Port material taking and transferring control system and gantry type material taking and transferring device

Abstract

The invention relates to the technical field of material taking and transferring devices, in particular to a port material taking and transferring control system and a gantry type material taking and transferring device.The port material taking and transferring control system comprises a central control unit, and the data end of the central control unit is in data connection with a vehicle recognition module, a three-dimensional positioning module, a material recognition module, an intelligent sampling control module, a material taking and transferring device and a dynamic correction module; and the vehicle identification module comprises an RFID card reader, an area detection sensor and a traffic signal control module and is used for cooperatively judging the in-place state of the target vehicle through radio frequency identification and area detection. The system has the beneficial effects that accurate vehicle positioning and recognition, accurate material analysis, scientific sampling planning, real-time operation monitoring and adjustment and high-performance material taking and transferring devices are adopted; the problems of inaccurate positioning and recognition, difficulty in vehicle in-place judgment, unscientific sampling, lack of process monitoring and insufficient equipment performance in the traditional port material taking and transferring operation are effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of material handling and transfer devices, and particularly to a port material handling and transfer control system and a gantry material handling and transfer device. Background Art

[0002] In the field of port material handling and transfer operations, trolley cranes with fixed or mobile bridge / gantry are the core equipment for port container operations. With the development of port automation, remote control systems based on gantry structures have gradually become popular. Existing systems achieve remote operation of cranes through video monitoring and joysticks.

[0003] With the expansion of trade scale and the increase in material handling volume, higher requirements are put forward for the accuracy, efficiency, and stability of the material handling and transfer system. However, there are many deficiencies in the existing technology, specifically as follows: 1. The judgment of vehicle arrival is inaccurate. In the traditional port material handling and transfer process, the positioning means are limited, and it is impossible to accurately measure the position of the vehicle in three-dimensional space; 2. The material identification is inaccurate, and the calculation of the sampling quantity and the path planning are unreasonable: In the traditional sampling process, the calculation of the sampling quantity lacks a scientific basis, and it is impossible to accurately determine the total sampling mass according to the material type, volume, and sampling ratio. At the same time, the sampling path planning is unreasonable, and it is impossible to select representative sampling points according to the material thickness distribution, resulting in low sampling quality and unable to truly reflect the material characteristics; 3. The material handling parameters cannot be dynamically adjusted: The material handling parameters of the existing material handling and transfer devices, such as the cutting angle, traveling speed, and vibration amplitude, cannot be dynamically adjusted according to the thickness, density, and allocated sampling quantity of the material, and it is impossible to real-time monitor the material quality and the material handling quantity during the material handling process and dynamically adjust the working parameters of the sampling device; Based on this, the present invention provides a port material handling and transfer control system and a gantry material handling and transfer device to solve the problems raised in the above background art. Summary of the Invention

[0004] The present invention aims at the technical problems existing in the prior art, and provides a port material handling and transfer control system and a gantry material handling and transfer device to solve the problems involved in the background art.

[0005] The technical solution of the present invention to solve the above technical problems is as follows: A port material handling and transfer control system includes a central control unit, and the data terminal of the central control unit is respectively connected to a vehicle identification module, a three-dimensional positioning module, a material identification module, an intelligent sampling control module, a material handling and transfer device, and a dynamic correction module through data; The vehicle identification module includes an RFID reader, a regional detection sensor, and a traffic signal control module, and is used to jointly judge the arrival state of the target vehicle through radio frequency identification and regional detection; The three-dimensional positioning module consists of four laser rangefinders arranged in a fan shape and ultrasonic sensors to construct a three-dimensional space coordinate system for the vehicle; The material identification module includes a vision sensor and an ultrasonic thickness detection array. Among them, the vision sensor identifies the material type through spectral analysis and outputs the corresponding density parameters. The ultrasonic thickness detection array constructs a three-dimensional model of the material distribution. After the material type is identified, the material type identification result is output to the intelligent sampling control module; The intelligent sampling control module includes: a sampling total amount calculation unit, a dynamic path planning unit, and a sampling parameter setting unit; The material taking and transferring device is controlled by the intelligent sampling control module to perform material sampling and transfer collection: The dynamic correction module includes a data acquisition unit, an image analysis unit, an abnormal warning unit, a material taking amount calculation unit, and a material taking process control unit.

[0006] Based on the above technical solutions, the present invention can be further improved as follows.

[0007] Further, the four laser rangefinders in the three-dimensional positioning module are arranged in a circumferential direction at 90° intervals with a 15° elevation angle, and the ultrasonic ranging sensor array is arranged on the perimeter of the sampling area at a spacing of 5 cm. Through a multi-source data fusion algorithm, a sub-centimeter-level positioning accuracy is generated. The material identification module includes a hyperspectral imaging unit and an X-ray fluorescence analyzer, which are arranged in parallel. The material type is identified through double verification of the material characteristic spectrum and the elemental composition.

[0008] The beneficial effect of adopting the above further solution is that before use, the three-dimensional positioning module and the material identification module are installed and debugged. During the material taking and transferring work at the port, the four laser rangefinders of the three-dimensional positioning module are arranged in a circumferential direction at 90° intervals with a 15° elevation angle, and are combined with the ultrasonic ranging sensor array arranged on the perimeter of the sampling area at a spacing of 5 cm. Using the multi-source data fusion algorithm, the position of the vehicle in the three-dimensional space can be accurately measured, providing a basis for the precise operation of the subsequent material taking and transferring device; The hyperspectral imaging unit and the X-ray fluorescence analyzer in the material identification module are arranged in parallel, and the material type is identified through double verification of the material characteristic spectrum and the elemental composition. Compared with the traditional method that only relies on the spectral analysis of a single vision sensor, the identification result is more accurate and reliable. This improvement solves the problems of insufficient positioning accuracy and inaccurate material identification in the traditional port material taking and transferring process, greatly improves the accuracy and efficiency of the material taking operation, avoids material taking mistakes caused by positioning deviation and material misjudgment, reduces the labor and material costs, and enhances the stability and reliability of the entire system.

[0009] Further, the RFID reader communicates with the RFID tag installed on the target vehicle through radio frequency signals to identify the vehicle's identity information and determine whether it is a target vehicle that meets the requirements. At the same time, the area detection sensor continuously monitors the status of the sampling area and outputs a preset signal when it detects that a vehicle has entered the area. The traffic signal control module receives data feedback from the RFID reader and the area detection sensor. When the RFID reader identifies the target vehicle and the area detection sensor confirms that the vehicle has completely entered and stopped stably within the sampling area, the traffic signal control module determines that the target vehicle has arrived and issues a traffic indication signal. Otherwise, it does not output a traffic indication signal.

[0010] The beneficial effects of adopting the above further solution are as follows: During use, as the vehicle drives towards the sampling area, the RFID reader communicates with the RFID tag installed on the target vehicle through radio frequency signals to quickly identify the vehicle's identity information and determine whether it is a target vehicle that meets the requirements. At the same time, the area detection sensor continuously monitors the status of the sampling area. Once it detects that a vehicle has entered, it outputs a preset signal. The traffic signal control module receives the data feedback from both. Only when the RFID reader identifies the target vehicle and the area detection sensor confirms that the vehicle has completely entered and stopped stably within the sampling area, does it determine that the target vehicle has arrived and issue a traffic indication signal. This process solves the problem in the prior art of being difficult to accurately determine whether the vehicle has arrived, avoiding situations such as irregular and inefficient material sampling operations caused by starting the material sampling operation when the vehicle is not fully in place. Compared with the traditional manual method of judging whether the vehicle has arrived, it has a higher degree of automation and stronger accuracy, effectively improving the work efficiency and safety of port material sampling and transfer, and reducing the time waste and potential safety hazards caused by misjudging whether the vehicle has arrived.

[0011] Further, the: The sampling total amount calculation unit is used to calculate the total sampling mass based on the density parameter corresponding to the material type and the three-dimensional model volume of the material. The specific steps are as follows: Identify the material type, obtain the density D(s) corresponding to the material type from the density parameter database D, obtain the three-dimensional model volume V of the material, and calculate the total sampling mass M. M = D(s) × V × U U is the sampling ratio set by the sampling staff, and U ≤ 0.1. The dynamic path planning unit is used to generate a sampling path according to the material thickness distribution. The sampling path includes the total amount of sampling points, the three-axis positions of the sampling points, and the sampling components under each sampling point. The specific steps are as follows: Calculate the variance σ2 between the material thickness and the average thickness, in combination with the empirical coefficient α determined based on the statistical significance level and the minimum sampling quantity threshold N min , through the formula N = max(N min, [a×σ 2 ) Determine the total number of sampling points N; Divide the three-dimensional space of the material into grids, calculate the average thickness hj of the material in each grid, use the greedy algorithm to select the grid center in the area with larger thickness change as the sampling point, and determine the three-axis position (x i , y i , z i ) of the i-th sampling point; Calculate the ratio of the mass of the material near the i-th sampling point to the total mass of the material P i , and determine the sampling component mi of the i-th sampling point; m i = P i ×M; Sampling parameter setting unit, which is used to dynamically calculate the cutting angle θ, traveling speed v and vibration amplitude A when the material sampling is carried out by the material taking and transferring device based on the material thickness, density and allocated sampling amount of the three-dimensional distribution model; When calculating the cutting angle θ, it is calculated through the multiple linear regression model θ = a0 + a1h + a2ρ + a3t, where a0, a1, a2, and a3 are coefficients obtained by fitting experimental data; When calculating the traveling speed v, based on the artificial neural network model trained with no less than 1000 groups of experimental data, the material thickness h, density ρ and allocated sampling amount m are used as inputs; When calculating the vibration amplitude A, use the fuzzy logic inference system to perform inference according to the fuzzification results of the material thickness, density and allocated sampling amount and the preset fuzzy rules, and obtain the vibration amplitude A after defuzzification processing.

[0012] The beneficial effect of adopting the above further solution is that in the port material taking and transferring work, the sampling total amount calculation unit first identifies the material type, obtains the corresponding density D(s) from the density parameter database D, combines the volume V of the material three-dimensional model and the sampling ratio U set by the sampling staff, and accurately calculates the total sampling mass M, providing a quantitative basis for subsequent sampling; The dynamic path planning unit calculates the variance σ² of the material thickness distribution, combines the empirical coefficient α determined based on the statistical significance level and the minimum sampling quantity threshold N min to determine the total number of sampling points N, grid the three-dimensional space of the material, select the grid center in the area with larger thickness change as the sampling point, calculate the three-axis position and sampling component of each sampling point, making the sampling more representative; The sampling parameter setting unit calculates the cutting angle θ, the traveling speed v, and the vibration amplitude A of the material taking and transferring device through a multiple linear regression model, an artificial neural network model, and a fuzzy logic inference system respectively according to the material thickness, density, and allocated sampling amount, ensuring the efficient and stable progress of the material taking operation. This series of operations solves the problems of inaccurate sampling amount calculation, unreasonable sampling path, and inability to dynamically adjust the material taking parameters according to the material characteristics in the traditional sampling process, improves the scientificity and rationality of sampling, enables the material taking and transferring device to better adapt to the sampling needs of different materials, improves the sampling quality and efficiency, and reduces material waste.

[0013] Further, the data acquisition unit is data-connected to the material taking and transferring device and the intelligent sampling control module. The data acquisition unit obtains the working parameters of the material taking and transferring device and the preset parameters of the intelligent sampling control module in real time, and the data acquisition unit refreshes the parameters every 100 ms; The image analysis unit includes a vision sensor installed on the material taking and transferring device. The image analysis unit uses a deep learning image recognition algorithm based on the ResNet-50 architecture to analyze each frame of the material taking work picture collected by the vision sensor. By establishing a material feature database, comparing the color, texture, and shape features of the material, accurately identifying the material type, and comparing it with the initial recognition result of the material recognition module, it judges whether there is material doping or abnormal conditions in the real-time sampled material; When the image analysis unit detects material doping or abnormality, and the working parameters of the material taking and transferring device exceed the threshold range preset by the intelligent sampling control module, the abnormal warning unit pushes a warning signal to the central control unit. The warning signal includes an audible and visual alarm and sending a prompt message to the staff terminal; The material taking amount calculation unit accurately calculates the real-time material taking amount of the material taking and transferring device by using an integral algorithm and a material dynamic filling model according to the material density and looseness, the real-time volume of the bucket-type sampling head, and the material taking time interval; The material taking process control unit dynamically adjusts the working parameters of the material taking and transferring device through a PID control algorithm according to the deviation between the real-time material taking amount and the preset material taking amount.

[0014] The beneficial effects of adopting the above further solution are as follows. During use, the data acquisition unit is in real-time data connection with the material handling and transfer device and the intelligent sampling control module to obtain working parameters and preset parameters. The vision sensor installed on the material handling and transfer device collects the working pictures of material handling. The image analysis unit analyzes frame by frame based on the deep learning image recognition algorithm of the ResNet-50 architecture. By comparing the material color, texture, and shape features with the material feature database, the material type is accurately identified and compared with the initial result of the material recognition module to determine whether there is material doping or abnormal conditions. When an abnormality occurs or the working parameters of the material handling and transfer device exceed the preset threshold, the abnormality warning unit pushes a warning signal including an audible and visual alarm and sending a prompt message to the staff terminal to the central control unit. The material taking amount calculation unit accurately calculates the real-time material taking amount according to the material density, looseness, the real-time volume of the bucket sampling head, and the material taking time interval by using the integral algorithm and the material dynamic filling model. The material taking process control unit dynamically adjusts the working parameters of the material handling and transfer device through the PID control algorithm according to the deviation between the real-time and preset material taking amounts. This module solves the problems of inability to monitor the material quality and material taking amount in real-time during the port material handling and transfer process, and the inability to adjust the working state of the equipment in time, effectively ensuring the material taking quality, preventing doped materials from entering the subsequent process, and at the same time ensuring that the material taking amount is accurately in line with the requirements, improving the automation level and reliability of the entire material handling and transfer system.

[0015] A gantry-type material handling and transfer device includes a gantry. A three-axis motion platform is installed on the gantry. A sampling arm is connected to the three-axis motion platform. The bottom end of the sampling arm is hinged with a bucket sampling head through a pin shaft. An electric push rod is hinged between the sampling arm and the bucket sampling head. A dual-axis inclination sensor, a resistive heater, and a high-frequency vibrator are integrated on the bucket sampling head. A guide pipe cooperating with the bucket sampling head is installed on the gantry. A discharge hopper is installed at the bottom of the guide pipe. A material valve is arranged at the connection between the guide pipe and the discharge hopper. A plurality of electric clamps for fixing the aggregate bag are installed on the gantry at the position corresponding to the discharge hopper.

[0016] The beneficial effects of adopting the above further solution are as follows. During use, the three-axis motion platform of the gantry-type material handling and transfer device flexibly moves the sampling arm in three-dimensional space under the control of the central control unit, accurately sending the bucket sampling head to the material sampling position. After the bucket sampling head collects the material, the material is transferred to the discharge hopper through the guide pipe. Below the discharge hopper, the aggregate bag for collecting the material is fixed by using the electric clamp to realize the collection of the material. This structural design solves the problems of poor flexibility and inconvenient material transfer and collection of the traditional material handling and transfer device. Compared with the traditional equipment, the gantry structure enables a wider material taking range and can adapt to the sampling requirements of materials at different positions. The electric clamp for fixing the aggregate bag is convenient and fast, improving the material collection efficiency, reducing the manual operation intensity, and enhancing the overall efficiency of the port material handling and transfer operation.

[0017] Furthermore, the following: The bucket-type sampling head feeds back the cutting angle state in real time through a biaxial inclination sensor, and the adjustment range of the cutting angle is 15° to 75°; A resistive heater maintains the surface temperature of the bucket-type sampling head at 50 ± 5°C during sampling of viscous materials; A high-frequency vibrator activates a 50 Hz vibration to break the adhesion when material adhesion is detected.

[0018] The beneficial effects of adopting the above further solution are that during port material sampling operations, the bucket-type sampling head feeds back the cutting angle state in real time through a biaxial inclination sensor. Its adjustment range of 15° to 75° can adapt to different materials and operating scenarios, ensuring that the sampling head cuts into the material at the optimal angle, improving sampling efficiency and quality. When encountering viscous materials, the resistive heater starts to maintain the surface temperature of the bucket-type sampling head at 50 ± 5°C, effectively preventing the material from sticking to the bucket-type sampling head and ensuring the smooth collection and transfer of the material. When material adhesion is detected, the high-frequency vibrator activates a 50 Hz vibration to break the adhesion, further solving the problem of material adhesion. These functional improvements solve problems such as unreasonable cutting angles and material adhesion encountered by traditional bucket-type sampling heads when dealing with special materials, enhancing the adaptability of the device to different materials, improving the continuity and stability of the material sampling operation, reducing equipment failures and cleaning time caused by material adhesion, and reducing maintenance costs.

[0019] Furthermore, a self-lubricating unit and a gear-rack transmission device are integrated on the three-axis motion platform. The self-lubricating unit includes a timed lubrication device and a frequency monitoring module; The timed lubrication device periodically delivers lithium-based grease to the gear-rack transmission device at a preset time interval; The frequency monitoring module monitors the operating frequency of the gear-rack transmission device in real time and feeds the monitoring data back to the timed lubrication device. When the operating frequency changes, the timed lubrication device dynamically adjusts the delivery time interval of the lubricant according to the preset mapping relationship between frequency and lubrication time to ensure that the gear-rack transmission device can receive appropriate periodic lubrication under different operating conditions.

[0020] The beneficial effects of adopting the above further solution are as follows: During the operation of the gantry material handling and transfer device, the timed lubrication device periodically conveys lithium-based grease to the gear-rack transmission device at preset time intervals to ensure the normal operation of the equipment. The frequency monitoring module monitors the operating frequency of the gear-rack transmission device in real time and feeds back the data to the timed lubrication device. When the operating frequency changes, the timed lubrication device dynamically adjusts the lubricant delivery time interval according to the preset mapping relationship between frequency and lubrication time. When the equipment operating speed increases, the lubrication interval is shortened to ensure sufficient lubrication; when the operating speed slows down, the interval is appropriately extended to avoid lubricant waste. This solution solves the problems of increased wear and shortened lifespan of the gear-rack transmission device in traditional equipment due to untimely lubrication or over-lubrication, improves the reliability and service life of the three-axis motion platform, reduces the equipment maintenance cost, and ensures the long-term stable operation of the port material handling and transfer operation.

[0021] The beneficial effects of the present invention are as follows: In the present invention, the sampling total amount calculation unit of the intelligent sampling control module accurately calculates the total sampling mass based on the material type density parameter, the three-dimensional model volume, and the sampling ratio, providing a quantitative basis for sampling. The dynamic path planning unit determines the total number of sampling points by calculating the variance of the material thickness distribution, combining the preset empirical coefficient and the minimum sampling quantity threshold, selects the grid center of the area with large thickness change as the sampling point using the greedy algorithm, and calculates the three-axis positions and sampling components of each sampling point, making the sampling more representative. These operations solve the problems of inaccurate sampling quantity calculation and unreasonable sampling path in the traditional sampling process, improve the scientificity and rationality of sampling, enable the material handling and transfer device to better adapt to the sampling requirements of different materials, improve the sampling quality and efficiency, and reduce material waste.

[0022] In the present invention, the data acquisition unit of the dynamic correction module obtains the working parameters of the material handling and transfer device and the preset parameters of the intelligent sampling control module in real time; the image analysis unit, based on the deep learning image recognition algorithm of the ResNet-50 architecture, compares the material characteristics to determine whether there is doping or abnormality; the abnormal warning unit timely pushes a warning signal when an abnormality occurs or the working parameters exceed the threshold; the material taking amount calculation unit accurately calculates the real-time material taking amount using the integral algorithm and the material dynamic filling model; the material taking process control unit dynamically adjusts the working parameters of the material handling and transfer device through the PID control algorithm according to the deviation between the real-time and preset material taking amounts. This module solves the problems of being unable to monitor the material quality and material taking amount in real time and being unable to adjust the equipment working state in a timely manner during the port material handling and transfer process, ensures the material taking quality, prevents doped materials from entering the subsequent process, ensures that the material taking amount meets the requirements, and improves the automation level and reliability of the entire material handling and transfer system.

[0023] In the present invention, the gantry of the gantry-type material fetching and transferring device is equipped with a three-axis motion platform, which can drive the sampling arm to move flexibly in three-dimensional space, accurately send the bucket-type sampling head to the sampling position, and cooperate with the material guiding pipe, the discharge hopper and the electric clamp to achieve efficient material fetching and collection. It solves the problems of poor flexibility and inconvenient material fetching and collection of traditional material fetching and transferring devices, expands the material fetching range, improves the material collection efficiency, reduces the manual operation intensity. The biaxial inclination sensor of the bucket-type sampling head real-time feedbacks the cutting angle, and the adjustment range of 15° - 75° adapts to different materials and working scenarios; the electric heating module maintains the surface temperature of the bucket-type sampling head when dealing with viscous materials to prevent material adhesion; the high-frequency vibrator activates to break the adhesion when the material adheres, solving the problems of unreasonable cutting angle and material adhesion when the traditional bucket-type sampling head processes special materials, enhancing the adaptability of the device to different materials, improving the continuity and stability of the material fetching operation, reducing the maintenance cost. The self-lubricating unit integrated in the three-axis motion platform, through the timing lubrication device and the frequency monitoring module, dynamically adjusts the lubrication time interval according to the running frequency of the gear and rack transmission device, avoiding problems such as increased wear and shortened service life caused by untimely lubrication or over-lubrication, improving the reliability and service life of the three-axis motion platform, and ensuring the long-term stable operation of the port material fetching and transferring operation.

[0024] In the present invention, the three-dimensional positioning module cooperates with four fan-shaped laser rangefinders and ultrasonic sensors. The laser rangefinders are arranged at a 15° elevation angle and a 90° circumferential interval, and the ultrasonic ranging sensor array is arranged at a 5 cm interval, and uses the multi-source data fusion algorithm to generate a sub-centimeter positioning accuracy, accurately measuring the three-dimensional space position of the vehicle, providing a basis for the accurate operation of the material fetching and transferring device. The material identification module uses a hyperspectral imaging unit and an X-ray fluorescence analyzer in parallel, and identifies the material type through double verification of the material characteristic spectrum and the elemental composition, changing the traditional single-vision sensor spectral analysis method, making the identification result more accurate and reliable. This improvement effectively solves the problems of insufficient positioning accuracy and inaccurate material identification in the traditional port material fetching and transferring process, avoids material fetching mistakes caused by positioning deviation and material misjudgment, greatly improves the accuracy and efficiency of the material fetching operation, reduces the human and material costs, and enhances the stability and reliability of the system.

[0025] The vehicle identification module in the present invention solves the problem in the prior art that it is difficult to accurately judge whether the vehicle is in place, avoiding situations such as irregular material fetching and low efficiency caused by starting the material fetching operation when the vehicle is not fully in place. Compared with the traditional manual judgment method, it has a higher degree of automation and stronger accuracy, improves the work efficiency and safety of the port material fetching and transferring, and reduces time waste and potential safety hazards. Description of the Drawings

[0026] Figure 1 is the principle block diagram of a port material fetching and transferring control system of the present invention; Figure 2 This is a schematic structural view of a gantry type material taking and transferring device of the present invention; Figure 3 For the present invention Figure 2 It is a partial enlarged structural view at position A in the present invention; Figure 4 For the present invention Figure 2 It is a partial enlarged structural view at position B in the present invention; Figure 5 This is a schematic structural view of a three - axis motion platform and a sampling arm of the present invention.

[0027] In the attached drawings, the list of components represented by each reference numeral is as follows: 1. Gantry; 2. Three - axis motion platform; 3. Sampling arm; 4. Bucket - type sampling head; 5. Electric push rod; 6. Feeding pipe; 7. Discharge hopper; 8. Aggregate bag; 9. Electric clamp; 10. Material valve; 11. Rack - and - pinion transmission device; 101. Central control unit; 102. Vehicle identification module; 103. Three - dimensional positioning module; 104. Material identification module; 105. Intelligent sampling control module; 106. Material taking and transferring device; 107. Dynamic correction module. Detailed implementation manners

[0028] The principles and features of the present invention will be described below with reference to the attached drawings. The examples given are only used to explain the present invention and are not intended to limit the scope of the present invention.

[0029] The present invention provides the following preferred embodiments As Figure 1 shown, a port material taking and transferring control system includes a central control unit 101. The data terminals of the central control unit 101 are respectively connected to a vehicle identification module 102, a three - dimensional positioning module 103, a material identification module 104, an intelligent sampling control module 105, a material taking and transferring device 106 and a dynamic correction module 107 through data; The vehicle identification module 102 includes an RFID reader, a regional detection sensor and a traffic signal control module, and is used to jointly judge the in - place state of the target vehicle through radio frequency identification and regional detection; The RFID reader communicates with the RFID tag installed on the target vehicle through radio frequency signals, identifies the identity information of the vehicle, and judges whether it is a target vehicle that meets the requirements. At the same time, the regional detection sensor monitors the state of the sampling area in real time. When it detects that a vehicle enters this area, it outputs a preset signal; The traffic signal control module receives the data feedback from the RFID reader and the regional detection sensor. When the RFID reader identifies the target vehicle and the regional detection sensor confirms that the vehicle has completely entered and stopped stably in the sampling area, the traffic signal control module determines that the target vehicle is in place and issues a traffic indication signal. Otherwise, it does not output a traffic indication signal.

[0030] During use, the vehicle drives towards the sampling area. The RFID reader communicates with the RFID tag installed on the target vehicle through radio frequency signals to quickly identify the vehicle identity information and determine whether it is a target vehicle that meets the requirements. At the same time, the area detection sensor monitors the status of the sampling area in real time. Once a vehicle is detected entering, it outputs a preset signal. The traffic signal control module receives the data feedback from both. Only when the RFID reader identifies the target vehicle and the area detection sensor confirms that the vehicle has completely entered and stopped stably within the sampling area, is it determined that the target vehicle is in place and a traffic indication signal is issued. This process solves the problem in the prior art that it is difficult to accurately judge whether the vehicle is in place, avoiding situations such as irregular and inefficient material taking operations caused by starting the material taking operation when the vehicle is not fully in place. Compared with the traditional manual method of judging vehicle in place, it has a higher degree of automation and stronger accuracy, effectively improving the working efficiency and safety of port material taking and transfer, and reducing the time waste and potential safety hazards caused by misjudgment of vehicle in place.

[0031] The three-dimensional positioning module 103 is composed of four laser rangefinders and ultrasonic sensors arranged in a fan shape to construct a three-dimensional space coordinate system of the vehicle; The four laser rangefinders in the three-dimensional positioning module 103 are arranged circumferentially at 90° intervals with a 15° elevation angle, and the ultrasonic ranging sensor array is arranged on the perimeter of the sampling area at a spacing of 5 cm. Through a multi-source data fusion algorithm, a sub-centimeter-level positioning accuracy is generated. The material identification module 104 includes a hyperspectral imaging unit and an X-ray fluorescence analyzer. The hyperspectral imaging unit and the X-ray fluorescence analyzer are arranged in parallel, and the material type is identified through double verification of the material characteristic spectrum and element composition.

[0032] Before use, the three-dimensional positioning module 103 and the material identification module 104 are installed and debugged. During the port material taking and transfer work, the four laser rangefinders of the three-dimensional positioning module 103 are arranged circumferentially at 90° intervals with a 15° elevation angle, cooperating with the ultrasonic ranging sensor array arranged on the perimeter of the sampling area at a spacing of 5 cm. Using the multi-source data fusion algorithm, it can accurately measure the position of the vehicle in three-dimensional space, providing a basis for the precise operation of the subsequent material taking and transfer device 106; The material identification module 104 includes a vision sensor and an ultrasonic thickness detection array. Among them, the vision sensor identifies the material type through spectral analysis and outputs the corresponding density parameters. The ultrasonic thickness detection array constructs a three-dimensional model of the material distribution. After the material type is identified, the material type identification result is output to the intelligent sampling control module 105; The hyperspectral imaging unit in the material identification module 104 is arranged in parallel with the X-ray fluorescence analyzer, and the material type is identified through double verification of the characteristic spectrum of the material and the elemental composition. Compared with the traditional method that only relies on the spectral analysis of a single vision sensor, the identification result is more accurate and reliable. This improvement solves the problems of insufficient positioning accuracy and inaccurate material identification in the traditional port material fetching and transfer process, greatly improves the accuracy and efficiency of the material fetching operation, avoids material fetching mistakes caused by positioning deviation and material misjudgment, reduces the labor and material costs, and enhances the stability and reliability of the entire system.

[0033] The intelligent sampling control module 105 includes: a total sampling amount calculation unit, a dynamic path planning unit, and a sampling parameter setting unit; The total sampling amount calculation unit is used to calculate the total sampling mass based on the density parameter corresponding to the material type and the volume of the three-dimensional model. The specific steps are as follows: identify the material type, obtain the density D(s) corresponding to the material type from the density parameter database D, obtain the volume V of the material three-dimensional model, and calculate the total sampling mass M; M = D(s) × V × U U is the sampling ratio set by the sampling staff, and U ≤ 0.1; The dynamic path planning unit is used to generate a sampling path according to the material thickness distribution. The sampling path includes the total number of sampling points, the three-axis positions of the sampling points, and the sampling component under each sampling point. The specific steps are as follows: Calculate the variance σ2 between the material thickness and the average thickness, and combine the empirical coefficient α determined based on the statistical significance level and the minimum sampling quantity threshold N min , and determine the total number of sampling points N through the formula N = max(N min , [a × σ 2 ); Divide the three-dimensional space of the material into grids, calculate the average thickness hj of the material in each grid, and use the greedy algorithm to select the grid center in the area with a large thickness change as the sampling point to determine the three-axis position (x i , y i , z i ) of the i-th sampling point; Calculate the ratio of the material mass near the i-th sampling point to the total material mass P i , and determine the sampling component m i of the i-th sampling point; m i = P i × M; The sampling parameter setting unit is used to dynamically calculate the cutting angle θ, the traveling speed v, and the vibration amplitude A of the material fetching and transfer device 106 when sampling the material based on the material thickness, density, and the allocated sampling amount of the three-dimensional distribution model; When calculating the cutting angle θ, it is calculated through the multiple linear regression model θ = a0 + a1h + a2ρ + a3t, where a0, a1, a2, and a3 are coefficients obtained by fitting experimental data; When calculating the traveling speed v, based on an artificial neural network model trained with no less than 1000 sets of experimental data, the material thickness h, density ρ, and the allocated sampling amount m are used as inputs; When calculating the vibration amplitude A, a fuzzy logic inference system is used to perform inference based on the fuzzification results of the material thickness, density, and the allocated sampling amount and preset fuzzy rules, and the vibration amplitude A is obtained after defuzzification.

[0034] In the port material taking and transferring work, the total sampling amount calculation unit first identifies the material type, obtains the corresponding density D(s) from the density parameter database D, combines the volume V of the material three-dimensional model and the sampling ratio U ≤ 0.1 set by the sampling staff to accurately calculate the total sampling mass M, providing a quantitative basis for subsequent sampling; The dynamic path planning unit calculates the variance σ² of the material thickness distribution, combines the empirical coefficient α determined based on the statistical significance level and the minimum sampling quantity threshold N min to determine the total number of sampling points N, grid the three-dimensional space of the material, select the grid center in the area with larger thickness changes as the sampling point, and calculate the three-axis position and sampling component of each sampling point to make the sampling more representative; The sampling parameter setting unit calculates the cutting angle θ, traveling speed v, and vibration amplitude A of the material taking and transferring device 106 through the multiple linear regression model, artificial neural network model, and fuzzy logic inference system respectively according to the material thickness, density, and the allocated sampling amount, ensuring the efficient and stable progress of the material taking operation. This series of operations solves the problems of inaccurate sampling amount calculation, unreasonable sampling path, and inability to dynamically adjust the material taking parameters according to the material characteristics in the traditional sampling process, improves the scientificity and rationality of sampling, enables the material taking and transferring device 106 to better adapt to the sampling needs of different materials, improves the sampling quality and efficiency, and reduces material waste.

[0035] The material taking and transferring device 106 is controlled by the intelligent sampling control module 105 to perform the sampling, transferring, and collecting of materials: The dynamic correction module 107 includes a data acquisition unit, an image analysis unit, an abnormal warning unit, a material taking amount calculation unit, and a material taking process control unit.

[0036] The data acquisition unit is data-connected to the material taking and transferring device 106 and the intelligent sampling control module 105. The data acquisition unit real-time obtains the working parameters of the material taking and transferring device 106 and the preset parameters of the intelligent sampling control module 105, and the data acquisition unit refreshes the parameters every 100 ms; The image analysis unit includes a vision sensor installed on the material handling and transfer device 106. The image analysis unit uses a deep learning image recognition algorithm based on the ResNet-50 architecture to analyze each frame of the material handling work scene collected by the vision sensor. By establishing a material feature database and comparing the color, texture, and shape features of the materials, it accurately identifies the material types and compares with the initial recognition results of the material recognition module 104 to determine whether there is material doping or abnormal conditions in the real-time sampled materials; When the image analysis unit detects material doping or abnormalities, and the working parameters of the material handling and transfer device 106 exceed the threshold range preset by the intelligent sampling control module 105, the abnormal warning unit pushes a warning signal to the central control unit 101. The warning signal includes audible and visual alarms and sends a prompt message to the staff terminal; The material quantity calculation unit accurately calculates the real-time material quantity of the material handling and transfer device 106 according to the material density and looseness, the real-time volume of the bucket sampling head 4, and the material taking time interval, using integral algorithms and a material dynamic filling model; The material taking process control unit dynamically adjusts the working parameters of the material handling and transfer device 106 through the PID control algorithm according to the deviation between the real-time material quantity and the preset material quantity.

[0037] During use, the data acquisition unit is in real-time data connection with the material handling and transfer device 106 and the intelligent sampling control module 105 to obtain working parameters and preset parameters. The vision sensor installed on the material handling and transfer device 106 collects the material handling work scene. The image analysis unit analyzes each frame based on the deep learning image recognition algorithm of the ResNet-50 architecture. By comparing the color, texture, and shape features of the materials with the material feature database, it accurately identifies the material types and compares with the initial results of the material recognition module 104 to determine whether there is material doping or abnormal conditions. When an abnormality occurs or the working parameters of the material handling and transfer device 106 exceed the preset threshold, the abnormal warning unit pushes a warning signal including audible and visual alarms and sending a prompt message to the staff terminal to the central control unit 101. The material quantity calculation unit accurately calculates the real-time material quantity according to the material density, looseness, the real-time volume of the bucket sampling head 4, and the material taking time interval, using integral algorithms and a material dynamic filling model. The material taking process control unit dynamically adjusts the working parameters of the material handling and transfer device 106 through the PID control algorithm according to the deviation between the real-time and preset material quantities. This module solves the problems of being unable to monitor the material quality and material quantity in real time during the port material handling and transfer process, and being unable to adjust the equipment working state in a timely manner, effectively ensuring the material taking quality, preventing doped materials from entering the subsequent process, and at the same time ensuring that the material quantity is accurately in line with the requirements, improving the automation level and reliability of the entire material handling and transfer system.

[0038] Such as Figures 2 - 5As shown in the figure, a gantry-type material sampling and transfer device includes a gantry 1, on which a three-axis motion platform 2 is installed. A sampling arm 3 is connected to the three-axis motion platform 2. The bottom end of the sampling arm 3 is hinged with a bucket-type sampling head 4 through a pin shaft. An electric push rod 5 is hinged between the sampling arm 3 and the bucket-type sampling head 4. The bucket-type sampling head 4 is integrated with a biaxial inclination sensor, a resistive heater and a high-frequency vibrator. A guide pipe 6 that cooperates with the bucket-type sampling head 4 is installed on the gantry 1. A discharge hopper 7 is installed at the bottom of the guide pipe 6. A material valve 10 is provided at the connection between the guide pipe 6 and the discharge hopper 7. A plurality of electric clamps 9 for fixing the aggregate bag 8 are installed on the gantry 1 at the position corresponding to the discharge hopper 7.

[0039] During use, under the control of the central control unit 101, the three-axis motion platform 2 of the gantry-type material sampling and transfer device drives the sampling arm 3 to move flexibly in three-dimensional space, accurately sending the bucket-type sampling head 4 to the material sampling position. After the bucket-type sampling head 4 collects the material, the material is transferred to the discharge hopper 7 through the guide pipe 6. Below the discharge hopper 7, the aggregate bag 8 for collecting the material is fixed by the electric clamp 9 to realize the collection of the material. This structural design solves the problems of poor flexibility and inconvenient material transfer and collection of the traditional material sampling and transfer device 106. Compared with the traditional equipment, the gantry structure enables a wider material sampling range and can adapt to the sampling requirements of materials at different positions. The electric clamp 9 is convenient and fast for fixing the aggregate bag 8, improving the material collection efficiency, reducing the manual operation intensity, and enhancing the overall efficiency of the port material sampling and transfer operation.

[0040] The bucket-type sampling head 4 real-time feeds back the cutting angle state through the biaxial inclination sensor, and the adjustment range of the cutting angle is 15° to 75°; The resistive heater maintains the surface temperature of the bucket-type sampling head 4 at 50 ± 5 °C during the sampling of viscous materials; The high-frequency vibrator activates a 50 Hz vibration to break the adhesion when detecting material adhesion.

[0041] During the port material sampling operation, the bucket-type sampling head 4 real-time feeds back the cutting angle state through the biaxial inclination sensor. Its adjustment range of 15° to 75° can adapt to different materials and operation scenarios, ensuring that the sampling head cuts into the material at the best angle, improving the sampling efficiency and quality. When encountering viscous materials, the resistive heater starts to maintain the surface temperature of the bucket-type sampling head 4 at 50 ± 5 °C, effectively preventing the material from adhering to the bucket-type sampling head 4 and ensuring the smooth collection and transfer of the material. When detecting material adhesion, the high-frequency vibrator activates a 50 Hz vibration to break the adhesion, further solving the problem of material adhesion. These functional improvements solve the problems such as unreasonable cutting angle and material adhesion encountered by the traditional bucket-type sampling head 4 when dealing with special materials, enhancing the adaptability of the device to different materials, improving the continuity and stability of the material sampling operation, reducing equipment failures and cleaning time caused by material adhesion, and lowering the maintenance cost.

[0042] The three-axis motion platform 2 is integrated with a self-lubricating unit and a rack and pinion transmission device 11. The self-lubricating unit includes a timed lubrication device and a frequency monitoring module; The timed lubrication device periodically delivers lithium-based grease to the rack and pinion transmission device 11 at a preset time interval; The frequency monitoring module monitors the operating frequency of the rack and pinion transmission device 11 in real time and feeds the monitoring data back to the timed lubrication device. When the operating frequency changes, the timed lubrication device dynamically adjusts the delivery time interval of the lubricant according to the preset mapping relationship between frequency and lubrication time to ensure that the rack and pinion transmission device 11 can be properly lubricated periodically under different operating conditions.

[0043] During the operation of the gantry type material handling and transfer device, the timed lubrication device periodically delivers lithium-based grease to the rack and pinion transmission device 11 at a preset time interval to ensure the normal operation of the equipment. The frequency monitoring module monitors the operating frequency of the rack and pinion transmission device 11 in real time and feeds the data back to the timed lubrication device. When the operating frequency changes, the timed lubrication device dynamically adjusts the delivery time interval of the lubricant according to the preset mapping relationship between frequency and lubrication time. When the operating speed of the equipment increases, the lubrication interval is shortened to ensure sufficient lubrication; when the operating speed slows down, the interval is appropriately extended to avoid waste of lubricant. This solution solves the problems of increased wear and shortened life of the rack and pinion transmission device 11 in traditional equipment due to untimely lubrication or over-lubrication, improves the reliability and service life of the three-axis motion platform 2, reduces the equipment maintenance cost, and ensures the long-term stable operation of the port material handling and transfer operation.

[0044] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0045] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A port material taking and transferring control system, characterized in that, It includes a central control unit (101). The data terminals of the central control unit (101) are respectively connected to a vehicle identification module (102), a three-dimensional positioning module (103), a material identification module (104), an intelligent sampling control module (105), a material fetching and transferring device (106), and a dynamic correction module (107) through data connections. The vehicle identification module (102) includes an RFID reader, a region detection sensor, and a traffic signal control module, and is used to jointly judge the in-place state of the target vehicle through radio frequency identification and region detection. The three-dimensional positioning module (103) consists of four laser rangefinders arranged in a fan shape and ultrasonic sensors, and constructs a three-dimensional space coordinate system of the vehicle. The material identification module (104) includes a vision sensor and an ultrasonic thickness detection array. Among them, the vision sensor identifies the material type through spectral analysis and outputs the corresponding density parameter. The ultrasonic thickness detection array constructs a three-dimensional model of the material distribution. After the material type is identified, the material type identification result is output to the intelligent sampling control module (105). The intelligent sampling control module (105) includes a sampling total amount calculation unit, a dynamic path planning unit, and a sampling parameter setting unit. The material fetching and transferring device (106) is controlled by the intelligent sampling control module (105) to perform sampling and transfer collection of materials. The dynamic correction module (107) includes a data acquisition unit, an image analysis unit, an abnormal warning unit, a material fetching amount calculation unit, and a material fetching process control unit.

2. The port material taking and transferring control system according to claim 1, wherein The four laser rangefinders in the three-dimensional positioning module (103) are arranged in a circumferential direction at a 90° interval with a 15° elevation angle. The ultrasonic ranging sensor array is arranged on the perimeter of the sampling area at a spacing of 5 cm. A sub-centimeter-level positioning accuracy is generated through a multi-source data fusion algorithm. The material identification module (104) includes a hyperspectral imaging unit and an X-ray fluorescence analyzer. The hyperspectral imaging unit and the X-ray fluorescence analyzer are arranged in parallel, and the material type is identified through double verification of the material characteristic spectrum and the element composition.

3. The port material taking and transferring control system according to claim 1, characterized in that, The RFID reader communicates with the RFID tag installed on the target vehicle through a radio frequency signal, identifies the identity information of the vehicle, and judges whether it is the target vehicle that meets the requirements. At the same time, the region detection sensor monitors the state of the sampling area in real time. When it detects that a vehicle enters this area, it outputs a preset signal. The traffic signal control module receives the data feedback from the RFID reader and the region detection sensor. When the RFID reader identifies the target vehicle and the region detection sensor confirms that the vehicle has completely entered and stopped stably in the sampling area, the traffic signal control module determines that the target vehicle is in place and issues a traffic indication signal. Otherwise, it does not output a traffic indication signal.

4. The port material taking and transferring control system according to claim 1, characterized in that, The said: The sampling total amount calculation unit is used to calculate the total sampling mass based on the density parameter corresponding to the material type and the volume of the three-dimensional model. The specific steps are as follows: identify the material type, obtain the density D(s) corresponding to this material type from the density parameter database D, obtain the volume V of the material three-dimensional model, and calculate the total sampling mass M. M = D(s) × V × U U is the sampling ratio set by the sampling staff, and U ≤ 0.

1. The dynamic path planning unit is used to generate a sampling path according to the material thickness distribution. The sampling path includes the total amount of sampling points, the three-axis positions of the sampling points, and the sampling components under each sampling point. The specific steps are as follows: Calculate the variance σ between the material thickness and the average thickness 2 , combined with the empirical coefficient α and the minimum sampling quantity threshold N determined based on the statistical significance level min , determine the total number of sampling points N through the formula N = max(N min , [a × σ 2 ); Divide the three-dimensional space of the material into grids and calculate the average thickness h of the material in each grid j , use the greedy algorithm to select the grid center in the area with large thickness change as the sampling point, and determine the three-axis position (x i , y i , z i ) of the i-th sampling point; Calculate the ratio of the material mass near the i-th sampling point to the total material mass P i , and determine the sampling component m of the i-th sampling point i ; m i = P i ×M; The sampling parameter setting unit is used to dynamically calculate the cutting angle θ, the traveling speed v, and the vibration amplitude A when the material sampling is performed by the material taking and transferring device (106) based on the material thickness, density, and allocated sampling amount of the three-dimensional distribution model; When calculating the cutting angle θ, it is calculated through the multiple linear regression model θ = a0 + a1h + a2ρ + a3t, where a0, a1, a2, and a3 are coefficients obtained by fitting experimental data; When calculating the traveling speed v, based on an artificial neural network model trained with no less than 1000 groups of experimental data, the material thickness h, density ρ, and allocated sampling amount m are used as inputs; When calculating the vibration amplitude A, a fuzzy logic inference system is used to perform inference based on the fuzzification results of the material thickness, density, and allocated sampling amount and preset fuzzy rules, and the vibration amplitude A is obtained through defuzzification processing; 5. The port material taking and transferring control system according to claim 1, characterized in that: The data acquisition unit is data-connected to the material taking and transferring device (106) and the intelligent sampling control module (105). The data acquisition unit real-time obtains the working parameters of the material taking and transferring device (106) and the preset parameters of the intelligent sampling control module (105), and the data acquisition unit refreshes the parameters every 100 ms; The image analysis unit includes a vision sensor installed on the material taking and transferring device (106). The image analysis unit uses a deep learning image recognition algorithm based on the ResNet-50 architecture to perform frame-by-frame analysis on the material taking working images collected by the vision sensor. By establishing a material feature database, comparing the color, texture, and shape features of the material, accurately identifying the material type, and comparing it with the initial recognition result of the material recognition module (104), it is judged whether there is material doping or abnormal conditions in the real-time sampled material; When the image analysis unit detects material doping or abnormality, and the working parameters of the material taking and transferring device (106) exceed the threshold range preset by the intelligent sampling control module (105), the abnormal warning unit pushes a warning signal to the central control unit (101). The warning signal includes an audible and visual alarm and sending a prompt message to the staff terminal; The material taking amount calculation unit accurately calculates the real-time material taking amount of the material taking and transferring device (106) by using the integral algorithm and the material dynamic filling model according to the material density and looseness, the real-time volume of the bucket sampling head (4), and the material taking time interval; The material taking process control unit dynamically adjusts the working parameters of the material taking and transferring device (106) through the PID control algorithm according to the deviation between the real-time material taking amount and the preset material taking amount.

6. A gantry type material taking and transferring device, based on the port material taking and transferring control system described in any one of claims 1-5, characterized in that, It includes a gantry (1), on which a three-axis motion platform (2) is installed. A sampling arm (3) is connected to the three-axis motion platform (2). The bottom end of the sampling arm (3) is hinged with a bucket-type sampling head (4) through a pin shaft. An electric push rod (5) is hinged between the sampling arm (3) and the bucket-type sampling head (4). The bucket-type sampling head (4) is integrated with a biaxial inclination sensor, a resistive heater and a high-frequency vibrator. A guide pipe (6) cooperating with the bucket-type sampling head (4) is installed on the gantry (1). A discharge hopper (7) is installed at the bottom of the guide pipe (6). A material valve (10) is arranged at the connection between the guide pipe (6) and the discharge hopper (7). A plurality of electric clamps (9) for fixing an aggregate bag (8) are installed on the gantry (1) at a position corresponding to the discharge hopper (7).

7. A gantry-type material taking and transferring device according to claim 6, characterized in that, The following: The bucket-type sampling head (4) real-time feeds back the cutting angle state through the biaxial inclination sensor, and the cutting angle adjustment range is from 15° to 75°; The resistive heater maintains the surface temperature of the bucket-type sampling head (4) at 50±5°C during the sampling of viscous materials; The high-frequency vibrator activates a 50Hz vibration to break the adhesion when material adhesion is detected.

8. A gantry type material taking and transferring device according to claim 6, characterized in that, The three-axis motion platform (2) is integrated with a self-lubrication unit and a gear-rack transmission device (11). The self-lubrication unit includes a timing lubrication device and a frequency monitoring module; The timing lubrication device periodically delivers lithium-based grease to the gear-rack transmission device (11) at a preset time interval; The frequency monitoring module real-time monitors the operating frequency of the gear-rack transmission device (11) and feeds the monitoring data back to the timing lubrication device. When the operating frequency changes, the timing lubrication device dynamically adjusts the delivery time interval of the lubricant according to the mapping relationship between the preset frequency and the lubrication time, so as to ensure that the gear-rack transmission device (11) can obtain appropriate periodic lubrication under different operating conditions.

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