A port material reclaiming and transfer control system and a gantry-type material reclaiming and transfer device

Abstract

The present invention relates to the technical field of material reclaiming and transferring devices, specifically a port material reclaiming and transferring control system and a gantry-type material reclaiming and transferring device, comprising a central control unit, wherein the data end 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 reclaiming and transferring device and a dynamic correction module, wherein the vehicle identification module comprises an RFID card reader, an area detection sensor and a traffic signal control module, and is used to collaboratively determine the arrival status of a target vehicle through radio frequency identification and area detection. The beneficial effects of the present invention are as follows: the present invention effectively solves the problems of inaccurate positioning and identification, difficulty in determining vehicle arrival, unscientific sampling, lack of process monitoring and insufficient equipment performance in traditional port material reclaiming and transferring operations through precise vehicle positioning and identification, accurate material analysis, scientific sampling planning, real-time operation monitoring and adjustment, and high-performance material reclaiming and transferring devices.

Description

Technical Field

[0001] The present invention relates to the technical field of material reclaiming and transferring devices, in particular to a port material reclaiming and transferring control system and a gantry-type material reclaiming and transferring device. Background Art

[0002] In port reclaiming and transfer operations, trolley cranes with fixed or mobile bridges / gantry structures are core equipment for port container handling. With the development of port automation, remote control systems based on gantry structures are becoming increasingly popular. Existing systems enable remote crane operation through video monitoring and joysticks.

[0003] As trade scale expands and material handling volume increases, higher requirements are placed on the accuracy, efficiency, and stability of material handling systems. However, existing technologies have many shortcomings, as follows:

[0004] 1. Inaccurate vehicle arrival judgment: Traditional port material handling processes have limited positioning methods and cannot accurately measure the vehicle's position in three-dimensional space.

[0005] 2. Inaccurate material identification, unreasonable sampling volume calculation and path planning: In the traditional sampling process, the sampling volume calculation lacks a scientific basis and cannot accurately determine the total sampling mass based on the material type, volume and sampling ratio. At the same time, the sampling path planning is unreasonable and representative sampling points cannot be selected based on the material thickness distribution. This results in low sampling quality and an inability to truly reflect the material characteristics.

[0006] 3. Reclaiming parameters cannot be adjusted dynamically: The reclaiming parameters of existing reclaiming and transfer devices, such as the cutting angle, travel speed, and vibration amplitude, cannot be dynamically adjusted according to the thickness, density, and allocated sampling volume of the material. Furthermore, during the reclaiming process, it is impossible to monitor the material quality and reclaiming volume in real time and dynamically adjust the operating parameters of the sampling device.

[0007] Based on this, the present invention provides a port material reclaiming and transfer control system and a gantry-type material reclaiming and transfer device to solve the problems raised in the above background technology. Summary of the Invention

[0008] The present invention aims at the technical problems existing in the prior art and provides a port material reclaiming and transferring control system and a gantry-type material reclaiming and transferring device to solve the problems involved in the background technology.

[0009] The present invention solves the above-mentioned technical problems with the following technical solutions: a port material reclaiming and transfer control system, comprising a central control unit, wherein 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 reclaiming and transfer device, and a dynamic correction module;

[0010] The vehicle identification module includes an RFID reader, an area detection sensor, and a traffic signal control module, and is used to determine the arrival status of the target vehicle through the coordinated use of radio frequency identification and area detection;

[0011] The 3D positioning module consists of four laser rangefinders and ultrasonic sensors arranged in a fan shape to construct the vehicle's 3D spatial coordinate system;

[0012] The material identification module includes a visual sensor and an ultrasonic thickness detection array. The visual 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 identifying the material type, the material type identification result is output to the intelligent sampling control module.

[0013] Intelligent sampling control module, including: sampling total amount calculation unit, dynamic path planning unit and sampling parameter setting unit;

[0014] The material collection and transfer device is controlled by the intelligent sampling control module to collect and transfer materials:

[0015] The dynamic correction module includes a data acquisition unit, an image analysis unit, an abnormality warning unit, a material taking quantity calculation unit and a material taking process control unit.

[0016] On the basis of the above technical solution, the present invention can also be improved as follows.

[0017] Furthermore, the four laser rangefinders in the three-dimensional positioning module are arranged in a circumferential pattern at 90° intervals at an elevation angle of 15°, and the ultrasonic ranging sensor array is arranged at 5 cm intervals around the perimeter of the sampling area. Sub-centimeter positioning accuracy is generated through a multi-source data fusion algorithm. The material identification module 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 material type identification is achieved through dual verification of the material characteristic spectrum and elemental composition.

[0018] The beneficial effect of adopting the above further solution is that before use, the three-dimensional positioning module and material identification module are installed and debugged. During the port material reclaiming and transfer work, the four laser rangefinders of the three-dimensional positioning module are arranged in a circumferential direction at an elevation angle of 15 degrees and at 90 degrees intervals. In conjunction with the ultrasonic ranging sensor array arranged at 5 cm intervals around the perimeter of the sampling area, a multi-source data fusion algorithm is used to accurately measure the position of the vehicle in three-dimensional space, providing a basis for the precise operation of the subsequent material reclaiming and transfer device.

[0019] The hyperspectral imaging unit in the material identification module is set in parallel with the X-ray fluorescence analyzer, and the material type is identified through dual verification of the material characteristic spectrum and elemental composition. Compared with the traditional method that relies solely on spectral analysis of a single visual 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 collection and transfer process, greatly improves the accuracy and efficiency of the material collection operation, avoids material collection errors caused by positioning deviation and material misjudgment, reduces manpower and material costs, and enhances the stability and reliability of the entire system.

[0020] Furthermore, 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 monitors the status of the sampling area in real time and outputs a preset signal when it detects a vehicle entering the area.

[0021] 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 in the sampling area, the traffic signal control module determines that the target vehicle is in place and issues a traffic indication signal. Otherwise, no traffic indication signal is output.

[0022] The beneficial effect of adopting the above further scheme is that when in use, the vehicle drives towards the sampling area, and the RFID reader communicates with the RFID tag installed on the target vehicle through radio frequency signals, quickly identifies the vehicle identity information, and determines 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, and the traffic signal control module receives data feedback from both. Only when the RFID reader identifies the target vehicle and the area detection sensor confirms that the vehicle has fully entered and stopped in 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 existing technology that it is difficult to accurately judge whether the vehicle is in place, and avoids starting the material collection operation when the vehicle is not fully in place, resulting in irregular material collection and low efficiency. Compared with the traditional manual method of judging the vehicle's arrival, the degree of automation is higher and the accuracy is stronger, which effectively improves the work efficiency and safety of port material collection and transfer, and reduces the time waste and potential safety hazards caused by misjudgment of vehicle arrival.

[0023] Furthermore, it is described that:

[0024] 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: identifying the material type, obtaining the density D(s) corresponding to the material type from the density parameter database D, obtaining the volume V of the three-dimensional model of the material, and calculating the total sampling mass M;

[0025] M=D(s)×V×U

[0026] U is the sampling ratio set by the sampling staff, U≤0.1;

[0027] 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 position of the sampling points, and the sampling weight at each sampling point. The specific steps are as follows:

[0028] Calculate the variance σ between the material thickness and the average thickness 2 , combined with the empirical coefficient α determined based on the statistical significance level and the minimum sampling number threshold N min , through the formula N=max(N min , [α×σ 2 ]) Determine the total number of sampling points N;

[0029] The three-dimensional space of the material is divided into grids, and the average thickness hj of the material in each grid is calculated. The center of the grid in the area with large thickness variation is selected as the sampling point using a greedy algorithm, and the three-axis position (x i ,y i , z i );

[0030] Calculate the ratio of the material mass near the i-th sampling point to the total material mass P i , determine the sampling component mi of the i-th sampling point;

[0031] m i = P i ×M;

[0032] A sampling parameter setting unit is used to dynamically calculate the cutting angle θ, travel speed v and vibration amplitude A of the material transfer device when sampling the material based on the material thickness, density and distribution sampling amount of the three-dimensional distribution model;

[0033] The cut-in angle θ is calculated using the multivariate linear regression model θ=a0+a1h+a2ρ+a3m, where a0, a1, a2, and a3 are coefficients obtained by fitting the experimental data.

[0034] When calculating the travel speed v, an artificial neural network model trained based on no less than 1000 sets of experimental data is used, with material thickness h, density ρ and allocated sampling volume m as input;

[0035] When calculating the vibration amplitude A, a fuzzy logic reasoning system is used to perform reasoning based on the fuzzification results of material thickness, density and distribution sampling amount and preset fuzzy rules, and the vibration amplitude A is obtained after defuzzification processing.

[0036] The beneficial effect of adopting the above further solution is that during the material transfer work at the port, the total sampling amount calculation unit first identifies the material type, obtains the corresponding density D(s) from the density parameter database D, and accurately calculates the total sampling mass M based on the volume V of the material three-dimensional model and the sampling ratio U set by the sampling staff, providing a quantitative basis for subsequent sampling;

[0037] The dynamic path planning unit calculates the material thickness distribution variance σ², combined with the empirical coefficient α determined based on the statistical significance level and the minimum sampling number threshold N min Determine the total number of sampling points N, grid the material in three-dimensional space, select the grid center of the area with large thickness variation as the sampling point, calculate the three-axis position and sampling component of each sampling point to make the sampling more representative;

[0038] The sampling parameter setting unit calculates the cutting angle θ, travel speed v and vibration amplitude A of the material reclaiming and transfer device according to the material thickness, density and allocated sampling volume through the multivariate linear regression model, artificial neural network model and fuzzy logic reasoning system, ensuring that the material reclaiming operation is efficient and stable. This series of operations solves the problems of inaccurate sampling volume calculation, unreasonable sampling path and inability to dynamically adjust the material reclaiming parameters according to material characteristics in the traditional sampling process, improves the scientificity and rationality of sampling, enables the material reclaiming and transfer device to better adapt to the sampling needs of different materials, improves sampling quality and efficiency, and reduces material waste.

[0039] Furthermore, the data acquisition unit is connected to the material taking and transferring device and the intelligent sampling control module. The data acquisition unit acquires the working parameters of the material taking and transferring device and the preset parameters of the intelligent sampling control module in real time. The data acquisition unit refreshes the parameters every 100ms.

[0040] The image analysis unit includes a visual sensor installed on the material reclaiming and transfer device. The image analysis unit uses a deep learning image recognition algorithm based on the ResNet-50 architecture to analyze the material reclaiming work screen captured by the visual sensor frame by frame. By establishing a material feature database, the color, texture, and shape features of the material are compared to accurately identify the type of material. The result is compared with the initial recognition result of the material recognition module to determine whether there is material adulteration or abnormality in the real-time sampled material.

[0041] When the image analysis unit detects material adulteration or abnormality, and the operating parameters of the material transfer device exceed the threshold range preset by the intelligent sampling control module, the abnormal warning unit sends a warning signal to the central control unit. The warning signal includes an audible and visual alarm and a prompt message sent to the staff terminal;

[0042] The material taking amount calculation unit uses an integral algorithm and a material dynamic filling model to accurately calculate the real-time material taking amount of the material taking and transferring device according to the material density and looseness, the real-time volume of the bucket sampling head, and the material taking time interval;

[0043] The material reclaiming process control unit dynamically adjusts the working parameters of the material reclaiming and transferring device through the PID control algorithm according to the deviation between the real-time material reclaiming amount and the preset material reclaiming amount.

[0044] The beneficial effect of adopting the above further scheme is that, when in use, the data acquisition unit is connected to the material taking and transferring device and the intelligent sampling control module in real time to obtain the working parameters and preset parameters. The visual sensor installed on the material taking and transferring device collects the material taking working picture. The image analysis unit analyzes frame by frame based on the deep learning image recognition algorithm of ResNet-50 architecture, accurately identifies the type of material by comparing the material color, texture and shape characteristics with the material feature database, and compares it with the initial result of the material identification module to determine whether there is material adulteration or abnormality. When an abnormality occurs or the working parameters of the material taking and transferring device exceed the preset threshold, the abnormal warning unit pushes a message including sound and light alarm and alarm to the central control unit. The staff terminal sends an early warning signal of prompt information. The material collection quantity calculation unit uses the integral algorithm and the material dynamic filling model to accurately calculate the real-time material collection quantity according to the material density, looseness, real-time volume of the bucket sampling head and the material collection time interval. The material collection process control unit dynamically adjusts the working parameters of the material collection and transfer device through the PID control algorithm according to the deviation between the real-time and preset material collection quantities. This module solves the problems of being unable to monitor the material quality and material collection quantity in real time and unable to adjust the working status of the equipment in time during the port's material collection and transfer process, effectively ensuring the quality of the material collection, avoiding the entry of adulterated materials into the subsequent process, and ensuring that the material collection quantity accurately meets the requirements, thereby improving the automation level and reliability of the entire material collection and transfer system.

[0045] A gantry-type material taking and transferring device comprises a gantry, a three-axis motion platform is installed on the gantry, a sampling arm is connected to the three-axis motion platform, a bucket-type sampling head is hinged to the bottom end of the sampling arm through a pin shaft, an electric push rod is hinged between the sampling arm and the bucket-type sampling head, a two-axis inclination sensor, a resistive heater and a high-frequency vibrator are integrated in the bucket-type sampling head, a material guide pipe cooperating with the bucket-type sampling head is installed on the gantry, a discharge hopper is installed at the bottom of the material guide pipe, a material valve is provided at the connection between the material guide pipe and the discharge hopper, and a plurality of electric clamps for fixing aggregate bags are installed on the gantry at positions corresponding to the discharge hopper.

[0046] The beneficial effect of adopting the above-mentioned further scheme is that when in use, the three-axis motion platform of the gantry-type material reclaiming and transferring device drives the sampling arm to move flexibly in three-dimensional space under the control of the central control unit, and accurately sends the bucket-type sampling head to the material sampling position. After the bucket-type sampling head collects the material, the material is transferred to the discharge hopper through the material guide pipe. Under the discharge hopper, the aggregate bag for collecting the material is fixed by an electric clamp to realize material collection. This structural design solves the problems of poor flexibility and inconvenience in material transfer and collection of traditional material reclaiming and transferring devices. Compared with traditional equipment, the gantry structure makes the material reclaiming range wider and can adapt to the sampling needs of materials in different positions. The electric clamp fixes the aggregate bag conveniently and quickly, improves the material collection efficiency, reduces the intensity of manual operation, and improves the overall efficiency of the port's material reclaiming and transfer operations.

[0047] Furthermore, it is described that:

[0048] The bucket sampling head uses a dual-axis tilt sensor to provide real-time feedback on the cutting angle status, and the cutting angle adjustment range is 15° to 75°;

[0049] A resistance heater is used to maintain the surface temperature of the bucket sampling head at 50±5°C when sampling viscous materials;

[0050] High-frequency vibrator, when detecting material adhesion, activates 50Hz vibration to break the adhesion.

[0051] The beneficial effect of adopting the above-mentioned further scheme is that, during the material reclaiming operation at the port, the bucket sampling head uses a dual-axis inclination sensor to provide real-time feedback on the cutting angle status. 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 sampling head at 50±5°C, effectively preventing the material from sticking to the bucket sampling head, ensuring smooth material collection and transfer. When material adhesion is detected, the high-frequency vibrator activates 50Hz vibration to break the adhesion, further solving the material adhesion problem. These functional improvements solve the problems of unreasonable cutting angle and material adhesion encountered by traditional bucket sampling heads when handling special materials, enhance the adaptability of the device to different materials, improve the continuity and stability of material reclaiming operations, reduce equipment failures and cleaning time caused by material adhesion, and reduce maintenance costs.

[0052] Furthermore, the three-axis motion platform is integrated with a self-lubricating unit and a rack and pinion transmission device, and the self-lubricating unit includes a timing lubrication device and a frequency monitoring module;

[0053] The timing lubrication device periodically delivers lithium-based grease to the rack and pinion transmission device according to preset time intervals;

[0054] The frequency monitoring module monitors the operating frequency of the rack and pinion transmission device in real time and feeds the monitoring data back to the timing lubrication device. When the operating frequency changes, the timing lubrication device dynamically adjusts the lubricant delivery time interval according to the preset mapping relationship between frequency and lubrication time to ensure that the rack and pinion transmission device can obtain appropriate periodic lubrication under different operating conditions.

[0055] The beneficial effect of adopting the above-mentioned further scheme is that during the operation of the gantry-type material reclaiming and transferring device, the timed lubrication device periodically delivers lithium-based grease to the rack and pinion transmission device at preset time intervals to ensure the normal operation of the equipment. The frequency monitoring module monitors the operating frequency of the rack and pinion 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 based on the mapping relationship between the preset frequency and lubrication time. When the equipment runs faster, the lubrication interval is shortened to ensure sufficient lubrication; when the running 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 in traditional equipment due to untimely lubrication or excessive lubrication, improves the reliability and service life of the three-axis motion platform, reduces equipment maintenance costs, and ensures the long-term and stable operation of the port's material reclaiming and transferring operations.

[0056] The beneficial effects of the present invention are:

[0057] In the present invention, the total sampling 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 material thickness distribution variance, combining the preset empirical coefficient and the minimum sampling quantity threshold. A greedy algorithm is used to select the grid center of the area with large thickness variation as the sampling point, and the three-axis position and sampling component of each sampling point are calculated to make the sampling more representative. These operations solve the problems of inaccurate sampling amount calculation and unreasonable sampling path in the traditional sampling process, improve the scientificity and rationality of sampling, enable the material transfer device to better adapt to the sampling needs of different materials, improve sampling quality and efficiency, and reduce material waste.

[0058] In the present invention, the data acquisition unit of the dynamic correction module obtains the working parameters of the material reclaiming and transfer device and the preset parameters of the intelligent sampling control module in real time; the image analysis unit uses the ResNet-50 architecture deep learning image recognition algorithm to compare material characteristics to determine whether there is adulteration or abnormality; the abnormality warning unit promptly sends a warning signal when an abnormality occurs or the working parameters exceed the threshold; the material reclaiming quantity calculation unit uses the integral algorithm and the material dynamic filling model to accurately calculate the real-time material reclaiming quantity; the material reclaiming process control unit dynamically adjusts the working parameters of the material reclaiming and transfer device through the PID control algorithm according to the deviation between the real-time and preset material reclaiming quantities. This module solves the problem of being unable to monitor material quality and material reclaiming quantity in real time and unable to adjust the working status of the equipment in time during the port material reclaiming and transfer process, thereby ensuring the quality of the material reclaiming, preventing adulterated materials from entering the subsequent process, ensuring that the material reclaiming quantity meets the requirements, and improving the automation level and reliability of the entire material reclaiming and transfer system.

[0059] In this invention, the gantry of the gantry-type material reclaiming and transfer device is equipped with a three-axis motion platform, which can drive the sampling arm to move flexibly in three-dimensional space, accurately delivering the bucket-type sampling head to the sampling position. In conjunction with the material guide pipe, discharge hopper and electric clamp, efficient material transfer and collection are achieved, solving the problems of poor flexibility and inconvenience in material transfer and collection of traditional material reclaiming and transfer devices, expanding the material reclaiming range, improving material collection efficiency and reducing manual operation intensity. The dual-axis inclination sensor of the bucket-type sampling head provides real-time feedback on the cutting angle, 15° - The 75° adjustment range adapts to different materials and operating scenarios; the electric heating module maintains the surface temperature of the bucket sampling head when processing viscous materials to prevent material adhesion; the high-frequency vibrator is activated to break the adhesion when the material is adhered, which solves the problems of unreasonable cutting angle and material adhesion when the traditional bucket sampling head processes special materials, enhances the adaptability of the device to different materials, improves the continuity and stability of the material reclaiming operation, and reduces maintenance costs. The self-lubricating unit integrated in the three-axis motion platform dynamically adjusts the lubrication time interval according to the operating frequency of the gear rack transmission device through the timed lubrication device and frequency monitoring module, avoiding problems such as increased wear and shortened life caused by untimely lubrication or excessive lubrication, improving the reliability and service life of the three-axis motion platform, and ensuring the long-term and stable material reclaiming and transfer operations in the port.

[0060] In the present invention, the three-dimensional positioning module cooperates with four laser rangefinders arranged in a fan shape and ultrasonic sensors. The laser rangefinders are arranged circumferentially at an elevation angle of 15° and an interval of 90°, and the ultrasonic rangefinder sensor array is arranged at a spacing of 5 cm. The multi-source data fusion algorithm is used to generate sub-centimeter positioning accuracy, accurately measure the three-dimensional spatial position of the vehicle, and provide a basis for the precise operation of the material reclaiming and transfer device. The material identification module adopts a hyperspectral imaging unit in parallel with the X-ray fluorescence analyzer, and identifies the type of material through dual verification of the material characteristic spectrum and elemental composition, which changes the traditional single visual sensor spectral analysis method and makes 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 reclaiming and transfer process, avoids material reclaiming errors caused by positioning deviation and material misjudgment, greatly improves the accuracy and efficiency of material reclaiming operations, reduces manpower and material costs, and enhances system stability and reliability.

[0061] The vehicle identification module in the present invention solves the problem in the existing technology that it is difficult to accurately judge whether the vehicle is in place, avoiding the situation where the material picking operation starts before the vehicle is fully in place, which leads to irregular material picking and low efficiency. Compared with the traditional manual judgment method, it has a higher degree of automation and greater accuracy, improves the efficiency and safety of port material picking and transfer work, and reduces time waste and potential safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 This is a principle block diagram of a port material reclaiming and transfer control system of the present invention;

[0063] Figure 2 This is a structural schematic diagram of a gantry-type material reclaiming and transferring device of the present invention;

[0064] Figure 3 For the present invention Figure 2 Schematic diagram of the local enlarged structure at A in the middle;

[0065] Figure 4 For the present invention Figure 2 Schematic diagram of the local enlarged structure at B in the middle;

[0066] Figure 5 It is a structural schematic diagram of the three-axis motion platform and sampling arm of the present invention.

[0067] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0068] 1. Gantry; 2. Three-axis motion platform; 3. Sampling arm; 4. Bucket-type sampling head; 5. Electric push rod; 6. Material guide 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 transfer device; 107. Dynamic correction module. DETAILED DESCRIPTION

[0069] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0070] The present invention provides the following preferred embodiments.

[0071] like Figure 1 As shown, a port material reclaiming and transfer control system includes a central control unit 101, the data end of the central control unit 101 is 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 reclaiming and transfer device 106 and a dynamic correction module 107;

[0072] The vehicle identification module 102 includes an RFID card reader, an area detection sensor, and a traffic signal control module, and is used to determine the arrival status of the target vehicle through the coordination of radio frequency identification and area detection;

[0073] 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 monitors the status of the sampling area in real time and outputs a preset signal when it detects a vehicle entering the area.

[0074] 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 in the sampling area, the traffic signal control module determines that the target vehicle is in place and issues a traffic indication signal. Otherwise, no traffic indication signal is output.

[0075] When in use, the vehicle drives towards the sampling area, and the RFID reader communicates with the RFID tag installed on the target vehicle through radio frequency signals, quickly identifying the vehicle's identity information and determining 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, and the traffic signal control module receives data feedback from both. Only when the RFID reader identifies the target vehicle and the area detection sensor confirms that the vehicle has fully entered and stopped in 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 existing technology that it is difficult to accurately judge whether the vehicle is in place, avoiding the situation where material picking operations are started before the vehicle is fully in place, resulting in irregular material picking and low efficiency. Compared with the traditional manual method of judging the vehicle's arrival, the process has a higher degree of automation and greater accuracy, effectively improving the efficiency and safety of port material picking and transfer, and reducing the time waste and potential safety hazards caused by misjudgment of vehicle arrival.

[0076] The three-dimensional positioning module 103 is composed of four laser rangefinders and ultrasonic sensors arranged in a fan shape to construct the vehicle's three-dimensional spatial coordinate system;

[0077] The four laser rangefinders in the three-dimensional positioning module 103 are arranged in a circumferential pattern at 90-degree intervals at an elevation angle of 15 degrees. The ultrasonic ranging sensor array is arranged at 5-cm intervals around the perimeter of the sampling area. Sub-centimeter positioning accuracy is achieved 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 to identify the material type through dual verification of the material characteristic spectrum and elemental composition.

[0078] Before use, the three-dimensional positioning module 103 and the material identification module 104 are installed and debugged. During the port's material handling operation, the four laser rangefinders of the three-dimensional positioning module 103 are arranged in a circumferential pattern at 90° intervals at an elevation angle of 15°. Combined with an array of ultrasonic ranging sensors arranged at 5 cm intervals around the perimeter of the sampling area, a multi-source data fusion algorithm is used to accurately measure the vehicle's position in three-dimensional space, providing a foundation for the subsequent precise operation of the material handling device 106.

[0079] The material identification module 104 includes a visual sensor and an ultrasonic thickness detection array. The visual 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 identifying the material type, the material type identification result is output to the intelligent sampling control module 105.

[0080] 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 dual verification of the material characteristic spectrum and elemental composition. Compared with the traditional method that relies solely on spectral analysis of a single visual 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 collection and transfer process, greatly improves the accuracy and efficiency of the material collection operation, avoids material collection errors caused by positioning deviation and material misjudgment, reduces manpower and material costs, and enhances the stability and reliability of the entire system.

[0081] The intelligent sampling control module 105 includes: a sampling total amount calculation unit, a dynamic path planning unit and a sampling parameter setting unit;

[0082] 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: identifying the material type, obtaining the density D(s) corresponding to the material type from the density parameter database D, obtaining the volume V of the three-dimensional model of the material, and calculating the total sampling mass M;

[0083] M=D(s)×V×U

[0084] U is the sampling ratio set by the sampling staff, U≤0.1;

[0085] The dynamic path planning unit is used to generate a sampling path based on the material thickness distribution. The sampling path includes the total number of sampling points, the three-axis position of the sampling points, and the sampling weight at each sampling point. The specific steps are as follows:

[0086] Calculate the variance σ between the material thickness and the average thickness 2 , combined with the empirical coefficient α determined based on the statistical significance level and the minimum sampling number threshold N min , through the formula N=max(N min , [α×σ 2 ]) Determine the total number of sampling points N;

[0087] The three-dimensional space of the material is divided into grids, and the average thickness hj of the material in each grid is calculated. The center of the grid in the area with large thickness variation is selected as the sampling point using a greedy algorithm, and the three-axis position (x i ,y i , z i );

[0088] Calculate the ratio of the material mass near the i-th sampling point to the total material mass P i , determine the sampling component m of the i-th sampling point i ;

[0089] m i = P i ×M;

[0090] A sampling parameter setting unit for dynamically calculating the cutting angle θ, the travel speed v, and the vibration amplitude A of the material transfer device 106 when sampling the material based on the material thickness, density, and the allocated sampling amount of the three-dimensional distribution model;

[0091] The cut-in angle θ is calculated using the multivariate linear regression model θ=a0+a1h+a2ρ+a3m, where a0, a1, a2, and a3 are coefficients obtained by fitting the experimental data.

[0092] When calculating the travel speed v, an artificial neural network model trained based on no less than 1000 sets of experimental data is used, with material thickness h, density ρ and allocated sampling volume m as input;

[0093] When calculating the vibration amplitude A, a fuzzy logic reasoning system is used to perform reasoning based on the fuzzification results of material thickness, density and distribution sampling amount and preset fuzzy rules, and the vibration amplitude A is obtained after defuzzification processing.

[0094] During material transfer at the port, the sampling total amount calculation unit first identifies the material type, obtains the corresponding density D(s) from the density parameter database D, and accurately calculates the total sample mass M based on the volume V of the material's three-dimensional model and the sampling ratio U≤0.1 set by the sampling staff, providing a quantitative basis for subsequent sampling.

[0095] The dynamic path planning unit calculates the material thickness distribution variance σ², combined with the empirical coefficient α determined based on the statistical significance level and the minimum sampling number threshold N min Determine the total number of sampling points N, grid the material in three-dimensional space, select the grid center of the area with large thickness variation as the sampling point, calculate the three-axis position and sampling component of each sampling point to make the sampling more representative;

[0096] The sampling parameter setting unit calculates the cutting angle θ, travel speed v and vibration amplitude A of the material transfer device 106 through a multivariate linear regression model, an artificial neural network model and a fuzzy logic reasoning system according to the material thickness, density and distribution sampling volume, to ensure that the material transfer operation is efficient and stable. This series of operations solves the problems of inaccurate sampling volume calculation, unreasonable sampling path and inability to dynamically adjust the material parameters according to the material characteristics in the traditional sampling process, improves the scientificity and rationality of sampling, enables the material transfer device 106 to better adapt to the sampling needs of different materials, improves the sampling quality and efficiency, and reduces material waste.

[0097] The material collection and transfer device 106 is controlled by the intelligent sampling control module 105 to collect and transfer materials:

[0098] The dynamic correction module 107 includes a data acquisition unit, an image analysis unit, an abnormality warning unit, a material taking quantity calculation unit and a material taking process control unit.

[0099] The data acquisition unit is connected to the material transfer device 106 and the intelligent sampling control module 105. The data acquisition unit obtains the working parameters of the material transfer device 106 and the preset parameters of the intelligent sampling control module 105 in real time. The data acquisition unit refreshes the parameters every 100ms.

[0100] The image analysis unit includes a visual sensor installed on the material retrieving and transferring device 106. The image analysis unit uses a deep learning image recognition algorithm based on the ResNet-50 architecture to analyze the material retrieving work images captured by the visual sensor frame by frame. By establishing a material feature database, the color, texture, and shape features of the material are compared to accurately identify the type of material. The result is then compared with the initial recognition result of the material recognition module 104 to determine whether there is any material adulteration or abnormality in the real-time sampled material.

[0101] When the image analysis unit detects material adulteration or abnormality, and the operating parameters of the material transfer device 106 exceed the threshold range preset by the intelligent sampling control module 105, the abnormality warning unit sends a warning signal to the central control unit 101. The warning signal includes an audible and visual alarm and a prompt message sent to the staff terminal;

[0102] The material quantity calculation unit uses an integral algorithm and a material dynamic filling model to accurately calculate the real-time material quantity of the material transfer device 106 according to the material density and looseness, the real-time volume of the bucket sampling head 4, and the material collection time interval;

[0103] 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.

[0104] When in use, the data acquisition unit is connected to the material picking and transferring device 106 and the intelligent sampling control module 105 in real time to obtain working parameters and preset parameters. The visual sensor installed on the material picking and transferring device 106 collects the material picking working picture. The image analysis unit analyzes frame by frame based on the deep learning image recognition algorithm of the ResNet-50 architecture, and accurately identifies the type of material by comparing the material color, texture, and shape characteristics with the material feature database, and compares it with the initial result of the material identification module 104 to determine whether there is material adulteration or abnormality. When an abnormality occurs or the working parameters of the material picking and transferring device 106 exceed the preset threshold, the abnormal warning unit pushes a message including sound and light alarm and sends it to the worker. The operator terminal sends an early warning signal of prompt information. The material quantity calculation unit uses the integral algorithm and the material dynamic filling model to accurately calculate the real-time material quantity according to the material density, looseness, 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 transfer device 106 through the PID control algorithm according to the deviation between the real-time and preset material taking quantities. This module solves the problems of being unable to monitor the material quality and material taking quantity in real time and being unable to adjust the working status of the equipment in time during the port material taking and transfer process, effectively ensuring the material taking quality, avoiding the entry of adulterated materials into the subsequent process, and ensuring that the material taking quantity accurately meets the requirements, thereby improving the automation level and reliability of the entire material taking and transfer system.

[0105] like Figure 2-5 As shown, a gantry type material taking and transferring device includes a gantry 1, a three-axis motion platform 2 is installed on the gantry 1, 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 dual-axis inclination sensor, a resistive heater and a high-frequency vibrator, a material guide pipe 6 is installed on the gantry 1 to cooperate with the bucket type sampling head 4, a discharge hopper 7 is installed at the bottom of the material guide pipe 6, a material valve 10 is provided at the connection between the material guide pipe 6 and the discharge hopper 7, and a plurality of electric clamps 9 for fixing the aggregate bag 8 are installed on the gantry 1 and at positions corresponding to the discharge hopper 7.

[0106] When in use, the three-axis motion platform 2 of the gantry-type material reclaiming and transferring device drives the sampling arm 3 to move flexibly in three-dimensional space under the control of the central control unit 101, and accurately sends the bucket-type sampling head 4 to the material sampling position. After the bucket-type sampling head 4 collects the material, it transfers the material to the discharge hopper 7 through the material guide tube 6. Under the discharge hopper 7, the electric clamp 9 is used to fix the aggregate bag 8 for collecting the material to realize the collection of the material. This structural design solves the problems of poor flexibility and inconvenience in material transfer and collection of the traditional material reclaiming and transferring device 106. Compared with traditional equipment, the gantry structure makes the material reclaiming range wider and can adapt to the sampling needs of materials in different positions. The electric clamp 9 fixes the aggregate bag 8 conveniently and quickly, improves the material collection efficiency, reduces the intensity of manual operation, and improves the overall efficiency of the port's material reclaiming and transferring operations.

[0107] The bucket sampling head 4 uses a dual-axis tilt sensor to provide real-time feedback on the cutting angle status, and the cutting angle adjustment range is 15° to 75°;

[0108] A resistance heater is used to maintain the surface temperature of the bucket sampling head 4 at 50±5℃ when sampling viscous materials;

[0109] High-frequency vibrator, when detecting material adhesion, activates 50Hz vibration to break the adhesion.

[0110] During material reclaiming operations at the port, the bucket sampling head 4 uses a dual-axis inclination sensor to provide real-time feedback on the cutting angle status. 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 sampling head 4 at 50±5°C, effectively preventing the material from sticking to the bucket sampling head 4, ensuring smooth material collection and transfer. When material adhesion is detected, the high-frequency vibrator activates 50Hz vibration to break the adhesion, further solving the material adhesion problem. These functional improvements solve the problems of unreasonable cutting angles and material adhesion encountered by traditional bucket sampling heads 4 when handling special materials, enhance the adaptability of the device to different materials, improve the continuity and stability of material reclaiming operations, reduce equipment failures and cleaning time caused by material adhesion, and reduce maintenance costs.

[0111] 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 timing lubrication device and a frequency monitoring module;

[0112] The timing lubrication device periodically delivers lithium-based grease to the rack and pinion transmission device 11 at preset time intervals;

[0113] The frequency monitoring module monitors the operating frequency of the rack and pinion transmission device 11 in real time and feeds back the monitoring 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 to ensure that the rack and pinion transmission device 11 can obtain appropriate periodic lubrication under different operating conditions.

[0114] During the operation of the gantry-type material reclaiming and transferring device, the timed lubrication device periodically delivers lithium-based grease to the rack and pinion transmission device 11 at preset time intervals 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 back the data to the timed lubrication device. When the operating frequency changes, the timed lubrication device dynamically adjusts the lubricant delivery time interval based on the mapping relationship between the preset frequency and lubrication time. When the equipment runs faster, the lubrication interval is shortened to ensure sufficient lubrication; when the running 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 excessive lubrication, improves the reliability and service life of the three-axis motion platform 2, reduces equipment maintenance costs, and ensures the long-term and stable operation of the port's material reclaiming and transferring operations.

[0115] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0116] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A port material transfer control system, characterized in that: It includes a central control unit (101), wherein the data end of the central control unit (101) is 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 transfer device (106), and a dynamic correction module (107); A vehicle identification module (102), comprising an RFID card reader, an area detection sensor and a traffic signal control module, for determining the arrival status of a target vehicle through the coordinated use of radio frequency identification and area detection; A 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 for the vehicle; A material identification module (104) includes a visual sensor and an ultrasonic thickness detection array, wherein the visual sensor identifies the material type through spectral analysis and outputs the corresponding density parameter, and the ultrasonic thickness detection array constructs a three-dimensional model of material distribution, and after identifying the material type, outputs the material type identification result to the intelligent sampling control module (105); An intelligent sampling control module (105) comprises: a sampling total amount calculation unit, a dynamic path planning unit and a sampling parameter setting unit; The material collection and transfer device (106) is controlled by the intelligent sampling control module (105) to collect and transfer materials: A dynamic correction module (107) includes a data acquisition unit, an image analysis unit, an abnormality warning unit, a material taking amount calculation unit, and a material taking process control 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: identifying the material type, obtaining the density D(s) corresponding to the material type from the density parameter database D, obtaining the volume V of the three-dimensional model of the material, and calculating the total sampling mass M; M=D(s)×V×U U is the sampling ratio set by the sampling staff, 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 position of the sampling points, and the sampling weight at 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 determined based on the statistical significance level and the minimum sampling number threshold N min , through the formula N=max(N min , [α×σ 2 ]) Determine the total number of sampling points N; Divide the three-dimensional space of the material into grids and calculate the average thickness h of the material in each grid j , a greedy algorithm is used to select the grid center of the area with large thickness variation as the sampling point, and the three-axis position (x i ,y i , z i ); Calculate the ratio of the material mass near the i-th sampling point to the total material mass P i , determine the sampling component m of the i-th sampling point i ; m i = P i ×M; A sampling parameter setting unit is used to dynamically calculate the cutting angle θ, the travel speed v and the vibration amplitude A of the material transfer device (106) when sampling the material based on the material thickness, density and distribution sampling amount of the three-dimensional distribution model; The cut-in angle θ is calculated using the multivariate linear regression model θ=a0+a1h+a2ρ+a3m, where a0, a1, a2, and a3 are coefficients obtained by fitting the experimental data. When calculating the travel speed v, an artificial neural network model trained based on no less than 1000 sets of experimental data is used, with material thickness h, density ρ and allocated sampling volume m as input; When calculating the vibration amplitude A, a fuzzy logic reasoning system is used to perform reasoning based on the fuzzification results of material thickness, density and distribution sampling amount and preset fuzzy rules, and the vibration amplitude A is obtained after defuzzification processing.

2. A port material reclaiming and transfer control system according to claim 1, characterized in that: The four laser rangefinders in the three-dimensional positioning module (103) are arranged in a circumferential direction at an elevation angle of 15° and at intervals of 90°. The ultrasonic ranging sensor array is arranged at a 5 cm interval around the perimeter of the sampling area. 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. Material type identification is achieved through dual verification of material characteristic spectrum and elemental composition.

3. A port material reclaiming and transfer control system according to claim 1, characterized in that: 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 qualified target vehicle. At the same time, the area detection sensor monitors the status of the sampling area in real time and outputs a preset signal when it detects a vehicle entering 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 in the sampling area, the traffic signal control module determines that the target vehicle is in place and issues a traffic indication signal. Otherwise, no traffic indication signal is output.

4. A port material reclaiming and transfer 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), and the data acquisition unit acquires the working parameters of the material taking and transferring device (106) and the preset parameters of the intelligent sampling control module (105) in real time, and the data acquisition unit refreshes the parameters every 100 ms; The image analysis unit includes a visual sensor installed on the material picking and transferring device (106). The image analysis unit uses a deep learning image recognition algorithm based on the ResNet-50 architecture to analyze the material picking working picture collected by the visual sensor frame by frame, and accurately identifies the material type by comparing the color, texture, and shape characteristics of the material by establishing a material feature database, and compares the result with the initial recognition result of the material recognition module (104) to determine whether there is any material abnormality in the real-time sampled material; When the image analysis unit detects material anomalies and the operating parameters of the material transfer device (106) exceed the threshold range preset by the intelligent sampling control module (105), the abnormality warning unit pushes a warning signal to the central control unit (101), and the warning signal includes an audible and visual alarm and a prompt message sent to the staff terminal; The material taking amount calculation unit uses an integral algorithm and a material dynamic filling model to accurately calculate the real-time material taking amount of the material taking transfer device (106) based on 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 a PID control algorithm according to the deviation between the real-time material taking amount and the preset material taking amount.

5. A gantry-type reclaiming and transferring device, based on the port reclaiming and transferring control system according to any one of claims 1 to 4, characterized in that: The invention comprises a gantry (1), wherein a three-axis motion platform (2) is installed on the gantry (1), 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 sampling head (4) through a pin shaft, an electric push rod (5) is hinged between the sampling arm (3) and the bucket sampling head (4), a biaxial tilt sensor, a resistive heater and a high-frequency vibrator are integrated on the bucket sampling head (4), a guide pipe (6) matched with the bucket 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), and a plurality of electric clamps (9) for fixing aggregate bags (8) are installed on the gantry (1) and at positions corresponding to the discharge hopper (7).

6. A gantry type material taking and transferring device according to claim 5, characterized in that: Said: The bucket sampling head (4) uses a dual-axis tilt sensor to provide real-time feedback on the state of the cutting angle, and the cutting angle adjustment range is 15° to 75°; A resistive heater is used to maintain the surface temperature of the bucket sampling head (4) at 50 ± 5 °C when sampling viscous materials; High-frequency vibrator, when detecting material adhesion, activates 50Hz vibration to break the adhesion.

7. 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-lubricating unit and a rack and pinion transmission device (11), wherein the self-lubricating unit includes a timing lubrication device and a frequency monitoring module; The timing lubrication device periodically delivers lithium-based grease to the rack and pinion transmission device (11) at preset time intervals; The frequency monitoring module monitors the operating frequency of the rack and pinion transmission device (11) in real time and feeds back the monitoring data to the timing lubrication device. When the operating frequency changes, the timing lubrication device dynamically adjusts the lubricant delivery time interval according to a preset mapping relationship between the frequency and the lubrication time.

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