the transport device is adjusted to the secondary reduction value;

[0047] When no accumulated 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.

[0048] Optionally, in a possible implementation of the first aspect, calculating a one-time lowering value of the transport device according to the height information of the stacking target and the transport slope of the transport device includes:

[0049] A first adjustment factor is obtained by weighting the height information, and a second adjustment factor is obtained by weighting the transport gradient;

[0050] 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 by the current speed of the transport device;

[0051] 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:

[0052] A third adjustment factor is obtained by weighting the area value, and a fourth adjustment factor is obtained by weighting the height value;

[0053] 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.

[0054] The beneficial effects of the present invention are as follows:

[0055] 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 failure and material loss caused by objects tilting, falling or being unable to pass through.

[0056] 2. When the present invention identifies the status of transported materials through the shooting module, real-time monitoring of the transported materials can be achieved by configuring multiple shooting modules at the upper and side positions of the transport device, so that the height information and area information of the transported materials can be accurately obtained. According to the height information, the stacked targets can be identified more accurately. By calculating the area difference corresponding to the material contours of the transported materials at consecutive moments, the change in the material area can be accurately identified, so that it can be more accurately judged whether the transported materials are large block targets.

[0057] 3. The present invention can control the limiting module to descend to the corresponding limiting height based on 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 transported materials tipping over due to excessive slope during transportation, thereby improving stability and safety during transmission.

[0058] 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, thereby ensuring 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.

[0059] 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 dumping of the transported materials during transportation and improving the stability of the materials during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 This is a schematic diagram of determining a capture range corresponding to a large block object provided by an embodiment of the present invention;

[0061] Figure 2 is a schematic diagram of generating a reference line provided by an embodiment of the present invention;

[0062] Figure 3 is a schematic diagram of determining removal positioning parameters provided by an embodiment of the present invention;

[0063] Figure 4 The diagram is a structural diagram of a belt-type transport system for coal provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0064] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying 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 making creative efforts shall fall within the scope of protection of the present invention.

[0065] The following specific embodiments are used to describe the technical solution of the present invention in detail. 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.

[0066] 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 (PDAs) 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:

[0067] S1, a shooting module, is used to identify specification information of transport materials on a transport device and mark transport materials with abnormal specification information as processing targets.

[0068] Among them, the shooting module refers to a module that allows users to identify items on the conveyor belt in real time, such as 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, such as 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.

[0069] In actual applications, conveyor belts often require manual monitoring and operation to identify and handle abnormal materials during the transportation of materials such as coal. This not only increases labor costs, but also makes it difficult to ensure the timeliness and accuracy of processing. 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 piled up on the conveyor belt or large pieces of coal through the collaborative operation of the shooting module, restriction module, operation module and control module. It can effectively improve the stability and transmission efficiency of the conveyor belt during transportation, and can reduce equipment failure and material loss caused by objects tilting, falling or being unable to pass.

[0070] 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 found 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.

[0071] In some embodiments, the specific implementation of step S1 may be:

[0072] 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.

[0073] Specifically, in this solution, multiple shooting modules can be configured at a certain distance above the transport device. Similarly, multiple shooting modules can also be configured at a certain distance on the side of the transport device. By configuring multiple 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 based on the shooting modules configured at the side positions. When obtaining the height information of the transported materials, the image of the transported materials captured 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 material can be obtained.

[0074] 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.

[0075] S12, marking the transported materials whose height information is greater than or equal to the height threshold as a stacking target, and sending a descending instruction to the limiting module.

[0076] Specifically, if the height information of the transported materials is greater than or equal to the height threshold, it can be considered that the corresponding transported materials may be piled up, and the corresponding transported materials can be determined as pile-up targets. When the transported materials are piled up too high, they are prone to slipping due to the unstable center of gravity, which not only causes material loss but also may pollute the surrounding environment. Therefore, when the transported materials are piled up, a descending instruction can be sent to the restriction module, and the restriction module can flatten the piled materials so that the transported materials can be transported stably on the transport device. Among them, the height threshold refers to the threshold that can be used to measure whether the transported materials are piled up. If the height information of the transported materials is greater than or equal to the height threshold, it can be considered that the transported materials are piled up. The pile-up target refers to the transported materials that are piled up. The descending instruction refers to the instruction to make the restriction module descend. The restriction module can be a baffle.

[0077] In actual applications, side shooting modules are configured in front and behind the restriction 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 restriction module, the status of the transported materials can be identified, so that when the accumulated materials are identified, the restriction module can be controlled to descend in time. The side shooting module is also configured behind the restriction module so that after the material is processed by the restriction module, the rear shooting module can check whether the material is flattened and whether there are large pieces of material that have not passed, so that the large pieces of material that have not passed can be grabbed or removed later.

[0078] S13, determining the corresponding predicted passing time based on the height information of the stacking target, obtaining the material tracking data captured by the shooting module at the upper position based on the predicted passing time, and determining the transport material with an area greater than the area threshold as a large block target based on the material area identified by the material tracking data.

[0079] The specification information includes height information and material area, and the processing targets include accumulation targets and large block targets.

[0080] 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. Stacking targets with higher heights may take longer 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 upper position shooting module to take 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 upper position shooting module 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.

[0081] 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 camera module at the upper position to take 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.

[0082] Based on the above embodiment, the specific implementation of step S13 may be:

[0083] S131: Input the altitude information into a duration prediction model to obtain a predicted passing duration output by the duration prediction model based on the altitude information.

[0084] 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 retrieved. 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.

[0085] The duration prediction model refers to a model that can predict the duration required for a stacking target to pass through a restriction module.

[0086] S132: Acquire material tracking data captured by a shooting module at an upper position based on the predicted passing time, and identify a material outline in the material tracking data.

[0087] Specifically, as the piled objects pass through the restriction module, the camera module located above the transport device can capture real-time video of the objects within the predicted passage time, generating corresponding material tracking data. Within this material tracking data, image processing techniques such as edge detection can be used to identify the outline of the transported materials, i.e., the material contour. This material contour is composed of a series of pixels. The material contour refers to the outline of the transported materials in the material tracking data.

[0088] 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.

[0089] 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 consecutive moments can be obtained. For the material areas obtained at consecutive 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 consecutive moments. If the area difference within a pre-configured 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 has not changed significantly during this period. 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, and the large block target can be subsequently captured or removed.

[0090] Among them, material area refers to the area of ​​the transported material, area difference refers to the difference between the 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 material 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 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.

[0091] 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.

[0092] S2, a limiting module, is used to perform a descending operation according to the recognition result of the shooting module to form a limited distance between the vehicle and the transport device.

[0093] 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.

[0094] Based on the above embodiment, the specific implementation of step S2 may be:

[0095] S21 , when the transported material is marked as a stacking target according to the recognition result of the shooting module, determining the limit point of the limit module, and obtaining the transport slope of the transport device at the limit point.

[0096] 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, preventing the materials from sliding or rolling due to excessive slope.

[0097] Specifically, when the transported material is identified as a stacking target from the image data captured by the camera 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. The slope of the transport device at the limiting point, i.e., the transport slope, can be obtained. The limiting point refers to the location at which the limiting module descends, and the transport slope refers to the slope of the transport device at the limiting point.

[0098] S22, obtaining a height adjustment coefficient by weighting 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.

[0099] Specifically, by calculating the ratio of the transport slope to the reference slope and weighting the obtained ratio, a corresponding height adjustment coefficient can be obtained. By multiplying the height adjustment coefficient by a pre-configured standard adjustment value, a 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.

[0100] 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.

[0101] Specifically, the setting height corresponding to the restriction module can be obtained, and the corresponding restriction height can be obtained by subtracting the height adjustment value from the setting height of the restriction module, and the restriction module can be controlled to descend to the restriction height.

[0102] Through the above implementation, the risk of transported materials sliding or rolling due to excessive slope during transportation can be effectively reduced, and the stability and safety of transportation can be improved.

[0103] S3, an 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 grabbing and removing operations on the processing target according to the positioning parameters.

[0104] 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.

[0105] 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 based on the position of the large piece of processing target, and the large piece of processing target can be moved out of the transportation device.

[0106] Based on the above embodiment, the specific implementation of step S3 may be:

[0107] S31 , when the transported material is marked as a large block target according to the recognition result of the shooting module, obtaining first image data captured by the shooting module at an upper position and second image data captured by the shooting module at a side position.

[0108] Specifically, when the transported material is determined to be a large block target based on 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. Based on the first image data, the location point of the large block target and the corresponding area size of the large block target can be determined, which is convenient for the subsequent determination of the range of the operation module when performing a grabbing operation on it. In addition, the image data collected by the shooting module at the side position, i.e., the second image data, can be obtained. Based on the second image data, the corresponding height of the large block target can be determined, which is convenient for the subsequent determination of the height of the operation module when performing a grabbing or removing operation on 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 restriction 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 restriction module.

[0109] S32: Determine a grabbing range and grabbing points corresponding to the large block object according to the first image data, and determine a grabbing height corresponding to the large block object according to the second image data.

[0110] 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.

[0111] 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 specific point that the operating module should 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.

[0112] In some embodiments, the specific implementation of step S32 may be:

[0113] S321: Extract the overhead contour corresponding to the large block target in the first image data, and determine the center point of the overhead contour as a capture point.

[0114] Specifically, an outline corresponding to the large blocky object, i.e., a bird's-eye view outline, can be extracted from the first image data using image processing techniques such as outline extraction, and the center point of the bird's-eye view outline can be determined as the capture point. The bird's-eye view outline refers to the outline corresponding to the large blocky object in the first image data.

[0115] 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 object according to the distance between the extreme value points in the corresponding grabbing direction.

[0116] Specifically, when the operating module performs a grabbing operation on a large block target, it is necessary to ensure that the operating module can completely cover the large block target so that it can be accurately grabbed. Therefore, when determining the grabbing range of the operating module when grabbing the large block target, it is necessary to first determine multiple grabbing directions. These directions are usually related to the grabbing closing direction of the robotic 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 block target in this direction. According to the calculated distance, the coverage area required by the operating module when grabbing the large block target, that is, the grabbing range, can be determined.

[0117] See also Figure 1 , which is a schematic diagram of determining a capture 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 grabbing directions can be determined, which are the directions indicated by four arrows, and in the four grabbing directions, two of them correspond to each other, as shown in Figure 1As 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.

[0118] Among them, extreme points include maximum points and minimum points, the grasping direction refers to the movement direction of the closed part of the operating module, 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 blocks of targets.

[0119] S323: Extract the side profile corresponding to the large block target in the second image data, and determine the target height corresponding to the large block target based on the distance between extreme value points in the height direction.

[0120] Specifically, a side profile corresponding to the large blocky target can be extracted from the second image data using a profile extraction technique. The extreme points of the side profile in the height direction can be obtained. Based on the spacing between the extreme points, the target height corresponding to the large blocky target can be determined. For example, when the height direction coincides with the y-axis direction, the extreme points corresponding to the side profile 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 blocky target can be obtained. The side profile refers to the profile corresponding to the large blocky target in the second image data, and the target height refers to the height corresponding to the large blocky target.

[0121] S324, calling the configured top safety distance and bottom safety distance, obtaining the initial height of the operating module, and subtracting 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.

[0122] In actual applications, in order to avoid collision between the operating module and the transport material or transport device during the grasping process and to ensure stable grasping, a certain safety distance needs to be reserved between the gripper of the operating module and the top of the transport material 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 initial height is subtracted from the target height, and the sum of the top safety distance and the bottom safety distance can be used to obtain the grasping height corresponding to the large block target.

[0123] In some embodiments, the grasping height corresponding to a large block object can be calculated using the following formula:

[0124] H=H_0-(H_1+d_1+d_2 )

[0125] 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.

[0126] Through the above-mentioned 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.

[0127] S33: Obtain grasping positioning parameters based on the grasping range, grasping points, and grasping height, and control the operation module to perform a grasping operation on the large block object based on the grasping positioning parameters.

[0128] Specifically, the grasping range, grasping point, and corresponding grasping height can be used to obtain corresponding grasping positioning parameters. The operating module can then be controlled to move to the corresponding grasping point and perform a grasping operation on the large object based on the grasping positioning parameters. Grasping positioning parameters are parameters used to guide the operating module in performing precise grasping of large objects. These parameters typically include key information such as the grasping range, grasping point, and grasping height. Together, they determine the specific position and posture the operating module should adopt when grasping large objects.

[0129] In some embodiments, the following steps may be used to determine whether the operation module has completed the crawling operation:

[0130] A1, after the operating module performs a grabbing operation, the calibration image data captured by the shooting module at the upper position is obtained.

[0131] Specifically, after the operating module performs a grabbing operation, the operating module may transmit a corresponding grabbing signal. Upon receiving the corresponding signal, the camera module located above may capture an image and obtain calibration image data captured by the camera module located above. The calibration image data refers to the image data captured by the camera module located above after the operating module performs the grabbing operation.

[0132] A2: extracting the 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.

[0133] Specifically, the contour corresponding to the transported material, i.e., the calibration material contour, can be extracted from the calibration image data. By comparing the calibration material contour with the overhead profile corresponding to the large block target, contour similarity can be determined. If the contour similarity is high, it can be assumed that the large block target is still on the transport device and the operation module has not yet completed the capture of the large block target. If the contour similarity is low, it can be assumed 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. The calibration material contour refers to the contour of the transported material in the calibration image data, and contour similarity refers to the degree of similarity between the calibration material contour and the overhead profile.

[0134] 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.

[0135] Specifically, when the contour similarity is less than the similarity threshold, it means that the currently detected calibration material contour has changed significantly compared to the overhead profile before the operation module grasped it. This change is likely because the large block target has been successfully grasped by the operation module and removed from the transport device. Therefore, it can be determined that the operation module has completed the grasping 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 profile before the operation module grasped it. It can be considered that the large block target is still on the transport device and has not been successfully grasped by the operation module. Therefore, it can be determined that the operation module has not completed the grasping operation of the large block target at this time. Among them, the similarity threshold refers to a preset value used to determine whether the contour similarity meets the standard for considering that the operation module has completed the grasping operation. When the contour similarity is less than the similarity threshold, it can be determined that the operation module has completed the grasping 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 grasping operation of the large block target at this time.

[0136] 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.

[0137] 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 based on the first image data, and the corresponding removal positioning parameters can be obtained based on 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 based on 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 equipment to accurately find and act on the large block target, usually including the removal direction and the removal starting point.

[0138] In some embodiments, the step S34 of “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:

[0139] S341: When the operation module has not completed the capture operation, extract the current overhead contour of the large block target in the first image data.

[0140] Specifically, when the operation module has not completed the capture operation, the current overhead contour corresponding to the large block target can be extracted from the first image data. 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.

[0141] S342: 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.

[0142] 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 2As 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.

[0143] 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.

[0144] Specifically, after the reference line is generated, it will intersect with the outer contour of the current overhead profile. The intersection point can be determined as a 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 a second boundary point. 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.

[0145] S344 , selecting the first boundary point and the second boundary point with the closest 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.

[0146] See also Figure 3 , which 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. These two intersection points can be determined as the first boundary point 1 and the first boundary point 2 respectively. There are also two intersection points between the reference line and the device contour. These two intersection points can be determined as the second boundary point 1 and the second boundary point 2 respectively. Figure 3 As 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.

[0147] 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.

[0148] 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.

[0149] Through the above implementation, it can be ensured that the operation module can accurately grasp or remove large block objects, thereby improving processing efficiency.

[0150] S4, a control module, is used to determine the 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.

[0151] 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.

[0152] Specifically, the control module can determine the conveying status of the transport material based on the status recognition result of the transport material by the shooting module.

[0153] Among them, the control module refers to the 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 piled up 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.

[0154] Based on the above embodiment, the specific implementation of step S4 may be:

[0155] 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.

[0156] 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.

[0157] S42, calculating a first adjustment 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 adjustment reduction value.

[0158] Specifically, the height information corresponding to the stacking target and the transport slope corresponding to the transport device can be obtained. Based on the height information corresponding to the stacking target and the transport slope corresponding to the transport device, the value for adjusting the transport device's conveying speed for the first time, i.e., the first adjustment reduction value, can be calculated. After obtaining the first adjustment reduction value, the transport device's conveying speed can be adjusted to the first adjustment reduction value. The first adjustment reduction value refers to the value used to adjust the transport device's speed when the stacking target is identified.

[0159] 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:

[0160] S421, performing weighted processing on the height information to obtain a first adjustment factor, and performing weighted processing on the transport gradient to obtain a second adjustment factor.

[0161] 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 transport slope of the transport device, the transport slope can be weighted to obtain a second adjustment factor corresponding to the transport slope. The larger the transport slope, the larger the second adjustment factor. The first adjustment factor refers to the speed adjustment factor related to the height, and the second adjustment factor refers to the speed adjustment factor related to the slope.

[0162] 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 first speed reduction value.

[0163] Specifically, by multiplying the first adjustment factor by the second adjustment factor and taking the reciprocal, a first speed adjustment coefficient can be obtained. By multiplying the first speed adjustment coefficient by the current speed of the transport device, a lowering 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.

[0164] 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.

[0165] After adjusting the conveying speed of the transport device to the primary reduction value, if the transported material is determined to be a large block target based on the recognition results of the camera module, the primary reduction value can be adjusted again based on the primary reduction value. Specifically, the area value and height value corresponding to the large block target can be obtained. Based on 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 based on the secondary reduction value can be calculated, that is, the secondary reduction value. After obtaining the secondary reduction value, the current primary reduction value corresponding to the transport device can be adjusted to the secondary reduction value. The secondary reduction value refers to the value to which the primary reduction value of the transport device is adjusted again when a large block target is identified.

[0166] In some embodiments, the step S43 of "calculating a secondary lowering value of the transport device according to the area value and the height value of the large block object, and adjusting the conveying speed of the transport device to the secondary lowering value" includes the following steps:

[0167] S431 , weighting the area values ​​to obtain a third adjustment factor, and weighting the height values ​​to obtain a fourth adjustment factor.

[0168] Specifically, after obtaining the area value corresponding to the large block object, the area value can be weighted to obtain a 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 object, the height value can be weighted to obtain a fourth adjustment factor corresponding to the height value. The larger the height value, the larger the fourth adjustment factor. The third adjustment factor is a speed adjustment factor related to the area, and the fourth adjustment factor is a speed adjustment factor related to the height of the large block object.

[0169] S432: Obtain a second speed adjustment coefficient according to the inverse of the product of the third adjustment factor and the fourth adjustment factor, and multiply the second speed adjustment coefficient by the primary reduction value to obtain a secondary reduction value.

[0170] Specifically, the second speed adjustment coefficient can be obtained by multiplying the third adjustment factor by the fourth adjustment factor and taking the reciprocal thereof. The second speed adjustment coefficient can be multiplied by the current corresponding first reduction value of the transport device to obtain the second reduction value. 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.

[0171] S44: 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.

[0172] Specifically, when no accumulated objects or large block objects 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.

[0173] Through the above implementation,

[0174] See also Figure 4 , is a schematic structural diagram of a belt-type transport system for coal provided by an embodiment of the present invention. The data processing system based on the belt-type transport system for coal includes:

[0175] A 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;

[0176] A limiting module, configured to perform a descending operation based on the recognition result of the shooting module, and form a restricted distance between the vehicle and the transport device;

[0177] 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;

[0178] The control module is used to determine the conveying state of the transported material, which 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.

[0179] 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 above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above 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: The camera module is used to identify the specifications of the transported materials on the transport device and mark the transported materials with abnormal specifications as processing targets. The processing targets include accumulation targets and large block targets. Accumulation targets refer to transported materials that are piled up. Large block targets refer to transported materials with an area greater than an area threshold, including: The predicted passing time corresponding to the stacked target is determined based on its height information. Material tracking data captured by the camera module above based on the predicted passing time is obtained. The material area identified based on the material tracking data is used to determine that transported materials with an area greater than an area threshold are large block targets, including: Input the height information into the duration prediction model and obtain the predicted passing time output by the duration prediction model based on the height information. The predicted passing time refers to the time required for the accumulation target to pass the restriction module. The shooting module at the upper position obtains the material tracking data shot based on the predicted passing time, and identifies the material outline in the material tracking data; Determine the material area of ​​the material contour and obtain the area difference of the material area at consecutive moments. When the area difference is less than the area difference threshold within the set time period and the material area is greater than the area threshold, the transported material is determined to be a large block target. A limiting module, configured to perform a descending operation based on the recognition result of the shooting module, and form a restricted distance between the vehicle and the transport device; 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; The control module is used to determine the conveying status of the transported materials, which includes the stacking state and the flattening state, and adjust the conveying speed of the transport device in real time according to the conveying status.

2. The system according to claim 1, wherein: The camera 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 and side positions of the transport device, and the height information of the transported materials is obtained according to the photographing modules at the side positions; 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; Determining a corresponding predicted passing time based on the height information of the stacked object, obtaining material tracking data captured by a camera module at an upper position based on the predicted passing time, and identifying a material area based on the material tracking data to determine that a transported material having an area greater than an area threshold is a large block object; 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 The limiting module is used to perform a descending operation based on the recognition result of the shooting module to form a restricted 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, a limit point of the limit module is determined, and a transport slope of the transport device at the limit 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 by 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.

4. The system according to claim 2, wherein: The operation module is 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, including: When the transported material is marked as a large block object according to the recognition result of the camera module, first image data captured by the camera module at an upper position and second image data captured by the camera module at a side position are acquired; Determine a grasping range and grasping points corresponding to the large block object according to the first image data, and determine a grasping height corresponding to the large block object 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.

5. The system according to claim 4, characterized in that Determining a grasping range and a grasping point corresponding to the large block object according to the first image data, and determining a grasping height corresponding to the large block object according to the second image data, including: Extracting a bird's-eye view outline corresponding to the large block-shaped target in the first image data, and determining a center point of the bird's-eye view outline as a capture point; Obtaining the extreme points corresponding to the overhead profile in each grasping direction, and determining the grasping range corresponding to the large block object based on the spacing between the extreme points in the corresponding grasping direction; Extracting a side profile corresponding to the large blocky target in the second image data, and determining a target height corresponding to the large blocky target based on 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. The sum of the target height, the top safety distance and the bottom safety distance is subtracted from the initial height to obtain the grasping height corresponding to the large block target.

6. The system according to claim 4, characterized in that The following steps are used to determine whether the operation module has completed the crawling operation, including: After the operating module performs the grabbing operation, the calibration image data captured by the camera module at the upper position is obtained; Extracting a calibration material contour from the calibration image data, and comparing the overhead profile 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.

7. The system according to claim 6, characterized in that 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; Obtain 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 obtain a second boundary point on the reference line that intersects with the outer contour of the device contour; A first boundary point and a second boundary point with the closest distance 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.

8. The system according to claim 2, wherein: A control module is configured 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 pile target according to the recognition result of the shooting module, determining that the conveying state of the transport material is a pile state; Calculating a first adjustment 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 adjustment reduction value; When the transported material is marked as a large block object according to the recognition result of the camera module, a secondary reduction value of the transport device is calculated according to the area value and the height value of the large block object, and the conveying speed of the transport device is adjusted to the secondary reduction value; When no accumulated 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.

9. The system according to claim 8, characterized in that Calculating a one-time lowering value of the transport device according to the height information of the stacking target and the transport slope of the transport device, including: A first adjustment factor is obtained by weighting the height information, and a second adjustment factor is obtained by weighting the transport gradient; 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 by 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.

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