Control method of ton bag unloading device, self-moving equipment and storage medium

Abstract

The invention relates to the technical field of automatic control, and discloses a control method of a ton bag unloading device, self-moving equipment and a storage medium, the ton bag unloading device comprises a mounting bracket, an unloading assembly and a cutting assembly, the unloading assembly is movably arranged on the mounting bracket, and the unloading assembly is suitable for grabbing ton bags; the cutting assembly comprises a moving part and a cutting part, the cutting part is arranged at the upper end of the moving part, the lower end of the moving part is movably arranged on the mounting support in the first direction, the cutting part is suitable for cutting the ton bag when moving to the position below the ton bag, and the first direction is perpendicular to the vertical direction. Determining the height of the bottom of the ton bag; the position of the cutting part in the vertical direction is adjusted, and the height of the cutting part is not larger than that of the bottom of the ton bag; the moving part is driven to move in the first direction, so that the moving part drives the cutting part to move to the position below the ton bag; and the cutting part is controlled to cut the bottom of the ton bag. According to the control method, the unloading efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of automatic control technology, and particularly to a control method for a ton bag discharging device, a self-mobile device, and a storage medium. Background Art

[0002] A ton bag is a flexible transportation packaging container, usually woven from flat filaments made of high-strength polypropylene (PP), polyethylene (PE), etc. Its structure generally includes a bag body, suspension straps, a feed inlet, a discharge outlet and other components. The bag body has a certain flexibility and strength, and can bear goods of a relatively large weight; the suspension straps are used for lifting and carrying the ton bag; the feed inlet and the discharge outlet facilitate the loading and unloading of goods.

[0003] During the use of ton bags, how to improve the discharging efficiency is an issue that cannot be ignored. How to improve the discharging efficiency of ton bags is a technical problem that urgently needs to be solved today. Summary of the Invention

[0004] This application provides a control method for a ton bag discharging device, a self-mobile device, and a storage medium, which improves the discharging efficiency.

[0005] To achieve the above object, the main technical solutions adopted in this application include: In a first aspect, an embodiment of this application provides a control method for a ton bag discharging device. The ton bag discharging device includes a mounting bracket, a discharging assembly, and a cutting assembly: along a first direction, the discharging assembly is movably arranged on the mounting bracket, and the discharging assembly is adapted to grasp the ton bag; the cutting assembly includes a moving part and a cutting part, the cutting part is arranged at the upper end of the moving part, along the first direction, the lower end of the moving part is movably arranged on the mounting bracket, and the cutting part is adapted to cut the ton bag when moving below the ton bag. The first direction is perpendicular to the vertical direction. The control method includes: in response to a discharging instruction, determining the height of the bottom of the ton bag; adjusting the position of the cutting part in the vertical direction so that the height of the cutting part is not greater than the height of the bottom of the ton bag; driving the moving part to move along the first direction so that the moving part drives the cutting part to move below the ton bag; controlling the cutting part to cut the bottom of the ton bag.

[0006] The control method for the ton bag discharging device proposed in the embodiment of this application adjusts the position of the cutting part in the vertical direction so that the height of the cutting part is not greater than the height of the bottom of the ton bag. With such a setting, it can be ensured that the cutting part can accurately adjust its own position towards the bottom of the ton bag according to the height of the ton bag, forming a reserved height, greatly shortening the moving stroke of the cutting part, reducing the probability of readjusting the position in the vertical direction before each cutting of the cutting part, reducing the cutting preparation time, and significantly improving the discharging efficiency.

[0007] Optionally, the cutting part includes a cutting knife, the bulk bag includes a housing and a plugging member, a first opening is provided on the bottom wall of the housing, and the plugging member is detachably installed on the bottom wall of the housing to plug the first opening; Controlling the cutting part to cut the bottom of the bulk bag includes that when the moving part drives the cutting knife to move below the bulk bag, controlling the cutting knife to cut the plugging member to form a discharge port.

[0008] In the above solution, designing the cutting knife to only cut the plugging member at the bottom of the bulk bag to form a discharge port can accurately control the material outflow position and flow rate. At the same time, by driving the moving part to move in the first direction to change the degree of occlusion of the discharge port, the accurate regulation of the discharge speed is realized, meeting the requirements of different material characteristics and discharge speeds, and ensuring the stability and reliability of the discharging process.

[0009] Optionally, the control method further includes driving the moving part to move in the first direction according to the required discharge speed to determine the degree of occlusion of the discharge port.

[0010] In the above solution, according to the precise requirements for the material discharge speed in actual production, by driving the moving part to move in the first direction to change the degree of occlusion of the discharge port, the accurate control of the discharge speed is realized. Through this control method, the size of the discharge port can be finely adjusted in real time according to the discharge demand to ensure discharging at a suitable speed, guaranteeing product quality and production efficiency. This precise regulation avoids the fluctuation of work efficiency caused by uncontrollable discharge speed and ensures the stability and reliability of the production process.

[0011] Optionally, the control method further includes: Driving the moving part to move in the first direction to make the moving part drive the cutting part to move out from below the bulk bag; Adjusting the position of the cutting part in the vertical direction according to the height of the next bulk bag.

[0012] In the above solution, driving the moving part to drive the cutting part to move out from below the bulk bag can, on the one hand, facilitate the control of the discharging process, and on the other hand, quickly make room for the discharging operation of the next bulk bag. When the moving part moves out from below the bulk bag in the first direction, the discharging speed can be accurately adjusted by controlling the moving speed of the moving part to meet the different requirements for the discharging speed at different stages. At the same time, it greatly enhances the discharging efficiency of the discharging device when discharging bulk bags of various specifications.

[0013] Optionally, along the thickness direction of the cutting part, a cutting knife is provided at one end of the cutting part, and the control method further includes driving the cutting part to flip so that the cutting knife facing upward becomes facing downward.

[0014] In the above solution, the driving cutting part is flipped so that the cutting knife facing upward becomes facing downward. With such a setting, the plugging member cut by the cutting part and the residual material on the plugging member can be recycled, which helps to improve the product recovery rate.

[0015] Optionally, the rotation axis of the cutting part, the vertical direction, and the first direction are perpendicular to each other in pairs.

[0016] In the above solution, the rotation axis of the cutting part, the vertical direction, and the first direction are perpendicular to each other in pairs. With this setting, the plugging member and the residual material on the cutting part can be recycled separately, without the need for reclassification, thereby improving the recycling efficiency and helping to improve the purity of the recycled material.

[0017] Optionally, the ton bag discharging device further includes a first recycling component, and the control method further includes: when the cutting knife faces downward, using the first recycling component to recycle the residual material on the cutting knife.

[0018] In the above solution, using the first recycling component to recycle the residual material on the cutting knife helps to improve the material recycling utilization rate, and the material that was originally lost due to the residue on the cutting knife can be recycled, realizing the efficient utilization of the material.

[0019] Optionally, the ton bag discharging device further includes a second recycling component, and the discharging component has a discharging position for discharging the ton bag and a recycling position for recycling the ton bag; The control method further includes: when the ton bag moves to the recycling position, using the second recycling component to recycle the ton bag.

[0020] In the above solution, using the second recycling component to recycle the ton bag at the recycling position, that is, recycling the ton bag after discharging through the second recycling component. With this setting, it is convenient for the repeated use of the ton bag and helps to reduce the user cost.

[0021] In a second aspect, an embodiment of the present application provides a self - moving device, which includes: a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the self - moving device realizes the control method as described in the above - mentioned embodiment.

[0022] In a third aspect, an embodiment of the present application provides a computer - readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it realizes the control method of the ton bag discharging device as described in the above - mentioned embodiment. Description of the Drawings

[0023] To more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0024] Figure 1 Schematic diagram of the overall structure of the bulk bag discharging device in some embodiments of the present application; Figure 2 Schematic diagram of the process flow of the control method in some embodiments of the present application; Figure 3 Schematic diagram of the process flow of the control method in some other embodiments of the present application; Figure 4 Schematic diagram of the process flow of part of the control method in some embodiments of the present application; Figure 5 Schematic diagram of the process flow of part of the control method in some other embodiments of the present application; Figure 6 Schematic diagram of the process flow of part of the control method in some other embodiments of the present application; Figure 7 Schematic diagram of the process flow of the control method in some other embodiments of the present application; Figure 8 Schematic diagram of the structure of the bulk bag in some embodiments of the present application.

[0025]

Description of the reference numerals

[0026] To make the objectives, technical solutions and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, rather than all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of this application.

[0027] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by those skilled in the technical field to which this application belongs; the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above drawings are intended to cover non-exclusive inclusion. The terms "first", "second", etc. in the specification and claims of this application or the above drawings are used to distinguish different objects and not to describe a specific order or primary-secondary relationship.

[0028] Referring to "embodiments" in this application means that specific features, structures or characteristics described in connection with the embodiments can be included in at least one embodiment of this application. The phrase appears in various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described in this application can be combined with other embodiments.

[0029] In the description of this application, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "attached" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0030] The term "and / or" in this application is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this application generally represents an "or" relationship between the associated objects before and after.

[0031] The term "multiple" appearing in this application refers to two or more (including two). Similarly, "multiple groups" refers to two or more groups (including two groups), and "multiple pieces" refers to two or more pieces (including two pieces).

[0032] According to an embodiment of the present application, an embodiment of a control method for a bulk bag unloading device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0033] A bulk bag is a flexible transport packaging container, usually woven from flat filaments made of high-strength polypropylene (PP), polyethylene (PE), etc. Its structure generally includes components such as a bag body, suspension straps, a feed inlet, and a discharge outlet. The bag body has a certain flexibility and strength and can withstand goods of relatively large weight; the suspension straps are used for lifting and transporting the bulk bag; the feed inlet and the discharge outlet facilitate the loading and unloading of goods.

[0034] The capacity of a bulk bag is usually between 0.5 tons and 1 ton, or even larger. It can package goods in large quantities, reduce the number of packaging times and loading and unloading time, improve the logistics transportation efficiency, and reduce the transportation cost.

[0035] In the chemical industry, bulk bags are used to package various chemical raw materials, plastic pellets, powdered chemicals, etc. Bulk bags can effectively prevent chemical raw materials from getting damp and deteriorating during transportation and storage. At the same time, they are convenient for loading and unloading and handling, improving the logistics efficiency of chemical production.

[0036] In the related art, bulk bags are usually unloaded by making holes to let the material flow out. However, this unloading method causes irregular damage to the bulk bag, making the unloading process relatively random, difficult to estimate the unloading rate and control the unloading process, and the bulk bag at the unloading port is damaged and difficult to reuse, increasing the use cost.

[0037] At the same time, because a sharp tool is required to make the hole, the tool or the bulk bag needs to be at a relatively long distance before cutting, and then it contacts and cuts through vertical movement, resulting in low efficiency.

[0038] In view of this, in order to improve the unloading efficiency, an embodiment of the present application provides a control method for a bulk bag unloading device. Please refer to Figure 1 , the bulk bag unloading device includes a mounting bracket 100, a unloading assembly 200, and a cutting assembly 300: along the first direction X, the unloading assembly 200 is movably arranged on the mounting bracket 100, and the unloading assembly 200 is adapted to grab the bulk bag 500; the cutting assembly 300 includes a moving part 310 and a cutting part 320, the cutting part 320 is arranged at the upper end of the moving part 310, and along the first direction X, the lower end of the moving part 310 is movably arranged on the mounting bracket 100, and the cutting part 320 is adapted to cut the bulk bag 500 when moving below the bulk bag 500, and the first direction X is perpendicular to the vertical direction.

[0039] Please refer toFigure 2 , the control method includes: S1. In response to the discharging instruction, determine the height of the bottom of the ton bag.

[0040] With such a setting, it is convenient for the discharging device to make adaptive adjustments according to ton bags 500 of different heights. In actual production, the sizes and heights of ton bags 500 may vary. By determining the height of the bottom of ton bag 500, the subsequent position adjustment of the cutting part 320 can be more accurate, so as to ensure that the cutting part 320 can smoothly reach the bottom of ton bag 500 for cutting, and avoid the situation that the cutting part 320 cannot quickly reach the cutting position due to being too high or too low. Therefore, it helps to improve the discharging efficiency.

[0041] Among them, the discharging instruction can be set by the user and triggered by the user.

[0042] As an example, determining the height of the bottom of ton bag 500 includes determining the height of ton bag 500 itself, and determining the height of the bottom of ton bag 500 when ton bag 500 reaches the predetermined discharging position 200a according to the height of ton bag 500 itself.

[0043] Alternatively, determining the height of the bottom of ton bag 500 includes directly detecting the height of the bottom of ton bag 500 in the vertical direction. The direct detection method includes but is not limited to using a distance sensor or an optoelectronic sensor for detection. This application does not limit this.

[0044] S2. Adjust the position of the cutting part in the vertical direction so that the height of the cutting part is not greater than the height of the bottom of the ton bag.

[0045] With such a setting, it can be ensured that when the cutting part 320 moves below ton bag 500, it can accurately cut the bottom of ton bag 500. If the height of the cutting part 320 is higher than the bottom of ton bag 500, the cutting operation cannot be realized; and adjusting the height of the cutting part 320 to be not greater than the height of the bottom of ton bag 500 provides a necessary prerequisite for the subsequent cutting action, reduces the unnecessary travel of the cutting part 320 in the vertical direction, shortens the cutting preparation process, and thus improves the discharging efficiency.

[0046] That is to say, this solution aims to improve the discharging efficiency by controlling the height of the cutting part 320. Specifically, when transporting ton bag 500, a specific position such as the discharging position 200a of the discharging component 200 is set as the position for cutting ton bag 500, and the position of the cutting part 320 is adjusted relative to the position of cutting ton bag 500, so that when the discharging component 200 transports ton bag 500, the cutting part 320 can move simultaneously to reach the predetermined position at the same time as the ton bag of the discharging component 200, thus greatly improving the discharging efficiency.

[0047] Among them, the height of the cutting part 320 and the height of the bottom of the ton bag 500 can both be regarded as the heights of the cutting part 320 and the bottom of the ton bag 500 in the vertical direction, including the distances between the cutting part 320 and the bottom of the ton bag 500 and the fixed origin. The fixed origin can be understood as the installation position of the distance sensor or a certain point in space, and the present application does not make specific limitations on this.

[0048] It can be understood that the cutting part 320 can accurately adjust its own position towards the bottom of the ton bag 500 according to the height of the ton bag 500, forming a reserved height, greatly shortening the moving stroke of the cutting part 320, reducing the cutting preparation time, and significantly improving the discharging efficiency.

[0049] As an example, making the height of the cutting part 320 not greater than the height of the bottom of the ton bag 500 includes obtaining the height of the bottom of the ton bag 500 waiting to be cut, and controlling the height of the cutting part 320 to be less than or equal to the height of the bottom of the ton bag 500, so that the height of the cutting part 320 is maintained at a position not higher than the height of the ton bag 500 to be cut, thereby reducing the probability of readjusting the position in the vertical direction before each cutting of the cutting part 320, shortening the cutting preparation process of each ton bag 500 to be cut, and thus improving the discharging rate.

[0050] S3. Drive the moving part to move in the first direction, so that the moving part drives the cutting part to move below the ton bag.

[0051] It can be understood that by controlling the moving part 310 to move in the first direction X perpendicular to the vertical direction, the cutting part 320 can be accurately positioned below the ton bag 500. This design avoids the collision of the cutting part 320 with other equipment or the ton bag 500 itself during the moving process. At the same time, the movement along the first direction X is convenient for control and positioning, improving the accuracy and efficiency of the cutting part 320 reaching the specified position, and preparing for the subsequent cutting operation.

[0052] It can be understood that in this solution, the moving part 310 is controlled to move along the first direction X. When the first direction X is configured as the conveying direction of the discharging assembly 200, it is not only convenient to improve the discharging efficiency, but also convenient to recycle the residual materials. Please refer to Figure 1 , when recycling the residual materials on the cutting part 320, the residual materials in the ton bag 500 that have completed discharging can also be recycled synchronously, which helps to improve the material recycling efficiency. With this setting, the residual materials in the ton bag 500 and the residual materials on the cutting part 320 can be recycled to the same recycling assembly, thereby reducing the probability of material dispersion, facilitating the centralized recycling of materials, and thus improving the overall discharging efficiency.

[0053] As an example, controlling the movement of the moving part 310 along the first direction X includes controlling the distance that the moving part 310 moves along the first direction X. At this time, first determine the target cutting position at the bottom of the bulk bag 500, and determine the moving distance of the moving part 310 along the first direction X according to the target cutting position at the bottom of the bulk bag 500 and the current position of the cutting part 320.

[0054] As an example, determining the target cutting position at the bottom of the bulk bag 500 includes detecting the coordinates of the bottom of the bulk bag 500 in the first direction X through a photoelectric sensor, so as to detect the target cutting position at the bottom of the bulk bag 500.

[0055] Specifically, when the position of the bulk bag 500 is fixed, for example, the bulk bag 500 is fixed at the discharging position 200a, the coordinates of the discharging position 200a in the first direction X can be used as the target cutting position at the bottom of the bulk bag 500. At this time, only need to control the moving part 310 to move along the first direction X to the coordinates of the discharging position 200a in the first direction X, then the cutting preparation work can be realized.

[0056] When the position of the bulk bag 500 is offset, it is necessary to detect the coordinates of the bottom of the bulk bag 500 in the first direction X at this time, so as to determine the accurate target cutting position.

[0057] S4. Control the cutting part to cut the bottom of the bulk bag.

[0058] It can be understood that this is a key step in the entire discharging process. By precisely controlling the cutting part 320 to cut the bottom of the bulk bag 500, the bulk bag 500 can be quickly and effectively opened to realize the discharging of materials. Compared with the traditional method of puncturing the bulk bag, the automated cutting part 320 operates more efficiently and accurately, and can reduce the risk of material leakage, ensuring the safety and stability of the discharging process and greatly improving the discharging efficiency.

[0059] In the control method of the bulk bag discharging device proposed in the embodiment of the present application, the position of the cutting part 320 in the vertical direction is adjusted so that the height of the cutting part 320 is not greater than the height of the bottom of the bulk bag 500, forming a reserved height of the cutting part 320. Each time of cutting, there is no need to move from the initial position to the height of the bottom of the bulk bag 500 significantly, which greatly shortens the moving stroke; directly reduces the preparation time of the cutting action, facilitating more cutting operations to be completed within a unit time, thus significantly improving the overall discharging efficiency.

[0060] In addition, in a traditional discharging device, the ton bag 500 approaches the bag-breaking knife from a position far away from the bag-breaking knife. The cutting part 320 may need to move dozens of centimeters from the bottom position of the device to reach the bottom of the ton bag 500 for bag breaking. After adopting the control method of reserved height, it may only need to move a few millimeters. In terms of the number of ton bags 500 processed within one hour, more ton bags 500 can be processed than the traditional method.

[0061] At the same time, the cutting part 320 moves within a short distance, making it easier to achieve precise control and reducing cutting errors caused by shaking or deviation during the moving process. For example, when cutting some materials with high requirements for discharging accuracy, such as fine chemical raw materials used in the production of electronic components, stable cutting operations can ensure that the bottom of the ton bag 500 is accurately cut, avoiding the situation where the cutting part 320 collides with the ton bag 500 or the cutting is incomplete, thus ensuring the discharging quality.

[0062] In some other specific embodiments, the specifications of the ton bags 500 used in different industries vary greatly. Different ton bags 500 are different in terms of height, material, etc. By installing sensors (such as detection devices with visual detection functions) on the device (such as the mounting bracket 100), the specification information of the ton bag 500 is automatically identified, and then based on the specification information of the ton bag 500 and the position information of the discharging assembly 200, the reserved height of the cutting part 320 is quickly calculated and adjusted to further improve the discharging efficiency and facilitate the further expansion of the application range of the device.

[0063] Specifically, the control method in this solution can improve the discharging efficiency for different types of ton bags 500. By controlling the initial height of the cutting part 320 to adapt to the different heights of different ton bags 500, the influence of the height of different ton bags 500 on the discharging process is reduced, ensuring the discharging efficiency of the ton bag 500.

[0064] As an example, the specifications of the ton bag 500 include one or more of size specifications, capacity specifications, material specifications, and structural specifications, and this application does not limit this.

[0065] As an example, the size specification sensors include but are not limited to laser ranging sensors or infrared light curtain sensors.

[0066] The laser ranging sensor is used to detect the height of the ton bag 500. It can accurately calculate the distance between the sensor and the top or bottom of the ton bag 500 by emitting a laser beam and measuring the time for the reflected light to return. For example, by installing a laser ranging sensor near the lifting mechanism of the cutting assembly 300, when the ton bag 500 is placed in place, the sensor can measure the height of the ton bag 500 in real time, providing accurate data for the height adjustment of the cutting part 320 to ensure that the cutting part 320 can accurately reach the appropriate position at the bottom of the ton bag 500.

[0067] The infrared light curtain sensor can detect the length and width of the ton bag 500. The infrared light curtain sensor includes a transmitting end and a receiving end. The transmitting end emits multiple infrared light beams, and the receiving end receives these light beams. When the ton bag 500 enters the light curtain area and blocks some of the light, the receiving end calculates the contour size of the ton bag 500 based on the light blocking situation, thereby determining the length and width information of the ton bag 500, and further facilitating the provision of accurate data for the height adjustment of the cutting part 320 to ensure that the cutting part 320 can accurately reach the appropriate position at the bottom of the ton bag 500.

[0068] As an example, the material specification sensor includes, but is not limited to, a near-infrared spectroscopy sensor.

[0069] Near-infrared spectroscopy sensor: used to detect the woven material and coating material of the ton bag 500. This sensor emits near-infrared light and collects the spectral information of the reflected light. Different materials have different absorption and reflection characteristics for near-infrared light. By analyzing the spectral data, the material of the ton bag 500 can be accurately identified.

[0070] For example, the control system automatically selects an appropriate cutting position according to the identified material. For example, for a woven material with a higher hardness, the cutting position is appropriately increased to ensure the cutting effect. For a woven material with a lower hardness, the cutting position is appropriately decreased to ensure smooth discharging.

[0071] In some other embodiments, please refer to Figure 1 、 Figure 3 and Figure 8 , the cutting part 320 includes a cutting knife. The ton bag 500 includes a housing 510 and a plugging member 520. The bottom wall of the housing 510 is provided with a first opening 511, and the plugging member 520 is detachably installed on the bottom wall of the housing 510 to block the first opening 511; Controlling the cutting part 320 to cut the bottom of the ton bag 500 includes: S41. When the moving part drives the cutting knife to move below the ton bag, control the cutting knife to cut the plugging member to form a discharge port.

[0072] That is to say, controlling the cutting knife to only cut the plugging member 520 at the bottom of the ton bag 500 to form a discharge port can accurately control the material outflow position and flow rate. At the same time, by driving the moving part 310 to move along the first direction X to change the degree of occlusion of the discharge port, the accurate regulation of the discharge speed is realized, meeting the requirements of different material characteristics and discharge speeds, and ensuring the stability and reliability of the discharging process.

[0073] It can be understood that directly controlling the cutting knife to cut the plugging member 520 to form a discharge port makes the shape of the discharge port controllable, reducing the probability of irregular tearing of the discharge port. Compared with cutting the entire bottom of the ton bag 500, only cutting the plugging member 520 can avoid material scattering caused by cutting position deviation.

[0074] Specifically, the cutting knife is controlled to cut the blocking member 520 at the bottom of the ton bag 500, facilitating the control of the discharging of the ton bag 500, and the discharging of the ton bag 500 is also more convenient, which helps to improve the discharging efficiency.

[0075] It can be understood that a detachable blocking member 520 is provided at the bottom of the ton bag 500. On the one hand, it reduces the damage to the ton bag 500 during the cutting action in the discharging process, facilitates the recycling of the ton bag 500, and improves the availability of the ton bag 500. On the other hand, the cutting knife is controlled to cut the blocking member 520 to form a discharging port. The blocking member 520 is constructed of a material piece with a certain rigidity, so that the shape of the discharging port formed after cutting is controllable, reducing the influence of the deformation of the flexible material ton bag 500 on the shape of the discharging port, thereby being beneficial to improving the discharging stability.

[0076] Since the above design of this solution improves the discharging stability, the controllability of the discharging process is higher, which is more convenient for the operator to use, and improves the versatility of the discharging process for different ton bags 500 with different materials.

[0077] For example, in some production scenarios with strict requirements for the discharging position 200a of the material, such as the discharging of raw materials in the pharmaceutical industry, the accurate discharging port position can ensure that the material accurately falls into the subsequent processing equipment, reducing the risk of material waste and pollution, and improving the accuracy and controllability of the production process.

[0078] Moreover, by precisely controlling the stroke and force of the cutting knife, the size of the discharging port can be accurately controlled, and the flow rate of the material flowing out can be flexibly adjusted according to the material characteristics and the discharging speed requirements, improving the discharging efficiency while ensuring the stability of the discharging process.

[0079] In addition, cutting the blocking member 520 can reduce the damage to the shell 510 of the ton bag 500, thereby better protecting the quality of the material. Especially for some materials that are easily affected by external pollution or friction, such as food raw materials, fine chemical products, etc., only cutting the blocking member 520 can reduce the possibility of the material contacting the debris and dust generated during the cutting process. Traditional overall cutting of the bottom of the ton bag 500 may cause the debris of the woven material to mix into the material, affecting the product quality. And this solution greatly reduces this risk by precisely cutting the blocking member 520, ensuring that the material is not polluted during the discharging process and maintaining its original quality.

[0080] In a specific embodiment, the position of the blocking member 520 can be accurately identified by a visual sensor, providing accurate data for the positioning of the cutting knife, ensuring that the cutting knife can quickly and accurately reach the position of the blocking member 520 for cutting.

[0081] Meanwhile, in combination with the detection results of the material of the plugging member 520 by the near-infrared spectrum sensor, the control system can dynamically adjust cutting parameters such as cutting speed and force to achieve the best cutting effect and improve the automation and intelligence level of the discharging process.

[0082] As an example, the plugging member 520 is configured as a plastic sheet, and the cutting knife is configured as a circular cutting knife, so as to achieve precise cutting, facilitate estimating the discharging rate and controlling the discharging process.

[0083] In some other embodiments, please refer to Figure 1 and Figure 4 , the control method further includes: S42. According to the required discharging speed, drive the moving part to move along the first direction to determine the degree of occlusion of the discharging port.

[0084] It can be understood that according to the precise requirements for the material discharging speed in actual production, by driving the moving part 310 to move along the first direction X, the degree of occlusion of the discharging port is changed, so as to achieve precise control of the discharging speed. Through this control method, the size of the discharging port can be finely adjusted in real time according to the discharging requirements to ensure discharging at a suitable speed, guarantee the product quality and production efficiency. This precise regulation avoids the work efficiency fluctuation caused by uncontrollable discharging speed and ensures the stability and reliability of the production process.

[0085] Specifically, after controlling the cutting knife to cut the plugging member 520, control the cutting knife and the plugging member 520 cut from the cutting knife to move away from the first opening 511 along the first direction X, so as to form a discharging port, and the material can flow out of the ton bag 500 from the discharging port and enter the recycling component below the ton bag 500.

[0086] At this time, as the moving part 310 moves along the first direction X, the degree of occlusion of the discharging port changes, and the discharging speed of the material also changes, which is convenient for the operator to discharge according to the discharging requirements of different materials, further improves the controllability of the discharging process, reduces the work efficiency fluctuation caused by uncontrollable discharging speed, and ensures the reliability and stability of the production process.

[0087] As an example, the discharging speed can be the weight change rate of the ton bag 500 or the maximum flow rate allowed by the discharging port, and the present application does not limit this.

[0088] As an example, determining the degree of occlusion of the discharging port can include determining that the projected area of the discharging port in the horizontal plane along the vertical direction is the first area, taking the projected area of the plugging member 520 in the horizontal plane along the vertical direction as the second area, and taking the ratio of the first area to the second area as the degree of occlusion of the discharging port.

[0089] In a specific embodiment, the degree of occlusion of the discharge port can be monitored in real time through a visual sensor, providing accurate feedback for the movement of the moving part 310 to ensure accurate adjustment. Combining the detection of information such as the size of the ton bag 500 and the material of the plugging member 520 before, the control system can comprehensively analyze and accurately control the moving distance and speed of the moving part 310.

[0090] For example, for plugging members 520 made of different materials, considering their deformation after cutting, accurately control the moving part 310 to move along the first direction X, reduce the influence of material compression deformation on the discharging process, and improve the stability and accuracy of the discharging process.

[0091] In addition, in some other specific embodiments, there are a wide variety of battery raw materials with large differences in characteristics. From granular graphite anode materials to powdered lithium cobalt oxide cathode materials, different raw materials have different requirements for the discharging speed during unloading. This solution enables the discharging device to flexibly handle various discharging conditions of battery raw materials. For example, for the well-flowing lithium iron phosphate powder, the degree of occlusion of the discharge port can be appropriately reduced to increase the discharging speed; for the ternary material with larger particles, accurately control the size of the discharge port to ensure uniform discharging and avoid jamming.

[0092] Battery raw materials are often expensive, and some are highly active and sensitive to the environment. During the discharging process, unreasonable discharging speed is likely to cause material waste and pollution risks. For example, if the discharging speed of some lithium salt raw materials is too fast, it may overflow from the ton bag 500, not only causing economic losses, but also reducing the quality of the raw materials due to oxidation and other reactions when contacting the air.

[0093] At the same time, material accumulation is likely to adsorb impurities in the environment, affecting the battery performance. By flexibly adjusting the degree of occlusion of the discharge port, the discharging speed can be closely matched with subsequent conveying and processing equipment, reducing the probability of material overflow or accumulation, effectively reducing material waste, lowering production costs, and maintaining the purity of battery raw materials to ensure the high-quality requirements of battery production.

[0094] In some other embodiments, please refer to Figure 1 and Figure 5 , the control method further includes: S43. Drive the moving part to move along the first direction, so that the moving part drives the cutting part to move out from below the ton bag.

[0095] It can be understood that driving the moving part 310 to drive the cutting part 320 to move out from below the ton bag 500 can, on the one hand, facilitate the control of the discharging process, and on the other hand, quickly make room for the discharging operation of the next ton bag 500.

[0096] When the moving part 310 moves out from under the bulk bag 500 along the first direction X, the discharging speed can be precisely adjusted by controlling the moving speed of the moving part 310 to meet the different requirements for the discharging speed at different stages.

[0097] For example, at the initial stage of discharging, to quickly draw out the material, the moving speed of the moving part 310 can be appropriately increased to enlarge the discharging port and accelerate the discharging; while at the later stage of discharging, to avoid uneven discharging when the remaining amount of the material is too small, the moving speed of the moving part 310 can be slowed down to control the discharging port to become smaller and stabilize the discharging speed. This real-time and precise adjustment of the discharging speed helps to ensure the smooth transportation of the material, improve the production efficiency, and avoid problems such as material accumulation or insufficient supply caused by improper discharging speed.

[0098] At the same time, since the moving process of the moving part 310 makes the discharging process controllable, the discharging stability can also be improved. The material can be recycled to the collecting device as much as possible, reducing material residue, improving the utilization rate of raw materials, and reducing production costs. It can also keep the bottom of the bulk bag 500 and the discharging port clean to a certain extent, which helps the subsequent discharging operation of the bulk bag 500 and prevents the residual material from interfering with the positioning and discharging effect of the cutting part 320.

[0099] Specifically, when controlling the moving part 310 to translate (along the first direction X) out from under the bulk bag 500, the size of the discharging port changes accordingly, thereby changing the discharging speed. And during the discharging process, the flow rate of the material is uniform and stable, reducing the influence of the cutting part 320 on the flow direction of the material. That is to say, the cutting part 320 only changes the flow rate of the material without changing the flow direction of the material, ensuring the discharging stability of the material under different sizes of the discharging port.

[0100] Drive the moving part 310 to move along the first direction X, so that the moving part 310 drives the cutting part 320 to move out from under the bulk bag 500, thereby realizing the control of the discharging process and making the discharging process more stable. The smooth movement of the moving part 310 and the coordinated cooperation of the discharging speed can reduce the vibration and wear of each component of the equipment caused by uneven force or material impact.

[0101] For example, in a pneumatic conveying system, a stable discharging speed can ensure a stable flow rate of the collecting device, avoid pipeline blockage or equipment damage caused by sudden changes in the material flow rate, and improve the continuity and stability of the discharging process.

[0102] It can be understood that by driving the moving part 310 to move along the first direction X, so that the moving part 310 drives the cutting part 320 to move out from under the bulk bag 500, sudden situations during the discharging process can be effectively dealt with and the safety risk can be reduced.

[0103] For example, when abnormal material discharging is detected, such as blockage or leakage, the movement of the moving part 310 can be immediately stopped to prevent the situation from deteriorating. Meanwhile, by controlling the position of the moving part 310, the size of the discharging port can be adjusted to control the leaked material to a certain extent and prevent environmental pollution or safety accidents caused by a large amount of material leakage. In addition, during the removal process, if any damage or other safety hazards are found on the ton bag 500, the discharging operation can also be stopped in time to ensure the safety and reliability of the discharging process.

[0104] S44. Adjust the position of the cutting part in the vertical direction according to the height of the next ton bag.

[0105] With such a setting, the discharging efficiency of the discharging device for discharging ton bags 500 of various specifications is greatly enhanced. The specifications of the ton bags 500 to be discharged may vary, and the discharging device can automatically identify and adapt to these differences, effectively expanding the applicable range of the equipment. Whether it is a standard ton bag 500 with a higher height or a specially customized ton bag 500 with a lower height, efficient discharging can be achieved through height adjustment, improving the versatility and practicality of the equipment.

[0106] In a specific embodiment, after the cutting part 320 moves out of the bottom of the ton bag 500, devices such as visual sensors can be used to quickly detect the specification information of the next ton bag 500, including height, size, etc. Then, the moving part 310 is controlled to drive the cutting part 320 to move vertically for height adjustment, which can also provide accurate data for the discharging speed control. Meanwhile, when adjusting the height of the cutting part 320, the cutting parameters are further optimized by combining the analysis of information such as the material of the sealing part 520 before.

[0107] In some other embodiments, please refer to Figure 1 and Figure 5 , along the thickness direction of the cutting part 320, a cutting knife is provided at one end of the cutting part 320, and the control method further includes: S45. Drive the cutting part to flip so that the cutting knife facing upward becomes facing downward.

[0108] With such a setting, the sealing part 520 cut by the cutting part 320 and the residual material on the sealing part 520 can be recycled, which helps to improve the product recovery rate.

[0109] As an example, in the production of battery raw materials, many raw materials such as lithium and cobalt are expensive. The flip design of the cutting part 320 can accurately collect and recycle the cut sealing part 520 and the residual material. For example, for some high-purity cathode materials attached to the sealing part 520, by flipping the cutting part 320, these materials can be concentrated and dropped into a specific recycling device to avoid waste.

[0110] In some other embodiments, please refer to Figure 1, the rotation axis of the cutting part 320, the vertical direction, and the first direction X are perpendicular to each other in pairs. With such a setting, the blocking member 520 and the residual material on the cutting part 320 can be recycled separately, eliminating the need for reclassification and thus improving the recycling efficiency.

[0111] It can be understood that the cutting part 320 in this application can rotate to make the cut blocking member 520 and the material fall, so as to recycle the material and the blocking member 520 separately in sequence, effectively preventing them from being mixed with each other. The material and the blocking member 520 fall separately in sequence, avoiding entanglement or accumulation with each other during the falling process, thus reducing the risk of blockage of the recycling channel.

[0112] In addition, the later falling of the blocking member 520 facilitates its separate collection and management. It can be classified and stored according to the material, type, etc. of the blocking member 520. For recyclable blocking members 520, such as plastic caps, rubber plugs, etc., they can be centrally recycled and reprocessed; for non-recyclable blocking members 520, they can also be uniformly treated harmlessly to avoid environmental pollution caused by random disposal.

[0113] In some other embodiments, please refer to Figure 1 and Figure 6 , the bulk bag discharging device further includes a first recycling component 600, and the control method further includes: S46. When the cutting knife faces downward, use the first recycling component to recycle the residual material on the cutting knife.

[0114] With such a setting, the recycling utilization rate of the material can be improved.

[0115] During the cutting process, the cutting knife and the blocking member 520 will inevitably adhere to some materials. The first recycling component 600 can collect these residual materials in a timely and accurate manner, avoiding waste. Taking lithium iron phosphate cathode material as an example, through the recycling component, the materials originally lost due to the residue on the cutting knife can be recycled, realizing the efficient utilization of the materials.

[0116] At the same time, if the residual material on the cutting knife is not recycled in time, it may be mixed into the new material during the subsequent cutting of other bulk bags 500, resulting in deviation of the raw material composition. For example, if graphite powder of the anode material is mixed into the production process of the cathode material, it will seriously affect the electrochemical performance of the battery. The first recycling component 600 can effectively avoid such situations, ensure the purity and consistency of each batch of raw materials, and guarantee the stability of product quality.

[0117] As an example, the first recovery component 600 is arranged below the cutting blade, and can accurately receive the materials dropped from the cutting blade. When the cutting blade completes cutting, the materials scattered on the cutting blade can be directly dropped into the first recovery component 600 by rotating, which helps to recover more materials, reduce material waste, and improve the efficiency of material recovery.

[0118] In addition, since the first recovery component 600 and the cutting knife are precisely matched, the material can be accurately recovered, greatly reducing the loss of the material due to inaccurate falling position. Whether it is powder, granular or block material, it can fall directly into the recovery component after cutting, avoiding the material from being spilled on the ground or other places, reducing the material loss cost.

[0119] In other embodiments, please refer to Figure 1 and Figure 7 The ton bag unloading device further includes a second recovery component 800, and the unloading component 200 has an unloading position 200a for unloading the ton bag 500 and a recovery position 200b for recovering the ton bag 500; The control method also includes: S5. When the ton bag moves to the recycling position, the ton bag is recycled using the second recycling component.

[0120] With such arrangement, the recycling of the ton bag 500 is achieved. It can be understood that the ton bag 500 is recycled after unloading by the second recycling component 800, which is convenient for the reuse of the ton bag 500 and helps to reduce user costs.

[0121] In the above scheme, the second recycling component 800 recycles the ton bag 500 at the recycling position 200b, and cooperates with the work flow of the unloading component 200 to realize the simultaneous unloading and recycling of the ton bag 500, thereby reducing the time and labor costs for additional processing of the ton bag 500 after unloading, improving the efficiency of the entire unloading process, and helping the unloading process to be smoother and more efficient.

[0122] In addition, the ton bag 500 generally has a certain strength and durability, and can be cleaned, repaired, etc. after being recycled to achieve reuse. The recycling of the ton bag 500 by the second recycling component 800 helps to recycle and reuse the ton bag 500, thereby reducing the cost investment of the enterprise in packaging materials.

[0123] The ton bag unloading device disclosed in the embodiment of the present application also includes a third recovery component 400, which is arranged below the ton bag 500 moved to the unloading position 200a, and the third recovery component 400 is suitable for recovering materials falling from the ton bag 500 after the ton bag 500 is cut.

[0124] It can be understood that the third recovery component 400 is arranged below the ton bag 500 at the unloading position 200a, and can accurately recover the falling materials after the ton bag 500 is cut, avoiding the waste and environmental mess caused by the scattering of materials, ensuring that the materials can be centrally collected and processed, and improving the accuracy and integrity of material recovery.

[0125] The recovery space of the third recovery component 400 is communicated with the recovery space of the first recovery component 600.

[0126] In the above solution, after the recovery spaces of the two recovery components are communicated, it is equivalent to expanding the overall recovery area, and can collect the materials leaked during different processes in the process of cutting and unloading the ton bag 500 more comprehensively, reducing the situation where materials are left outside the recovery space. Compared with using only the third recovery component 400, the recovery amount of materials can be greatly increased.

[0127] That is to say, the third recovery component 400 can be responsible for recovering the materials directly falling during the cutting process, and the first recovery component 600 can be responsible for recovering the materials remaining after the cutting by the cutting part 320 or scattered from other directions. After the two are communicated, they can work together to improve the overall recovery efficiency.

[0128] In some other embodiments, please refer to Figure 1 , the recovery space of the third recovery component 400 is communicated with the recovery space of the first recovery component 600 through a connecting pipe 610; In the above solution, the two recovery spaces cooperate with each other. The third recovery component 400 can collect the materials directly falling during cutting, and the first recovery component 600 can collect the materials remaining after the cutting by the cutting part 320 or scattered from other directions. Through the connecting pipe 610, the materials can be more smoothly aggregated, improving the overall recovery efficiency.

[0129] The unloading device further includes a driving screw, which is in threaded cooperation with the inner wall of the connecting pipe 610 to drive the materials in the connecting pipe 610 to move to the recovery space of the third recovery component 400.

[0130] It can be understood that the way of the driving screw being in threaded cooperation with the inner wall of the connecting pipe 610 can accurately control the movement of the materials in the connecting pipe 610. By adjusting the rotation speed and rotation direction of the driving screw, the conveying speed and conveying amount of the materials can be accurately controlled, ensuring that the materials are accurately moved from the recovery space of the first recovery component 600 to the recovery space of the third recovery component 400 according to the set requirements, which is beneficial to realizing the accurate recovery of the materials.

[0131] In addition, for materials with different fluidities, viscosities, and particle sizes, the driving screw can effectively convey them. Even for some materials with poor fluidity or easy to caking, the rotational pushing action of the screw can overcome the internal friction and adhesion of the materials, enabling the materials to move smoothly in the connecting pipe 610. Compared with some other methods relying on gravity or simple mechanical pushing, it has stronger material adaptability.

[0132] At the same time, the driving screw can clearly convey the materials from the first recovery component 600 to the recovery space of the third recovery component 400, avoiding the disorderly flow or backflow of materials in the pipeline, ensuring the direction accuracy of material conveyance, and being beneficial to the process stability and reliability of the entire recovery system.

[0133] During use, the driving screw continuously rotates in the connecting pipe 610, which can play a dual role of stirring and pushing the materials, effectively preventing the materials from accumulating and blocking in the pipeline. Especially in the case of a large material flow or special material properties, this function of the screw can keep the materials in a flowing state, timely convey the materials to the recovery space of the third recovery component 400, and reduce system failures and downtime caused by blockages.

[0134] The embodiment of the present application also discloses a bulk bag discharging device. Please refer to Figure 1 , along the first direction X, the discharging component 200 is movably arranged on the mounting bracket 100, and the discharging component 200 is adapted to grasp the bulk bag 500. It can be understood that the discharging component 200 can move and grasp the bulk bag 500, which helps to improve the automation degree of the discharging process, reduces the manual operation time, and improves the discharging efficiency.

[0135] The discharging component 200 has a discharging position 200a for discharging the bulk bag 500 and a recovery position 200b for recovering the bulk bag 500; the discharging component 200 can move along the first direction X and has a discharging position 200a and a recovery position 200b, which enables the bulk bag 500 to move flexibly according to actual needs during the discharging process, facilitating accurate discharging and subsequent recovery operations of the bulk bag 500, and improving the applicability of the discharging device and the convenience of operation.

[0136] The cutting part 320 is arranged at the upper end of the moving part 310, and the lower end of the moving part 310 is movably arranged on the mounting bracket 100. Such a design enables the cutting part 320 to accurately move below the bulk bag 500 for cutting. Compared with manual cutting, its cutting position is more accurate, which can ensure that the bulk bag 500 is opened in a preset manner, is beneficial to the smooth falling of materials, and at the same time reduces the risk of material leakage or excessive damage to the bulk bag 500 caused by improper cutting, improving the safety and reliability of the cutting operation.

[0137] The cutting part 320 is adapted to cut the bulk bag 500 when moving below the bulk bag 500; it can be understood that when the cutting part 320 moves below the bulk bag 500 to cut the bulk bag 500, it can accurately align with the bottom of the bulk bag 500 or other preset cutting positions, ensuring that the position and size of the discharge port meet the requirements, avoiding problems such as material leakage or excessive damage to the bulk bag 500 caused by cutting position deviation, contributing to accurate discharging and ensuring the smooth outflow of materials as planned.

[0138] In addition, cutting from below the bulk bag 500 can utilize the gravity of the bulk bag 500 itself to keep the bottom in a relatively tight state, facilitating the cutting operation of the cutting part 320 more smoothly, effectively reducing situations such as jamming and tearing during cutting, making the cutting surface smoother, being beneficial to the complete pouring out of subsequent materials, and also reducing the risk of contaminating the materials inside the bulk bag 500.

[0139] In addition, the discharge port is located below the bulk bag 500, and the materials can naturally fall under the action of gravity, being able to enter the third recycling component 400 below or other collection devices more concentratedly and smoothly, facilitating the unified collection and subsequent treatment of the materials, improving the efficiency and integrity of material recycling, and reducing material waste and loss.

[0140] In addition, each component cooperates with each other. The mounting bracket 100 provides a stable support and installation foundation for each component. The discharging component 200, the cutting component 300, and the third recycling component 400 are reasonably arranged in space, and are orderly arranged along the first direction X and the vertical direction, making the entire device structure compact, occupying a small space, and being able to adapt to different working sites and environments.

[0141] The discharging device of the embodiment of the present application further includes a fourth recycling component 700, and the control method further includes: When the cutting knife faces downward, the fourth recycling component 700 is used to recycle the plugging member 520 on the cutting knife.

[0142] It can be understood that when the fourth recycling component 700 is used to recycle the plugging member 520 on the cutting knife, the cutting knife is driven to rotate 180°, and the suction cup adsorbing the plugging member 520 is driven to release the plugging member 520, so that the plugging member 520 falls. With such a setting, the materials on the plugging member 520 and the materials on the cutting knife first fall onto the first recycling component 600 during the 180° rotation of the cutting knife. After the cutting knife rotates 180°, there is no residual material, and at this time, the plugging member 520 is recycled, thereby realizing the separate recycling of the plugging member 520 and the materials.

[0143] On the one hand, accurate classified recycling of resources can be achieved, and on the other hand, the probability of the plugging member 520 falling into the first recycling component 600 and affecting material recycling can be reduced.

[0144] Specifically, along the first direction X, the third recycling component 400, the first recycling component 600, the fourth recycling component 700, and the second recycling component 800 are arranged in sequence, so that the materials or the plugging members 520 in each link can be accurately recycled respectively, reducing the defective rate caused by impurities and improving the discharging efficiency.

[0145] Specifically, during the process of driving the cutting part 320 to turn over so that the cutting knife facing upward becomes facing downward, the first recycling component 600 can recycle the materials remaining on the cutting knife. When the cutting part 320 is driven to rotate until the cutting knife faces downward, the fourth recycling component 700 can recycle the plugging member 520, and at the same time, the first recycling component 600 can recycle the remaining materials.

[0146] That is to say, this solution can realize the separate recycling of the plugging member 520 and the remaining materials by controlling the cutting part 320 to turn over 180°, reducing the control complexity, reducing the additional control steps, further improving the discharging efficiency, and enabling the recycling of the plugging member 520, the recycling of the remaining materials, and the discharging process of the ton bag 500 to be independent of each other and proceed in an orderly manner, making the control steps of the entire automatic discharging process clear, facilitating the operator to control each process separately, and reducing the impact on other discharging processes.

[0147] In a second aspect, an embodiment of the present application provides a self - moving device, which includes: a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the self - moving device realizes the control method of the ton bag discharging device according to any one of the above - mentioned embodiments.

[0148] In a third aspect, an embodiment of the present application further provides a computer - readable storage medium. The method according to the embodiment of the present application can be implemented in hardware, firmware, or be implemented as computer code that can be recorded on a storage medium, or be implemented as computer code originally stored in a remote storage medium or a non - transient machine - readable storage medium and downloaded through a network and stored in a local storage medium. Thus, the method described herein can be processed by such software stored on a storage medium using a general - purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read - only memory, a random - access memory, a flash memory, a hard disk, or a solid - state drive, etc.; further, the storage medium can also include a combination of the above - mentioned types of memories. It can be understood that a computer, a processor, a micro - processor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by the computer, the processor, or the hardware, the method shown in the above - mentioned embodiments is realized.

[0149] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0150] The present application is described with reference to the flowcharts and / or block diagrams of methods according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate a means for implementing the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0151] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including an instruction means that implements the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0152] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0153] It should also be noted that the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, such that a process, method, commodity or device including a series of elements not only includes those elements but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, commodity or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, commodity or device including the said element.

[0154] Each embodiment in this specification is described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple. For the relevant parts, reference can be made to the corresponding description in the method embodiment.

[0155] The above description is only for the embodiments of the present application and is not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

[0156] Although the embodiments of the present application are described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present application, and such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A control method for a bulk bag unloading device, characterized in that, The bulk bag discharging device includes a mounting bracket, a discharging assembly, and a cutting assembly: Along a first direction, the discharging assembly is movably arranged on the mounting bracket, and the discharging assembly is adapted to grasp a bulk bag; the cutting assembly includes a moving part and a cutting part, the cutting part is arranged at the upper end of the moving part, and along the first direction, the lower end of the moving part is movably arranged on the mounting bracket, and the cutting part is adapted to cut the bulk bag when moving below the bulk bag. The first direction is perpendicular to the vertical direction. The control method includes: In response to a discharging instruction, determining the height of the bottom of the bulk bag; Adjusting the position of the cutting part in the vertical direction so that the height of the cutting part is not greater than the height of the bottom of the bulk bag; Driving the moving part to move along the first direction so that the moving part drives the cutting part to move below the bulk bag; Controlling the cutting part to cut the bottom of the bulk bag.

2. The control method according to claim 1, characterized in that, The cutting part includes a cutting knife. The bulk bag includes a shell and a plugging member. A first opening is provided on the bottom wall of the shell, and the plugging member is detachably installed on the bottom wall of the shell to plug the first opening; The controlling the cutting part to cut the bottom of the bulk bag includes that when the moving part drives the cutting knife to move below the bulk bag, controlling the cutting knife to cut the plugging member to form a discharging port.

3. The control method according to claim 2, wherein The control method further includes driving the moving part to move along the first direction according to the required discharging speed to determine the degree of occlusion of the discharging port.

4. The control method according to claim 1, characterized in that The control method further includes: Driving the moving part to move along the first direction so that the moving part drives the cutting part to move out from below the bulk bag; Adjusting the position of the cutting part in the vertical direction according to the height of the next bulk bag.

5. The control method according to claim 4, characterized in that Along the thickness direction of the cutting part, a cutting knife is provided at one end of the cutting part. The control method further includes: driving the cutting part to flip so that the cutting knife facing upward becomes facing downward.

6. The control method according to claim 5, wherein The rotation axis of the cutting part, the vertical direction, and the first direction are perpendicular to each other in pairs.

7. The control method according to claim 5, wherein The bulk bag discharging device further includes a first recovery assembly. The control method further includes: when the cutting knife is facing downward, using the first recovery assembly to recover the residual material on the cutting knife.

8. The control method according to claim 1, characterized in that, The bulk bag discharging device further includes a second recovery assembly. The discharging assembly has a discharging position for discharging the bulk bag and a recovery position for recovering the bulk bag; The control method further includes: when the bulk bag moves to the recovery position, using the second recovery assembly to recover the bulk bag.

9. A self - moving device, characterized in that, The self - moving device includes: a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the self - moving device realizes the control method of the bulk bag discharging device according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, A computer program is stored on a computer - readable storage medium. When the computer program is executed by a processor, the control method of the bulk bag discharging device according to any one of claims 1 to 8 is realized.

Images