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

Abstract

The present application relates to the field of automatic control technology and discloses a control method for a ton bag unloading device, a self-propelled device, and a storage medium. The ton bag unloading device includes a mounting bracket, a unloading assembly, and a cutting assembly: the unloading assembly is movably mounted on the mounting bracket and is suitable for grabbing ton bags; the cutting assembly includes a moving portion and a cutting portion, the cutting portion being disposed at the upper end of the moving portion and movably mounted on the mounting bracket along a first direction, and the lower end of the moving portion being movably mounted on the mounting bracket along a first direction, and the cutting portion being suitable for cutting the ton bag when moved below the ton bag, the first direction being perpendicular to the vertical direction. The control method includes: determining the height of the bottom of the ton bag in response to a unloading instruction; adjusting the vertical position of the cutting portion so that the height of the cutting portion is no greater than the height of the bottom of the ton bag; driving the moving portion to move along the first direction so that the moving portion drives the cutting portion to move below the ton bag; and controlling the cutting portion to cut the bottom of the ton bag. The control method of the present application improves unloading efficiency.

Description

Technical Field

[0001] The present application relates to the field of automatic control technology, and in particular to a control method, a self-propelled device, and a storage medium for a ton bag unloading device. Background Art

[0002] A ton bag is a flexible transport container typically woven from flat yarns made from high-strength materials such as polypropylene (PP) or polyethylene (PE). Its structure generally includes the bag body, slings, and inlet and outlet ports. The bag body has a certain degree of flexibility and strength to support heavy cargo; the slings are used for lifting and carrying the ton bag; and the inlet and outlet ports facilitate loading and unloading.

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

[0004] The present application provides a control method for a ton bag unloading device, a self-moving device and a storage medium, which improve the unloading efficiency.

[0005] In order to achieve the above objectives, the main technical solutions adopted in this application include:

[0006] In the first aspect, an embodiment of the present application provides a control method for a ton bag unloading device, which includes a mounting bracket, a unloading assembly and a cutting assembly: along a first direction, the unloading assembly is movably arranged on the mounting bracket, and the unloading assembly is suitable for grabbing 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, and along the first direction, the lower end of the moving part is movably arranged on the mounting bracket, and the cutting part is suitable for cutting the ton bag when moving to the bottom of the ton bag, and the first direction is perpendicular to the vertical direction. The control method includes: determining the height of the bottom of the ton bag in response to the unloading instruction; 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 to the bottom of the ton bag; and controlling the cutting part to cut the bottom of the ton bag.

[0007] The control method of the ton bag unloading device proposed in the embodiment of the present 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. This setting can ensure that the cutting part can accurately adjust its own position close to 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, and reducing the chance of the cutting part to readjust its position in the vertical direction before each cutting, thereby reducing the cutting preparation time and significantly improving the unloading efficiency.

[0008] Optionally, the cutting portion includes a cutting knife, the ton bag includes a shell and a blocking piece, the bottom wall of the shell is provided with a first opening, and the blocking piece is detachably mounted on the bottom wall of the shell to block the first opening;

[0009] Controlling the cutting part to cut the bottom of the ton bag includes: when the moving part drives the cutting knife to move to the bottom of the ton bag, controlling the cutting knife to cut the blocking piece to form a discharge port.

[0010] In the above solution, the cutting knife is designed to only cut the sealing piece at the bottom of the ton bag to form a discharge port, which can accurately control the material outflow position and flow rate. At the same time, by driving the moving part to move along the first direction to change the degree of obstruction of the discharge port, the discharge speed can be accurately controlled to meet the requirements of different material characteristics and unloading speed, thereby ensuring the stability and reliability of the unloading process.

[0011] Optionally, the control method further includes driving the moving part to move along the first direction according to a required discharge speed to determine the degree to which the discharge port is blocked.

[0012] In the above scheme, according to the precise requirements for material discharge speed in actual production, the discharging speed is precisely controlled by driving the moving part to move along the first direction and changing the degree of obstruction of the discharge port. Through this control method, the size of the discharge port can be fine-tuned in real time according to the discharge demand to ensure unloading at an appropriate speed, thereby ensuring product quality and production efficiency. This precise regulation avoids fluctuations in work efficiency caused by uncontrollable discharge speed and ensures the stability and reliability of the production process.

[0013] Optionally, the control method further includes:

[0014] driving the moving part to move in a first direction so that the moving part drives the cutting part to move out from under the ton bag;

[0015] Adjust the vertical position of the cutting part according to the height of the next big bag.

[0016] In the above scheme, the driving moving part drives the cutting part to move out from under the ton bag. On the one hand, it can facilitate the control of the unloading process, and on the other hand, it can quickly make room for the unloading operation of the next ton bag. When the moving part moves out from under the ton bag along the first direction, the unloading speed can be accurately adjusted by controlling the moving speed of the moving part to meet the different requirements for unloading speed in different stages. At the same time, it greatly enhances the unloading efficiency of the unloading device when unloading ton bags of various specifications.

[0017] Optionally, a cutting blade is provided at one end of the cutting portion along a thickness direction of the cutting portion, and the control method further comprises: driving the cutting portion to flip so that the cutting blade facing upwards becomes facing downwards.

[0018] In the above solution, the cutting part is driven to flip so that the cutting knife facing upward becomes facing downward. With this arrangement, the sealing piece cut off by the cutting part and the residual material on the sealing piece can be recovered, which helps to improve the product recovery rate.

[0019] Optionally, the rotation axis of the cutting portion, the vertical direction and the first direction are perpendicular to each other.

[0020] In the above scheme, the rotation axis, vertical direction and first direction of the cutting part are perpendicular to each other. Thus, the sealing parts and residual materials on the cutting part can be recovered separately without the need for further sorting, thereby improving the recycling efficiency and helping to improve the purity of the recycled materials.

[0021] Optionally, the ton bag unloading device further includes a first recovery component, and the control method further includes: when the cutting knife is facing downward, using the first recovery component to recover the material remaining on the cutting knife.

[0022] In the above solution, the first recycling component is used to recycle the material remaining on the cutting blade, which helps to improve the material recycling rate. The material originally lost due to the residue of the cutting blade can be recycled to achieve efficient utilization of the material.

[0023] Optionally, the ton bag unloading device further comprises a second recovery component, the unloading component having a unloading position for unloading the ton bag and a recovery position for recovering the ton bag;

[0024] The control method further includes: when the ton bag moves to the recovery position, utilizing the second recovery component to recover the ton bag.

[0025] In the above scheme, the second recycling component is used to recycle the ton bags at the recycling position, that is, the ton bags are recycled by the second recycling component after unloading. This arrangement facilitates the reuse of the ton bags and helps reduce user costs.

[0026] 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 in the memory and runnable on the processor. When the processor executes the computer program, the self-moving device implements the control method described in the above embodiment.

[0027] In a third aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the control method of the ton bag unloading device as described in the above embodiment is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the specific implementation methods or the description of the prior art. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0029] Figure 1 This is a schematic diagram of the overall structure of a ton bag unloading device in some embodiments of the present application;

[0030] Figure 2 This is a flow chart of the control method in some embodiments of the present application;

[0031] Figure 3 Schematic diagram of the flow of control methods in other embodiments of the present application;

[0032] Figure 4 This is a flowchart of some control methods in some embodiments of the present application;

[0033] Figure 5 Schematic diagram of a flow chart of some control methods in other embodiments of the present application;

[0034] Figure 6 Schematic diagram of a flow chart of some control methods in other embodiments of the present application;

[0035] Figure 7 Schematic diagram of the flow of control methods in other embodiments of the present application;

[0036] Figure 8 This is a schematic diagram of the structure of ton bags in some embodiments of the present application.

[0037] [Description of Reference Numerals]

[0038] 100: Mounting bracket;

[0039] 200: unloading assembly; 200a: unloading position; 200b: recovery position;

[0040] 300: cutting assembly; 310: moving part; 320: cutting part;

[0041] 400: third recycling component;

[0042] 500: ton bag; 510: shell; 511: first opening; 520: blocking member;

[0043] 600: first recycling component;

[0044] 610: Connecting pipes;

[0045] 700: Fourth recycling component;

[0046] 800: Second recycling component;

[0047] X: First direction. DETAILED DESCRIPTION

[0048] To make the purpose, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of this application.

[0049] Unless otherwise defined, all technical and scientific terms used in this application have the same meanings as commonly understood by those skilled in the art 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-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first" and "second" in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order or a primary-secondary relationship.

[0050] References to "embodiments" in this application mean that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

[0051] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connected," and "attached" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0052] The term "and / or" in this application simply describes an association between related objects, indicating that three possible relationships exist. 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 indicates that the related objects are in an "or" relationship.

[0053] The term "multiple" used in this application refers to more than two (including two). Similarly, "multiple groups" refers to more than two (including two) groups, and "multiple sheets" refers to more than two (including two) sheets.

[0054] According to an embodiment of the present application, an embodiment of a control method for a ton 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 a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0055] A ton bag is a flexible transport container typically woven from flat yarns made from high-strength materials such as polypropylene (PP) or polyethylene (PE). Its structure generally includes the bag body, slings, and inlet and outlet ports. The bag body has a certain degree of flexibility and strength to support heavy cargo; the slings are used for lifting and carrying the ton bag; and the inlet and outlet ports facilitate loading and unloading.

[0056] The capacity of a ton bag is usually between 0.5 tons and 1 ton, or even larger, which can package goods in large quantities, reducing the number of packaging times and loading and unloading time, improving logistics and transportation efficiency, and reducing transportation costs.

[0057] In the chemical industry, ton bags are used to package various chemical raw materials, plastic granules, powdered chemicals, etc. Ton bags can effectively prevent chemical raw materials from getting damp and deteriorating during transportation and storage, while facilitating loading and unloading and handling, thereby improving the logistics efficiency of chemical production.

[0058] In related technologies, ton bags are usually unloaded by making holes in them to allow the material to flow out. However, this unloading method causes irregular damage to the ton bags, making the unloading process more random, making it difficult to estimate the unloading rate and control the unloading process. In addition, the ton bags at the unloading port are damaged and difficult to reuse, which increases the cost of use.

[0059] At the same time, since a sharp knife is needed to make holes, the knife or the bag needs to be at a long distance before cutting, and then move in the vertical direction to make contact and then cut, which is inefficient.

[0060] In view of this, in order to improve the unloading efficiency, the present application embodiment provides a control method for a ton bag unloading device, please refer to Figure 1The ton 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 suitable for grabbing the ton bag 500; the cutting assembly 300 includes a moving part 310 and a cutting part 320, and the cutting part 320 is arranged at the upper end of the moving part 310. 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 suitable for cutting the ton bag 500 when moving to the bottom of the ton bag 500. The first direction X is perpendicular to the vertical direction.

[0061] Please refer to Figure 2 , control methods include:

[0062] S1. In response to a discharge instruction, determine the height of the bottom of the ton bag.

[0063] Such a setting makes it easier for the unloading device to adaptively adjust according to the ton bags 500 of different heights. In actual production, the size and height of the ton bags 500 may vary. By determining the height of the bottom of the ton bag 500, the subsequent position adjustment of the cutting part 320 can be more accurate, thereby ensuring that the cutting part 320 can smoothly reach the bottom of the ton bag 500 for cutting, avoiding the inability to quickly reach the cutting position due to the cutting part 320 being too high or too low, thereby helping to improve the unloading efficiency.

[0064] Among them, the unloading instruction can be set and triggered by the user.

[0065] As an example, determining the height of the bottom of the ton bag 500 includes determining the height of the ton bag 500 itself, and determining the height of the bottom of the ton bag 500 when the ton bag 500 reaches the predetermined unloading position 200a based on the height of the ton bag 500 itself.

[0066] Alternatively, determining the height of the bottom of the ton bag 500 includes directly detecting the height of the bottom of the ton bag 500 in the vertical direction. Direct detection methods include but are not limited to detection using a distance sensor or detection using a photoelectric sensor, and this application does not impose any restrictions on this.

[0067] S2. Adjust the vertical position of the cutting part so that the height of the cutting part is not greater than the height of the bottom of the ton bag.

[0068] Such a setting can ensure that the cutting part 320 can accurately cut the bottom of the ton bag 500 when it moves to the bottom of the ton bag 500. If the height of the cutting part 320 is higher than the bottom of the ton bag 500, the cutting operation cannot be achieved; and adjusting the height of the cutting part 320 to no more than the height of the bottom of the ton bag 500 provides the necessary prerequisite for subsequent cutting actions, reduces the unnecessary travel of the cutting part 320 in the vertical direction, shortens the cutting preparation process, and thus improves the unloading efficiency.

[0069] In other words, this solution is to improve the unloading efficiency by controlling the height of the cutting part 320. Specifically, when conveying the ton bag 500, a specific position such as the unloading position 200a of the unloading component 200 is set as the position for cutting the ton bag 500, and the position of the cutting part 320 is adjusted relative to the position for cutting the ton bag 500, so that when the unloading component 200 conveys the ton bag 500, the cutting part 320 can move at the same time to reach the predetermined position at the same time as the ton bag of the unloading component 200, thereby greatly improving the unloading efficiency.

[0070] Among them, the height of the cutting part 320 and the height of the bottom of the ton bag 500 can both be determined as the height of the cutting part 320 and the bottom of the ton bag 500 in the vertical direction, including the distance 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 setting position of the distance sensor or a certain point in space. This application does not impose any specific restrictions on this.

[0071] It can be understood that the cutting part 320 can accurately adjust its position according to the height of the ton bag 500 to lean towards the bottom 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 unloading efficiency.

[0072] As an example, making the height of the cutting part 320 no greater than the height of the bottom of the ton bag 500 includes obtaining the height of the bottom of the ton bag 500 to be cut, 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 no higher than the height of the ton bag 500 to be cut, thereby reducing the chance of the cutting part 320 to readjust its position in the vertical direction before each cutting, thereby shortening the cutting preparation process of each ton bag 500 to be cut, thereby increasing the unloading rate.

[0073] S3. Drive the moving part to move along the first direction, so that the moving part drives the cutting part to move below the ton bag.

[0074] 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 under the ton bag 500. This design avoids the cutting part 320 from colliding with other equipment or the ton bag 500 itself during movement. At the same time, the movement along the first direction X facilitates control and positioning, thereby improving the accuracy and efficiency of the cutting part 320 reaching the specified position, and preparing for subsequent cutting operations.

[0075] It is understandable that this solution controls the moving part 310 to move along the first direction X. When the first direction X is configured as the conveying direction of the unloading assembly 200, it is not only convenient to improve the unloading efficiency, but also convenient to recycle the residual materials. Figure 1When the residual material on the cutting part 320 is recycled, the residual material in the ton bag 500 that has completed unloading can also be recycled simultaneously, which helps to improve the material recycling efficiency. With this arrangement, the residual material in the ton bag 500 and the residual material in the cutting part 320 can be recycled into the same recycling component, thereby reducing the probability of material dispersion and facilitating the centralized recycling of materials, thereby improving the overall unloading efficiency.

[0076] As an example, controlling the moving part 310 to move along the first direction X includes controlling the distance the moving part 310 moves along the first direction X. At this time, the target cutting position at the bottom of the ton bag 500 is first determined, and the moving distance of the moving part 310 along the first direction X is determined based on the target cutting position at the bottom of the ton bag 500 and the current position of the cutting part 320.

[0077] As an example, determining the target cutting position of the bottom of the big bag 500 includes detecting the coordinates of the bottom of the big bag 500 in the first direction X by a photoelectric sensor, thereby detecting the target cutting position of the bottom of the big bag 500.

[0078] Specifically, when the position of the ton bag 500 is fixed, for example, the ton bag 500 is fixed at the unloading position 200a, the coordinates of the unloading position 200a in the first direction X can be used as the target cutting position at the bottom of the ton bag 500. At this time, it is only necessary to control the moving part 310 to move along the first direction X to the coordinates of the unloading position 200a in the first direction X to achieve cutting preparation.

[0079] When the position of the ton bag 500 is offset, it is necessary to detect the coordinates of the bottom of the ton bag 500 in the first direction X, so as to determine the accurate target cutting position.

[0080] S4. Control the cutting part to cut the bottom of the ton bag.

[0081] Understandably, this is a critical step in the entire unloading process. By precisely controlling the cutting unit 320 to cut the bottom of the ton bag 500, the ton bag 500 can be quickly and effectively opened, enabling material unloading. Compared to traditional methods of puncturing the ton bag, the automated cutting unit 320 is more efficient and accurate, reducing the risk of material leakage, ensuring the safety and stability of the unloading process, and significantly improving unloading efficiency.

[0082] The control method of the ton bag unloading device proposed in the embodiment of the present application adjusts the position of the cutting part 320 in the vertical direction so that the height of the cutting part 320 is not greater than the height of the bottom of the ton bag 500, forming a reserved height of the cutting part 320. There is no need to move significantly from the initial position to the height of the bottom of the ton bag 500 each time cutting, which greatly shortens the moving stroke; directly reduces the preparation time for the cutting action, and facilitates the completion of more cutting operations within a unit time, thereby significantly improving the overall unloading efficiency.

[0083] In addition, in the traditional unloading device, the ton bag 500 moves from a position far away from the bag breaking knife to the bag breaking knife, and the cutting part 320 may need to move tens of centimeters from the bottom position of the equipment to reach the bottom of the ton bag 500 for bag breaking. After adopting the reserved height control method, it may only need to move a few millimeters. In terms of the number of ton bags 500 processed in one hour, more ton bags 500 can be processed than the traditional method.

[0084] Furthermore, the cutting unit 320 moves over a relatively short distance, making it easier to achieve precise control and reducing cutting errors caused by shaking or deviation during movement. For example, when cutting materials that require high discharge accuracy, such as fine chemicals used in the production of electronic components, the stable cutting operation ensures that the bottom of the ton bag 500 is accurately cut, avoiding collisions between the cutting unit 320 and the ton bag 500 or incomplete cutting, thereby ensuring discharge quality.

[0085] In other specific embodiments, the specifications of the ton bags 500 used in different industries vary greatly, and different ton bags 500 differ in height, material, etc. By installing a sensor (such as a detection device with a visual detection function) on the equipment (such as the mounting bracket 100), the specification information of the ton bag 500 is automatically identified, and then the reserved height of the cutting part 320 is quickly calculated and adjusted according to the specification information of the ton bag 500 and the position information of the unloading component 200, so as to further improve the unloading efficiency and facilitate further expansion of the application scope of the equipment.

[0086] Specifically, the control method in this solution can improve the unloading 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 impact of the heights of different ton bags 500 on the unloading process is reduced, and the unloading efficiency of the ton bags 500 is ensured.

[0087] As an example, the specifications of the ton bag 500 include one or more of size specifications, capacity specifications, material specifications and structural specifications, which are not limited in this application.

[0088] As examples, the dimension sensor includes, but is not limited to, a laser ranging sensor or an infrared light curtain sensor.

[0089] A laser ranging sensor is used to detect the height of the ton bag 500. By emitting a laser beam and measuring the time it takes for the reflected light to return, it can accurately calculate the distance between the sensor and the top or bottom of the ton bag 500. For example, a laser ranging sensor can be installed near the lifting mechanism of the cutting assembly 300. Once the ton bag 500 is in place, the sensor can measure the height of the ton bag 500 in real time, providing accurate data for adjusting the height of the cutting unit 320, ensuring that the cutting unit 320 reaches the appropriate position at the bottom of the ton bag 500.

[0090] The infrared light curtain sensor can detect the length and width of the ton bag 500. It consists of a transmitter and a receiver. The transmitter emits multiple beams of infrared light, which are then received by the receiver. When the ton bag 500 enters the light curtain area and blocks some of the light, the receiver calculates the outline dimensions of the ton bag 500 based on the light obstruction. This information, in turn, provides accurate data for adjusting the height of the cutting unit 320, ensuring that the cutting unit 320 reaches the appropriate position at the bottom of the ton bag 500.

[0091] By way of example, material specification sensors include, but are not limited to, near infrared spectroscopy sensors.

[0092] Near-infrared spectral sensor: Used to detect the fabric and coating materials of 500-ton bags. This sensor emits near-infrared light and collects spectral information from the reflected light. Different materials have different absorption and reflection characteristics for near-infrared light. By analyzing the spectral data, the material of the 500-ton bag can be accurately identified.

[0093] For example, the control system automatically selects the appropriate cutting position based on the identified material. For example, for woven materials with higher hardness, the cutting position is appropriately raised to ensure the cutting effect. For woven materials with lower hardness, the cutting position is appropriately lowered to ensure smooth material discharge.

[0094] In other embodiments, please refer to Figure 1 、 Figure 3 and Figure 8 The cutting portion 320 includes a cutting knife, and the ton bag 500 includes a shell 510 and a blocking member 520. The bottom wall of the shell 510 is provided with a first opening 511. The blocking member 520 is detachably mounted on the bottom wall of the shell 510 to block the first opening 511.

[0095] Controlling the cutting unit 320 to cut the bottom of the ton bag 500 includes:

[0096] S41. When the moving part drives the cutting knife to move to the bottom of the ton bag, the cutting knife is controlled to cut the blocking piece to form a discharge port.

[0097] That is to say, the cutting knife is controlled to only cut the blocking piece 520 at the bottom of the ton bag 500 to form a discharge port, which 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 obstruction of the discharge port, the discharge speed can be accurately controlled to meet the requirements of different material characteristics and unloading speeds, thereby ensuring the stability and reliability of the unloading process.

[0098] It can be understood that directly controlling the cutting knife to cut the sealing piece 520 to form the discharge port makes the shape of the discharge port controllable, reducing the chance of irregular tearing of the discharge port. Compared with cutting the entire bottom of the ton bag 500, only cutting the sealing piece 520 can avoid material scattering due to cutting position deviation.

[0099] Specifically, controlling the cutting knife to cut the blocking piece 520 at the bottom of the ton bag 500 facilitates the control of the discharge of the ton bag 500 , and the discharge of the ton bag 500 is also more convenient, which helps to improve the unloading efficiency.

[0100] It can be understood that a detachable sealing piece 520 is provided at the bottom of the ton bag 500. On the one hand, it reduces the damage to the ton bag 500 caused by the cutting action during the unloading 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 sealing piece 520 to form a discharge port. The sealing piece 520 is constructed as a material piece with a certain rigidity, so that the shape of the discharge port formed after cutting is controllable, reducing the influence of the deformation of the flexible material ton bag 500 on the shape of the discharge port, which is conducive to improving the discharge stability.

[0101] Since the above-mentioned design of this solution improves the discharge stability, the unloading process is more controllable, more convenient for operators to use, and improves the versatility of the unloading process for different ton bags 500 different materials.

[0102] For example, in some production scenarios that have strict requirements on the material unloading position 200a, such as raw material unloading in the pharmaceutical industry, the precise discharge port position can ensure that the material falls accurately into the subsequent processing equipment, reduce material waste and contamination risks, and improve the accuracy and controllability of the production process.

[0103] Moreover, by precisely controlling the stroke and force of the cutting blade, the size of the discharge port can be precisely controlled. According to the material characteristics and unloading speed requirements, the material outflow rate can be flexibly adjusted to improve the unloading efficiency while ensuring the stability of the unloading process.

[0104] Furthermore, cutting the sealing piece 520 reduces damage to the shell 510 of the ton bag 500, thereby better protecting material quality. This is especially true for materials susceptible to external contamination or friction, such as food ingredients and fine chemicals. Cutting only the sealing piece 520 reduces the likelihood of the material coming into contact with debris and dust generated during the cutting process. Traditionally, cutting the bottom of the ton bag 500 entirely can result in woven material debris mixing into the material, impacting product quality. This solution, by precisely cutting the sealing piece 520, significantly reduces this risk, ensuring that the material remains uncontaminated during unloading and its original quality is maintained.

[0105] In a specific embodiment, the position of the blocking member 520 can be accurately identified by a visual sensor, providing accurate data for positioning the cutting knife, thereby ensuring that the cutting knife can quickly and accurately reach the position of the blocking member 520 for cutting.

[0106] At the same time, combined with the detection results of the near-infrared spectral sensor on the material of the sealing part 520, the control system can dynamically adjust the cutting parameters, such as cutting speed and force, to achieve the best cutting effect and improve the automation and intelligence of the unloading process.

[0107] As an example, the blocking member 520 is configured as a plastic sheet, and the cutting blade is configured as a circular cutter, thereby achieving precise cutting, facilitating estimation of the unloading rate and control of the unloading process.

[0108] In other embodiments, please refer to Figure 1 and Figure 4 , the control method further includes:

[0109] S42. According to the required discharge speed, the moving part is driven to move along the first direction to determine the degree to which the discharge port is blocked.

[0110] It is understood that, based on the precise requirements for material discharge speed in actual production, precise control of the discharge speed can be achieved by driving the movable portion 310 along the first direction X to change the degree of obstruction of the discharge port. This control method allows the size of the discharge port to be fine-tuned in real time based on discharge requirements, ensuring unloading at an appropriate speed, thereby guaranteeing product quality and production efficiency. This precise control avoids fluctuations in work efficiency caused by uncontrollable discharge speed, ensuring the stability and reliability of the production process.

[0111] Specifically, after the cutting knife is controlled to cut the blocking piece 520 , the cutting knife and the blocking piece 520 cut off by the cutting knife are controlled to move away from the first opening 511 along the first direction X, thereby forming a discharge port, and the material can flow out of the ton bag 500 from the discharge port and enter the recycling component below the ton bag 500 .

[0112] At this time, as the moving part 310 moves along the first direction X, the degree of obstruction of the discharge port changes, and the unloading speed of the material also changes, which makes it easier for the operator to unload according to the unloading requirements of different materials, further improves the controllability of the unloading process, reduces the work efficiency fluctuations caused by the uncontrollable discharge speed, and ensures the reliability and stability of the production process.

[0113] As an example, the discharge speed can be the weight change rate of the ton bag 500, or it can be the maximum flow rate allowed by the discharge port, which is not limited in this application.

[0114] As an example, determining the degree to which the discharge port is blocked may include determining the projection area of ​​the discharge port in the horizontal plane along the vertical direction as the first area, the projection area of ​​the blocking member 520 in the horizontal plane along the vertical direction as the second area, and the ratio of the first area to the second area as the degree to which the discharge port is blocked.

[0115] In a specific embodiment, the degree of obstruction of the discharge port can be monitored in real time by a visual sensor, providing accurate feedback for the movement of the moving part 310 to ensure accurate adjustment. Combined with the previous detection of information such as the size of the ton bag 500 and the material of the sealing part 520, the control system can comprehensively analyze and accurately control the moving distance and speed of the moving part 310.

[0116] For example, for the blocking pieces 520 made of different materials, the deformation after cutting is taken into consideration, and the moving portion 310 is precisely controlled to move along the first direction X, thereby reducing the impact of the material's compression deformation on the unloading process and improving the stability and accuracy of the unloading process.

[0117] Furthermore, in other specific embodiments, battery raw materials vary widely in type and properties, from granular graphite anode materials to powdered lithium cobalt oxide cathode materials. Different raw materials require different discharge speeds during unloading. This solution enables the unloading device to flexibly respond to various battery raw material unloading conditions. For example, for lithium iron phosphate powder with good fluidity, the degree of obstruction of the discharge port can be appropriately reduced to speed up the unloading process. For ternary materials with larger particles, the size of the discharge port can be precisely controlled to ensure uniform discharge and avoid jamming.

[0118] Battery raw materials are often expensive, and some are highly reactive and environmentally sensitive. During unloading, inappropriate discharge rates can easily lead to material waste and pollution risks. For example, excessively fast discharge of some lithium salt raw materials can cause overflow from 500 ton bags, resulting in not only financial losses but also possible oxidation reactions due to contact with air, degrading the raw material quality.

[0119] At the same time, material accumulation tends to absorb impurities from the environment, affecting battery performance. By flexibly adjusting the degree of obstruction of the discharge port, the discharge 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 high-quality battery production requirements.

[0120] In other embodiments, please refer to Figure 1 and Figure 5 , the control method further includes:

[0121] S43, driving the moving part to move along the first direction, so that the moving part drives the cutting part to move out from under the ton bag.

[0122] It can be understood that driving the moving part 310 to drive the cutting part 320 to move out from under the ton bag 500 can, on the one hand, facilitate the control of the unloading process, and on the other hand, quickly make room for the unloading operation of the next ton bag 500.

[0123] When the moving part 310 moves out from under the big bag 500 along the first direction X, the unloading speed can be precisely adjusted by controlling the moving speed of the moving part 310 to meet different requirements for unloading speed at different stages.

[0124] For example, in the initial stages of unloading, to quickly remove the material, the speed of the moving portion 310 can be increased, thereby enlarging the discharge opening and accelerating unloading. In the later stages of unloading, to prevent uneven discharge when the remaining material is too low, the speed of the moving portion 310 can be slowed down, the discharge opening can be controlled to become smaller, and the unloading speed can be stabilized. This real-time, precise unloading speed adjustment helps ensure smooth material transportation, improves production efficiency, and avoids material accumulation or insufficient supply caused by inappropriate unloading speeds.

[0125] At the same time, the removal of the moving portion 310 makes the discharge process controllable and improves discharge stability. This allows for maximum material recovery to the collection device, minimizing material residue, improving raw material utilization, and reducing production costs. It also maintains a certain degree of cleanliness at the bottom and discharge port of the ton bag 500, facilitating subsequent unloading of the ton bag 500 and preventing residual material from interfering with the positioning and discharge efficiency of the cutting portion 320.

[0126] Specifically, when the moving part 310 is controlled to move horizontally (along the first direction X) out from under the ton bag 500, the size of the discharge port changes accordingly, thereby changing the unloading speed, and during the unloading 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, thereby ensuring the discharge stability of the material under discharge ports of different sizes.

[0127] The moving portion 310 is driven to move in the first direction X, causing the cutting portion 320 to move out from under the ton bag 500. This allows for control of the unloading process, making it more stable. The smooth movement of the moving portion 310, coordinated with the unloading speed, reduces vibration and wear on various equipment components caused by uneven forces or material impact.

[0128] For example, in a pneumatic conveying system, a stable unloading speed can ensure a stable flow rate in the collection device, avoid pipeline blockage or equipment damage caused by sudden changes in material flow, and improve the continuity and stability of the unloading process.

[0129] It is understandable that by driving the moving part 310 to move along the first direction X, the moving part 310 drives the cutting part 320 to move out from under the ton bag 500, which can effectively deal with emergencies during the unloading process and reduce safety risks.

[0130] For example, if an abnormal material discharge, such as a blockage or leak, is detected, the movement of the moving unit 310 can be immediately stopped to prevent the situation from worsening. Simultaneously, by controlling the position of the moving unit 310, the size of the discharge port can be adjusted, providing a certain degree of control over leaked material and preventing large-scale material leaks from causing environmental pollution or safety accidents. Furthermore, if damage to the ton bag 500 or other safety hazards are detected during the removal process, the unloading operation can be stopped immediately, ensuring a safe and reliable unloading process.

[0131] S44. Adjust the vertical position of the cutting part according to the height of the next ton bag.

[0132] This configuration significantly enhances the unloading efficiency of the unloading device when handling a variety of 500-ton bags. The unloading device can automatically identify and adapt to the varying specifications of the 500-ton bags being unloaded, effectively expanding the equipment's applicability. Whether it's taller standard 500-ton bags or shorter, custom-made 500-ton bags, height adjustment allows for efficient unloading, enhancing the equipment's versatility and practicality.

[0133] In one specific embodiment, after the cutting unit 320 clears the bottom of a ton bag 500, a visual sensor or other device can be used to quickly detect the specifications of the next ton bag 500, including its height and size. The moving unit 310 is then controlled to move the cutting unit 320 vertically, adjusting its height and providing accurate data for controlling the discharge speed. Furthermore, when adjusting the height of the cutting unit 320, the cutting parameters can be further optimized based on the analysis of the material of the sealing member 520.

[0134] In other embodiments, please refer to Figure 1 and Figure 5, a cutting blade is provided at one end of the cutting portion 320 along the thickness direction of the cutting portion 320, and the control method further includes:

[0135] S45, driving the cutting part to flip so that the cutting blade facing upwards becomes facing downwards.

[0136] With such an arrangement, the blocking piece 520 cut off by the cutting portion 320 and the residual material on the blocking piece 520 can be recycled, which helps to improve the product recovery rate.

[0137] For example, in battery raw material production, many raw materials, such as lithium and cobalt, are expensive. The flipping design of the cutting unit 320 allows for precise collection and recycling of the cut sealing member 520 and any remaining materials. For example, if high-purity positive electrode material adheres to the sealing member 520, flipping the cutting unit 320 allows this material to fall to a dedicated recycling facility, minimizing waste.

[0138] In other embodiments, please refer to Figure 1 The rotation axis, the vertical direction and the first direction X of the cutting part 320 are perpendicular to each other. With this arrangement, the blocking member 520 and the residual materials on the cutting part 320 can be recycled separately without the need for further classification, thereby improving the recycling efficiency.

[0139] It can be understood that the cutting part 320 in the present application can rotate to make the cut sealing piece 520 and the material fall down, so as to recover the material and the sealing piece 520 one after another, which can effectively avoid the two from mixing with each other. The material and the sealing piece 520 fall down one after another, avoiding the two from being entangled or stacked with each other during the falling process, thereby reducing the risk of blockage in the recovery channel.

[0140] In addition, the blocking pieces 520 fall down, making it easy to collect and manage them separately. They can be classified and stored according to the material and type of the blocking pieces 520. Recyclable blocking pieces 520, such as plastic covers and rubber stoppers, can be collected for recycling and reprocessing. Non-recyclable blocking pieces 520 can also be uniformly disposed of harmlessly to avoid environmental pollution caused by their random discard.

[0141] In other embodiments, please refer to Figure 1 and Figure 6 The ton bag unloading device further includes a first recovery component 600, and the control method further includes:

[0142] S46. When the cutting blade is facing downward, the first recovery component is used to recover the material remaining on the cutting blade.

[0143] Such an arrangement can improve the material recycling rate.

[0144] During the cutting process, some material will inevitably adhere to the cutting blade and sealing member 520. The first recovery assembly 600 can promptly and accurately collect this residual material, avoiding waste. Taking lithium iron phosphate cathode material as an example, the recovery assembly can recover material that would otherwise be lost due to cutting blade residue, achieving efficient material utilization.

[0145] Furthermore, if residual material on the cutting blades is not promptly recovered, it could be mixed into the new material when the next ton bag 500 is cut, causing a deviation in the raw material composition. For example, if graphite powder, a negative electrode material, were to be mixed into the positive electrode material production process, it could seriously affect the electrochemical performance of the battery. The first recycling unit 600 effectively prevents this from happening, ensuring the purity and consistency of each batch of raw materials and guaranteeing the stability of product quality.

[0146] For example, the first recovery assembly 600 is positioned below the cutting blade, precisely catching material that falls from the blade. After the cutting blade completes its work, the material that falls from the blade rotates and falls directly into the first recovery assembly 600, helping to recover more material, reduce waste, and improve recycling efficiency.

[0147] Furthermore, due to the precise alignment of the first recovery assembly 600 and the cutting blade, materials can be accurately recovered, significantly reducing losses caused by inaccurately dropped materials. Whether powdered, granular, or bulk materials, they all fall directly into the recovery assembly after being cut, preventing them from spilling onto the ground or elsewhere, thus reducing material loss and costs.

[0148] 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;

[0149] The control method also includes:

[0150] S5. When the ton bag moves to the recycling position, the ton bag is recycled using the second recycling component.

[0151] With such an 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 facilitates the reuse of the ton bag 500 and helps reduce user costs.

[0152] 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, reducing the time and labor costs of 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.

[0153] Furthermore, the ton bags 500 typically possess a certain strength and durability, and can be cleaned, repaired, and otherwise reused after recycling. The second recycling assembly 800's recycling of the ton bags 500 facilitates their reuse and reduces the company's packaging material costs.

[0154] 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. The third recovery component 400 is suitable for recovering materials falling from the ton bag 500 after the ton bag 500 is cut.

[0155] 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 fallen materials after the ton bag 500 is cut, avoiding the waste and environmental dirt caused by scattered materials, ensuring that the materials can be collected and processed in a centralized manner, and improving the accuracy and integrity of material recovery.

[0156] The recovery space of the third recovery assembly 400 is in communication with the recovery space of the first recovery assembly 600 .

[0157] In the above scheme, after the recycling spaces of the two recycling components are connected, it is equivalent to expanding the overall recycling area, which can more comprehensively collect materials leaked from different processes during the cutting and unloading of the ton bag 500, reduce the situation where materials are left outside the recycling space, and greatly increase the amount of material recovered compared to using the third recycling component 400 alone.

[0158] That is to say, the third recycling component 400 can be responsible for recovering materials that fall directly during the cutting process, and the first recycling component 600 can be responsible for recovering materials that remain after cutting by the cutting part 320 or are scattered from other directions. After the two are connected, they can work together to improve the overall recycling efficiency.

[0159] In other embodiments, please refer to Figure 1 , the recovery space of the third recovery component 400 is connected to the recovery space of the first recovery component 600 through a connecting pipe 610;

[0160] In the above scheme, the two recycling spaces cooperate with each other. The third recycling component 400 can collect materials that fall directly during cutting, and the first recycling component 600 can collect materials remaining after cutting by the cutting part 320 or scattered from other directions. Through the connecting pipe 610, the materials can be collected more smoothly, thereby improving the overall recycling efficiency.

[0161] The unloading device also includes a driving screw, which is engaged with the inner wall thread of the connecting pipe 610 to drive the material in the connecting pipe 610 to move to the recovery space of the third recovery component 400.

[0162] It is understood that the screw thread engagement with the inner wall of the connecting pipe 610 allows for precise control of the movement of materials within the connecting pipe 610. By adjusting the speed and direction of rotation of the screw thread, the material conveying speed and volume can be accurately controlled, ensuring that the material is accurately moved from the recycling space of the first recycling assembly 600 to the recycling space of the third recycling assembly 400 according to set requirements, thereby facilitating accurate material recovery.

[0163] Furthermore, the driven screw can effectively convey materials of varying fluidity, viscosity, and particle size. Even for materials with poor fluidity or prone to agglomeration, the screw's rotating action overcomes the material's internal friction and adhesion, allowing the material to move smoothly within the connecting pipe 610. Compared to other methods that rely on gravity or simple mechanical propulsion, this method offers greater material adaptability.

[0164] At the same time, the driving screw can clearly and directionally transport the material from the first recovery component 600 to the recovery space of the third recovery component 400, avoiding the disordered flow or backflow of the material in the pipeline, ensuring the directional accuracy of the material transportation, and being beneficial to the process stability and reliability of the entire recovery system.

[0165] During operation, the drive screw continuously rotates within the connecting pipe 610, performing both agitation and propulsion, effectively preventing material accumulation and blockage within the pipe. This action of the screw, particularly in situations with high material flow rates or unusual material properties, helps maintain material flow and promptly transport it to the recovery space of the third recovery assembly 400, minimizing system failures and downtime caused by blockages.

[0166] The present application also discloses a ton bag unloading device, please refer to Figure 1 , along the first direction X, the unloading assembly 200 is movably arranged on the mounting bracket 100, and the unloading assembly 200 is suitable for grabbing the ton bag 500. It can be understood that the unloading assembly 200 can move and grab the ton bag 500, which helps to improve the degree of automation of the unloading process, reduce manual operation time, and improve unloading efficiency.

[0167] The unloading assembly 200 has an unloading position 200a for unloading the ton bag 500 and a recovery position 200b for recycling the ton bag 500; the unloading assembly 200 can move along the first direction X and has an unloading position 200a and a recovery position 200b, which allows the ton bag 500 to be flexibly moved according to actual needs during the unloading process, facilitates accurate unloading and subsequent ton bag 500 recovery operations, and improves the applicability and ease of operation of the unloading device.

[0168] The cutting unit 320 is mounted on the upper end of the movable unit 310, while the lower end of the movable unit 310 is movably mounted on the mounting bracket 100. This design allows the cutting unit 320 to accurately move to the bottom of the ton bag 500 for cutting. Compared to manual cutting, this method provides more precise cutting positioning, ensuring that the ton bag 500 is opened in the desired manner, facilitating the smooth descent of materials. It also reduces the risk of material leakage or excessive damage to the ton bag 500 due to improper cutting, thereby improving the safety and reliability of the cutting operation.

[0169] The cutting portion 320 is suitable for cutting the ton bag 500 when it moves to the bottom of the ton bag 500; it can be understood that the cutting portion 320 cuts the ton bag 500 when it moves to the bottom of the ton bag 500, and can accurately align with the bottom of the ton 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 ton bag 500 due to cutting position deviation, and helping to achieve accurate unloading and ensure that the material flows out smoothly as planned.

[0170] In addition, when cutting from the bottom of the ton bag 500, the gravity of the ton bag 500 itself can be used to keep the bottom in a relatively tight state, which facilitates the cutting part 320 to perform the cutting operation more smoothly, and can effectively reduce the jamming, tearing, etc. during cutting, making the cutting surface smoother, which is conducive to the complete pouring of the subsequent materials and can also reduce the risk of contamination of the materials in the ton bag 500.

[0171] In addition, the discharge port is located below the ton bag 500, and the material can fall naturally under the action of gravity, and can enter the third recovery component 400 or other collection device below in a more concentrated and smooth manner, which is convenient for unified collection and subsequent processing of the material, improves the efficiency and integrity of material recovery, and reduces material waste and loss.

[0172] In addition, the components cooperate with each other, and the mounting bracket 100 provides a stable support and installation basis for each component. The unloading component 200, the cutting component 300 and the third recycling component 400 are rationally arranged in space and arranged in an orderly manner along the first direction X and the vertical direction, so that the entire device has a compact structure, occupies a small space, and can adapt to different work sites and environments.

[0173] The unloading device of the embodiment of the present application further includes a fourth recovery component 700, and the control method further includes:

[0174] When the cutting blade is facing downward, the fourth recovery component 700 is used to recover the blocking piece 520 on the cutting blade.

[0175] It is understood that when the fourth recovery assembly 700 is used to recover the sealing member 520 on the cutting blade, the cutting blade is driven to rotate 180°, and the suction cup that holds the sealing member 520 is driven to release the sealing member 520, causing the sealing member 520 to fall. This arrangement ensures that the material on the sealing member 520 and the material on the cutting blade first fall to the first recovery assembly 600 during the cutting blade's 180° rotation. After the cutting blade rotates 180°, no material remains, and the sealing member 520 is recovered, thereby achieving the separate recovery of the sealing member 520 and the material.

[0176] On the one hand, accurate classification and recycling of resources can be achieved, and on the other hand, the probability of the blocking piece 520 falling into the first recycling component 600 and affecting material recycling can be reduced.

[0177] 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 sealing parts 520 in each link can be accurately recycled separately, reducing the defective rate caused by impurities and improving the unloading efficiency.

[0178] Specifically, when driving the cutting part 320 to flip so that the cutting knife facing upward becomes facing downward, the material remaining on the cutting knife can be recovered by the first recovery component 600. When the cutting part 320 is driven to rotate so that the cutting knife faces downward, the sealing part 520 can be recovered by the fourth recovery component 700, and the remaining material can be recovered by the first recovery component 600 at the same time.

[0179] In other words, this solution can realize the separate recovery of the blocking piece 520 and the residual material by controlling the cutting part 320 to flip 180°, thereby reducing the control complexity, reducing additional control steps, further improving the unloading efficiency, and realizing the recovery of the blocking piece 520, the recovery of the residual material, and the unloading of the ton bag 500 without interfering with each other, and proceeding in sequence and in an orderly manner, so that the control steps of the entire automated unloading process are clear, which is convenient for the operator to control each process individually and reduce the impact on other unloading processes.

[0180] 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 in the memory and runnable on the processor. When the processor executes the computer program, the self-moving device implements a control method for a ton bag unloading device as in any of the above embodiments.

[0181] On the third aspect, the embodiments of the present application also provide a computer-readable storage medium. The above-mentioned method according to the embodiment of the present application can be implemented in hardware, firmware, or implemented as a computer code that can be recorded in a storage medium, or implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, so that the method described herein can be stored in such software processing 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 storage 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 memory. It can be understood that a computer, a processor, a microprocessor 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 a computer, a processor or hardware, the method shown in the above embodiment is implemented.

[0182] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0183] The present application is described with reference to the flowcharts and / or block diagrams of the methods according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes 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 a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0184] These computer program instructions may 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, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0185] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0186] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0187] The various embodiments in this specification are described in a progressive manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiments are generally similar to the method embodiments, so the description is relatively simple. For relevant parts, refer to the description of the method embodiments.

[0188] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

[0189] Although the embodiments of the present application have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present application, and such modifications and variations shall fall within the scope defined by the appended claims.

Claims

1. A control method for a ton bag unloading device, characterized in that: The ton bag unloading device includes a mounting bracket, a unloading assembly, and a cutting assembly: the unloading assembly is movably arranged on the mounting bracket along a first direction, and the unloading assembly is suitable for grabbing ton bags; 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 the lower end of the moving part is movably arranged on the mounting bracket along the first direction, and the cutting part is suitable for cutting the ton bag when moving below the ton bag, the first direction is perpendicular to the vertical direction, and the control method includes: In response to a discharge instruction, determining the height of the bottom of the big bag; Adjusting the position of the cutting portion in the vertical direction so that the height of the cutting portion is no greater than the height of the bottom of the ton bag; driving the moving portion to move along the first direction so that the moving portion drives the cutting portion to move below the ton bag; and controlling the cutting portion to cut the bottom of the ton bag; The cutting part includes a cutting knife, the ton bag includes a shell and a blocking piece, the bottom wall of the shell is provided with a first opening, and the blocking piece is detachably mounted on the bottom wall of the shell to block the first opening; The controlling the cutting part to cut the bottom of the ton bag includes: when the moving part drives the cutting knife to move to the bottom of the ton bag, controlling the cutting knife to cut the blocking piece to form a discharge port, and allowing the cut blocking piece and material to fall down.

2. 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 according to a required discharge speed to determine the degree to which the discharge port is blocked.

3. The control method according to claim 1, characterized in that: The control method further includes: The moving part is driven to move along the first direction so that the moving part drives the cutting part to move out from under the ton bag; and the position of the cutting part in the vertical direction is adjusted according to the height of the next ton bag.

4. The control method according to claim 3, characterized in that: A cutting blade is provided at one end of the cutting portion along a thickness direction of the cutting portion, and the control method further comprises: driving the cutting portion to flip so that the cutting blade facing upwards becomes facing downwards.

5. The control method according to claim 4, characterized in that: The rotation axis of the cutting portion, the vertical direction and the first direction are perpendicular to each other.

6. The control method according to claim 4, characterized in that: The ton bag unloading device further includes a first recovery component, and the control method further includes: when the cutting knife is facing downward, using the first recovery component to recover the material remaining on the cutting knife.

7. The control method according to claim 1, characterized in that: The ton bag unloading device also includes a second recovery component, which has a unloading position for unloading the ton bag and a recovery position for recovering the ton bag; the control method also includes: when the ton bag moves to the recovery position, using the second recovery component to recover the ton bag.

8. A self-propelled device, characterized in that: The self-moving device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the self-moving device implements the control method for the ton bag unloading device according to any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that The computer readable storage medium stores a computer program. When the computer program is executed by a processor, the control method of the ton bag unloading device according to any one of claims 1 to 7 is implemented.

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