Unloading regulation and control method and device, computer equipment, readable storage medium and program product

Abstract

The invention relates to an unloading regulation and control method and device, computer equipment, a readable storage medium and a program product, and relates to the technical field of unloading. The method comprises the steps of obtaining image data of a target chute in response to an unloading regulation and control instruction for the target chute; based on the image data, carrying out unloading working condition analysis on the target chute to obtain unloading working condition information of the target chute; acquiring equipment load information of driving equipment for controlling the target chute to move; and based on the unloading working condition information and the equipment load information, the target chute is subjected to unloading regulation and control, and an unloading regulation and control result of the target chute is obtained. By adopting the method, the unloading efficiency can be ensured.

Description

Technical Field

[0001] This application relates to the technical field of discharging, and particularly to a discharging regulation method, device, computer device, readable storage medium, and program product. Background Art

[0002] A chute is a material transfer device that is widely used in fields such as mines, metallurgy, and chemical industries, bringing great convenience to material handling.

[0003] In the current chute discharging process, discharging regulation is mainly carried out manually. However, this method relying on human subjective consciousness cannot guarantee the accuracy of discharging regulation, thus easily causing situations such as material accumulation and blockage, and further affecting the discharging efficiency. Summary of the Invention

[0004] Based on this, it is necessary to provide a discharging regulation method, device, computer device, computer-readable storage medium, and computer program product that can guarantee the discharging efficiency for the above technical problems.

[0005] In a first aspect, this application provides a discharging regulation method, including: in response to a discharging regulation instruction for a target chute, acquiring image data of the target chute; based on the image data, analyzing the discharging working condition of the target chute to obtain the discharging working condition information of the target chute; acquiring the device load information of the driving device used to control the movement of the target chute; based on the discharging working condition information and the device load information, regulating the discharging of the target chute to obtain the discharging regulation result of the target chute.

[0006] In one embodiment, the discharging working condition information and the device load information are fused to obtain fused information; based on the fused information, evaluating the discharging state of the target chute to obtain the target state information of the target chute; when the target state information indicates that the target chute is in an abnormal discharging state, regulating the discharging of the target chute to obtain the discharging regulation result of the target chute.

[0007] In one embodiment, when the target state information indicates that the target chute is in an abnormal discharging state, controlling the driving device to move in the reverse direction to obtain the reverse movement result of the driving device; based on the reverse movement result, regulating the discharging of the target chute to obtain the discharging regulation result of the target chute.

[0008] In one embodiment, based on the reverse movement result, the discharging state of the target chute is analyzed again to obtain the current state information of the target chute; when the current state information indicates that the target chute is still in an abnormal discharging state, the current load information of the driving device during the reverse movement and the current working condition information of the target chute under the reverse movement of the driving device are obtained; based on the fusion information between the current load information and the current working condition information, the control parameters of the target chute are optimized to obtain the optimized control parameters; according to the optimized control parameters, the discharging regulation of the target chute is carried out to obtain the discharging regulation result of the target chute.

[0009] In one embodiment, based on the fusion information, the discharging state of the target chute is evaluated to obtain the initial state information of the target chute; the historical working condition information of the target chute during the execution of the historical discharging operation is obtained, and the reliability verification of the initial state information is carried out based on the historical working condition information to obtain the reliability verification result of the initial state information; when the reliability verification result indicates that the initial state information is reliable, the initial state information is used as the target state information of the target chute.

[0010] In one embodiment, based on the image data, the working conditions of the target chute and the target material discharged by the target chute are analyzed respectively to obtain the chute working condition information of the target chute and the material working condition information of the target material; the chute working condition information and the material working condition information are jointly used as the discharging working condition information.

[0011] In a second aspect, the present application further provides a discharging regulation device, including: an image acquisition module, configured to obtain the image data of the target chute in response to a discharging regulation instruction for the target chute; a discharging working condition analysis module, configured to perform discharging working condition analysis on the target chute based on the image data to obtain the discharging working condition information of the target chute; a load information acquisition module, configured to obtain the device load information of the driving device used to control the movement of the target chute; a discharging regulation module, configured to perform discharging regulation on the target chute based on the discharging working condition information and the device load information to obtain the discharging regulation result of the target chute.

[0012] In a third aspect, the present application further provides a computer device, including a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented: in response to a discharging regulation instruction for the target chute, obtain the image data of the target chute; based on the image data, perform discharging working condition analysis on the target chute to obtain the discharging working condition information of the target chute; obtain the device load information of the driving device used to control the movement of the target chute; based on the discharging working condition information and the device load information, perform discharging regulation on the target chute to obtain the discharging regulation result of the target chute.

[0013] Fourthly, the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented: in response to a discharging regulation instruction for a target chute, acquiring image data of the target chute; based on the image data, analyzing the discharging working condition of the target chute to obtain discharging working condition information of the target chute; acquiring equipment load information of a driving device used to control the movement of the target chute; and based on the discharging working condition information and the equipment load information, performing discharging regulation on the target chute to obtain a discharging regulation result of the target chute.

[0014] Fifthly, the present application further provides a computer program product, including a computer program. When the computer program is executed by a processor, the following steps are implemented: in response to a discharging regulation instruction for a target chute, acquiring image data of the target chute; based on the image data, analyzing the discharging working condition of the target chute to obtain discharging working condition information of the target chute; acquiring equipment load information of a driving device used to control the movement of the target chute; and based on the discharging working condition information and the equipment load information, performing discharging regulation on the target chute to obtain a discharging regulation result of the target chute.

[0015] For the above-mentioned discharging regulation method, device, computer device, computer-readable storage medium and computer program product, in response to a discharging regulation instruction for a target chute, image data of the target chute is first acquired. Thus, based on the image data, the discharging working condition of the target chute is analyzed to obtain discharging working condition information of the target chute, and the discharging working condition information can reflect the actual discharging situation of the target chute. Then, equipment load information of a driving device used to control the movement of the target chute is acquired, and the equipment load information can reflect in real time the material flow resistance received by the target chute. Finally, by fusing the discharging working condition information and the equipment load information, discharging regulation is performed on the target chute to obtain a discharging regulation result of the target chute. This solution replaces traditional manual regulation with an intelligent multi-data fusion analysis technology, and comprehensively analyzes the discharging regulation of the chute from two aspects: the discharging working condition of the chute and the equipment performance of the driving device, ensuring the accuracy and reliability of the discharging regulation, and thus guaranteeing the discharging efficiency and production efficiency of the chute. Description of the Drawings

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required to be used in the description of the embodiments of the present application or related technologies. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0017] Figure 1 It is an application environment diagram of the discharging regulation method in an embodiment;

[0018] Figure 2 Schematic diagram of a flow chart of a method for controlling unloading in one embodiment;

[0019] Figure 3 A schematic diagram of a flow chart for analyzing a chute discharge state in one embodiment;

[0020] Figure 4 Schematic diagram of the structure of a convolutional neural network in one embodiment;

[0021] Figure 5 Schematic diagram of a process for driving a device to move in reverse in one embodiment;

[0022] Figure 6 Schematic diagram of a flow chart for calculating optimal control parameters in one embodiment;

[0023] Figure 7 A schematic diagram of a flow chart of chute status verification in one embodiment;

[0024] Figure 8 A schematic diagram of an intelligent chute unloading control device in one embodiment;

[0025] Figure 9 A schematic diagram of an intelligent chute unloading control device in another embodiment;

[0026] Figure 10 A schematic flow chart of a method for controlling discharge in a specific embodiment;

[0027] Figure 11 This is a structural block diagram of a discharge control device in one embodiment;

[0028] Figure 12 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0030] The unloading control method provided in the embodiment of the present application can be applied to Figure 1In the application environment shown. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104, or can be placed on the cloud or other network servers. Among them, the terminal 102 can be, but is not limited to, various personal computers, laptop computers, smart phones, tablet computers and Internet of Things devices. The server 104 can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services.

[0031] Specifically, in response to the unloading control instruction for the target chute initiated by the terminal 102, the server 104 first obtains the image data of the target chute. Then, based on the image data, it analyzes the unloading working condition of the target chute to obtain the unloading working condition information of the target chute. Next, it obtains the device load information of the driving device used to control the movement of the target chute. Finally, based on the unloading working condition information and the device load information, it performs unloading control on the target chute to obtain the unloading control result of the target chute.

[0032] In an exemplary embodiment, as Figure 2 shown, a method for unloading control is provided. Taking the server 104 in Figure 1 as an example, the method includes the following steps:

[0033] Step S202: In response to the unloading control instruction for the target chute, obtain the image data of the target chute.

[0034] Among them, the target chute can refer to a device used for material unloading, such as a swing chute. The swing chute is a movable unloading control device that can swing in the horizontal or vertical direction to expand the unloading coverage range and achieve uniform cloth distribution. Of course, in actual applications, unloading control can also be performed on other unloading chutes according to actual needs, such as a vibrating screen chute, which is a device used for material transportation and screening in a vibrating screen. Unloading control can also be performed on a combined unloading control device composed of a swing chute and a vibrating screen chute. It should be noted that the swing chute is the final execution device for unloading materials into transportation tools (such as trucks, trains, etc.). The necessity and demand for its unloading control are much higher than those of other chutes. Coupled with the swinging and opening / closing actions of the swing chute, its gate opening is not fixed, and the risk of material blockage is relatively high. Therefore, this embodiment focuses on unloading control of the swing chute.

[0035] The unloading control instruction can be an instruction used to indicate the unloading control of the target chute. The unloading control instruction can be triggered manually, that is, during the entire process of the target chute performing the unloading operation, the operator can actively trigger the unloading control instruction at any time. The unloading control instruction can also be automatically triggered by the server. For example, when the target chute starts to perform the unloading operation, the server automatically generates the unloading control instruction and starts to obtain the image data of the target chute.

[0036] The image data can be an image or video of the target chute collected by the image acquisition device. It can be an image at the chute outlet of the target chute to focus on the material flow situation, or it can be a global image of the target chute. The global image can intuitively display the overall pose of the target chute and the global path of the material flow. The image acquisition device can be, but is not limited to, any one of a binocular camera, a thermal imaging camera, a lidar, etc. It can be understood that the choice of which image acquisition device to use can be determined according to actual needs. For example, in a medium and low dust environment and when a relatively low shooting cost needs to be ensured, a binocular camera can be selected; in a high dust environment and when there is sufficient cost, a thermal imaging camera can be selected; when it is necessary to accurately measure the material accumulation volume or construct a three-dimensional model of the chute structure, a lidar can be selected, but the cost required will be higher. Of course, a combination of multiple image devices can also be selected.

[0037] Exemplarily, when the server receives or automatically triggers the unloading control instruction for the target chute, it first needs to obtain the image data of the target chute collected by the image acquisition device, and this image data can be used to analyze the unloading working condition of the target chute subsequently.

[0038] In some embodiments, after the server receives the image data, it can preprocess the image data, such as image correction, light compensation, grayscale conversion, etc., to improve the accuracy of the image data.

[0039] Step S204, based on the image data, analyze the unloading working condition of the target chute to obtain the unloading working condition information of the target chute.

[0040] Among them, the unloading working condition information can be a set of key parameters characterizing the state of the unloading process, and can include, but is not limited to, the chute gate opening, the material flow rate, the material distribution situation, etc. Among them, the chute gate opening refers to the actual opening and closing degree (0%-100%) of the swing chute outlet gate. The material flow rate refers to the volume of material passing through the chute outlet per unit time. The material distribution situation refers to the accumulation form of the material in the chute (such as unilateral partial load, central accumulation).

[0041] Exemplarily, after obtaining the image data, the server can perform a working condition analysis on the target chute and the material discharged from the target chute based on the image data, so as to obtain information such as the opening degree of the chute gate, the material flow rate, and the material distribution.

[0042] In some embodiments, for the opening degree of the chute gate, the server can extract the edge features of the gate from the image data, and based on the edge features of the gate, the pixel distance of the gate edge can be determined. According to the pre-calibrated mapping relationship between pixels and actual physical dimensions, the pixel distance of the gate edge can be converted into the actual physical width, and this width is the opening degree of the gate.

[0043] In some embodiments, for the material flow rate, the server can extract SIFT (Scale-invariant feature transform) features from the image data. SIFT features can be understood as some key points in the image (such as particle edges, corner points) and the local feature descriptions around these key points, and these key points remain stable under different scales, rotations, and illuminations. Then, the LK (Lucas-Kanade) optical flow method can be used to track the pixel displacement of the same feature point in adjacent images, and this pixel displacement can be converted into the actual physical displacement. Then, a plane perpendicular to the material flow direction is virtually intercepted at the outlet of the chute, and all feature points passing through this plane are included in the flow rate statistics. Based on the pre-established mapping relationship between the number of feature points and the actual flow rate, the number of feature points passing through the cross-section per unit time can be converted into the actual flow rate, that is, the material flow rate.

[0044] In some embodiments, for the material distribution analysis, the server can use a U-Net network to perform semantic segmentation on the RGB image. Among them, the U-Net network is a convolutional neural network for image segmentation. It can divide the normal flow area, the slight accumulation area, and the blockage area in the image, and can label each area with different colors. Further, the server can calculate the area ratio of each area. When the ratio of the blockage area is greater than the preset threshold, it can indicate that there is a situation of unloading blockage currently.

[0045] It should be noted that in actual applications, other methods can be selected according to actual needs to analyze information such as the opening degree of the chute gate, the material flow rate, and the material distribution based on the image data, and this embodiment does not limit this.

[0046] Step S206, obtain the device load information of the drive device used to control the movement of the target chute.

[0047] Among them, the driving device refers to an electric actuator that drives the target chute to swing or lift, such as a winch motor. The device load information may refer to the mechanical load data borne by the driving device during operation, including but not limited to at least one of torque, current, power, etc.

[0048] In some embodiments, the device load information of the driving device can be obtained by real-time detection of a target sensor installed inside the driving device. The target sensor can be but is not limited to at least one of a torque sensor for detecting torque, a current sensor for detecting current, a power sensor for detecting power, etc.

[0049] Exemplarily, the movement of the target chute is controlled by the driving device. Considering that in practical applications, image data is easily interfered by external influencing factors such as environmental dust, the device load information of the driving device is introduced in this embodiment to assist the image data in discharging regulation to improve the accuracy of discharging regulation. It can be understood that if the target chute is blocked, it means that the material in the chute will become heavier, and the resistance that the driving device needs to overcome will become larger, so its load will change suddenly. Specifically, in addition to obtaining the image data of the target chute, the server also needs to obtain the device load information of the driving device through the target sensor to achieve precise regulation of the target chute through multi-data fusion analysis.

[0050] Step S208, based on the discharging condition information and the device load information, perform discharging regulation on the target chute to obtain the discharging regulation result of the target chute.

[0051] Among them, discharging regulation can be understood as a process of adjusting various relevant parameters during the discharging operation of the target chute to solve the problem of abnormal discharging, so that the target chute achieves the expected discharging effect. The discharging regulation result can be a relevant result used to characterize the discharging regulation effect, such as whether the chute state is normal, whether the material flow rate is normal, whether the load of the driving device is normal, the discharging regulation duration, etc. Exemplarily, after the server obtains the discharging condition information and the device load information, it can perform information fusion on the discharging condition information and the device load information through a deep learning model, and then based on the fused information, comprehensively analyze the discharging regulation of the target chute to obtain a more accurate discharging regulation result.

[0052] In some embodiments, after the server obtains the unloading condition information, it can first perform unloading regulation in the traditional control layer based on the unloading condition information. For example, the server extracts the material flow rate from the unloading condition information. Assuming that the material flow rate is lower than the expected flow rate value, a basic control instruction can be initially generated. For example, the chute gate opening can be increased in a fixed proportion to quickly correct the deviation and maintain basic stability. Then, it enters the unloading regulation in the intelligent optimization layer, that is, through the deep learning model to fuse multi-source data, deeply analyze the unloading regulation strategy, and perform global optimization. In this way, through the joint regulation of the traditional control layer and the intelligent optimization layer, the real-time performance and intelligence of the unloading regulation can be taken into account.

[0053] In this embodiment, in response to the unloading regulation instruction for the target chute, the image data of the target chute is first obtained. Thus, based on the image data, the unloading condition analysis of the target chute is performed to obtain the unloading condition information of the target chute, and the unloading condition information can reflect the actual unloading situation of the target chute. Then, the equipment load information of the driving device used to control the movement of the target chute is obtained, and the equipment load information can reflect the material flow resistance received by the target chute in real time. Finally, by fusing the unloading condition information and the equipment load information, the unloading regulation of the target chute is performed to obtain the unloading regulation result of the target chute. This embodiment uses an intelligent multi-data fusion analysis technology to replace the traditional manual regulation, and comprehensively analyzes the unloading regulation of the chute from two aspects: the unloading condition of the chute and the equipment performance of the driving device, ensuring the accuracy and reliability of the unloading regulation, and thus guaranteeing the unloading efficiency and production efficiency of the chute.

[0054] In an exemplary embodiment, as Figure 3 shown, based on the unloading condition information and the equipment load information, the unloading regulation of the target chute is performed to obtain the unloading regulation result of the target chute, including:

[0055] Step S302, fuse the unloading feature information and the equipment load information to obtain the fusion information.

[0056] Among them, the fusion information can be understood as the characteristic information after the unloading condition information and the equipment load information are fused through the deep learning model. Its manifestation form can be a feature matrix containing the unloading condition characteristics and the equipment load characteristics. The deep learning model can be a convolutional neural network. Of course, in actual applications, other types of deep learning models can also be selected according to actual needs.

[0057] Exemplarily, the server can input both the unloading condition information and the equipment load information into the convolutional neural network. The feature extraction layer of the convolutional neural network can respectively extract the information features of these two types of information, so as to obtain the information features corresponding to each of the two types of information. The feature fusion layer of the convolutional neural network can further fuse the two types of information features to obtain a fusion feature.

[0058] In a preferred example, the server can also take advantage of the excellent performance of the convolutional neural network in processing image data and its ability to effectively extract spatial features, and directly input the image data and device load information into the convolutional neural network. The convolutional neural network extracts the discharging condition information based on the image data and fuses the device load information to analyze the discharging regulation strategy. In this way, the accuracy of the discharging condition information can be further improved.

[0059] Step S304: Based on the fused information, evaluate the discharging state of the target chute to obtain the target state information of the target chute.

[0060] Among them, the target state information refers to the discharging state of the target chute, and the discharging state can include a normal discharging state and an abnormal discharging state. The discharging is considered abnormal when any one or more of the following conditions are met: the proportion of the blocked material area is greater than a specified threshold (such as 5%) and the duration of the blocked material is greater than a specified duration (such as 3 seconds); the load of the driving device suddenly changes, such as a sudden increase in torque. In practical applications, it is not limited to these two conditions, and can be customized. On the contrary, if none of the above conditions are met, the discharging is considered normal.

[0061] Exemplarily, after obtaining the fused features, the deep learning model can further evaluate the discharging state of the target chute based on the fused features, so as to determine whether the target chute is in a normal discharging state or an abnormal discharging state. In the normal discharging state, the model can output an identifier of the normal state (such as 00) and the probability P1 of the normal state. At this time, there is no blocked material in the target chute, and the load of the driving device is stable. In the abnormal discharging state, the model can output an identifier of the abnormal state (such as 01) and the probability P2 of the abnormal state. At this time, the blocked material area of the target chute is large, and / or the load of the driving device suddenly changes. The model can feedback this information to the server.

[0062] Step S306: When the target state information indicates that the target chute is in an abnormal discharging state, perform discharging regulation on the target chute to obtain the discharging regulation result of the target chute.

[0063] Exemplarily, when the target chute is in an abnormal discharging state, the output layer of the convolutional neural network will finally output the discharging regulation strategy of the target chute based on the fused features. The server can perform discharging regulation on the target chute based on this discharging regulation strategy, so as to obtain the discharging regulation result of the target chute. Among them, the discharging regulation strategy can be, but is not limited to, at least one of the gate opening adjustment amount (such as increasing from 50% to 55%), the driving device control strategy (such as motor reverse), warning or shutdown instructions, etc.

[0064] Figure 4The model structure of the convolutional neural network is shown, including an input layer, a convolutional layer, a pooling layer, a fully connected layer, and an output layer. Among them, the input layer can be used to receive image data and device load information. Four groups of convolutional layers and pooling layers are alternately stacked and can be used to extract information features. The fully connected layers (fully connected layer 1 and fully connected layer 2) can be used to judge the discharging state. The output layer generates the final discharging control decision. It should be understood that the convolutional neural network is a model that has been pre-trained based on a large number of sample data and already has the ability to perform multi-information fusion and output the optimal discharging control scheme based on the fused information. Therefore, this convolutional neural network can achieve efficient and accurate discharging control analysis.

[0065] In some embodiments, the server can also use incremental learning technology to regularly update the convolutional neural network, improve the accuracy of chute state recognition and the accuracy of discharging control strategy analysis, enable the model to generate better discharging control strategies when facing complex and changeable working conditions, so as to achieve precise, efficient, and intelligent control of the chute discharging process, and ensure stable material transportation and safe operation of the equipment.

[0066] In this embodiment, by using a deep learning model for discharging control, the efficiency and accuracy of discharging control can be improved.

[0067] In an exemplary embodiment, as Figure 5 shown, when the target state information indicates that the target chute is in an abnormal discharging state, discharging control is performed on the target chute to obtain the discharging control result of the target chute, including:

[0068] Step S502, when the target state information indicates that the target chute is in an abnormal discharging state, control the driving device to move in the reverse direction to obtain the reverse movement result of the driving device.

[0069] Among them, the reverse movement refers to the driving device performing an action opposite to the normal running direction, aiming to dredge the blockage through reverse torque vibration. The reverse movement result can be used to characterize whether the driving device has successfully performed reverse operation.

[0070] Exemplarily, when the discharging of the target chute is abnormal, the model can first output a discharging control strategy of the first level, that is, the relevant indicators for controlling the driving device to move in the reverse direction, such as the reverse movement duration (such as 0.5 seconds) and the reverse torque value (such as 80% of the rated torque). After the server receives this discharging control strategy, it can control the driving device to move in the reverse direction for a certain duration.

[0071] Step S504, based on the reverse movement result, perform discharging control on the target chute to obtain the discharging control result of the target chute.

[0072] Exemplarily, after the driving device moves in the reverse direction for a certain period of time, the server will perform a status check on the target chute again. If the target chute returns to the normal discharging state, a discharging control result for the target chute will be generated. If the target chute is still in the abnormal discharging state, further discharging control is required.

[0073] In some embodiments, the reverse movement index of the driving device can be determined based on the blocked material area and / or the duration of blockage. For example, if the blocked material area is large and / or the duration of blockage is long, the degree of increase in the reverse torque value and / or the degree of increase in the reverse movement duration can be increased. Conversely, if the blocked material area is small and / or the duration of blockage is short, the reverse torque value and / or the reverse movement duration can be finely adjusted (increased).

[0074] In some embodiments, in addition to controlling the driving device to move in the reverse direction, the server can also finely adjust (increase) the opening degree of the chute gate to further reduce the material pressure in the chute and improve the dredging effect.

[0075] In this embodiment, when the target chute is in the abnormal discharging state, first, the driving device is controlled to reverse to dredge the blockage through reverse torque vibration, achieving the purpose of rapid dredging, thereby improving the discharging efficiency and maximizing the guarantee of production efficiency.

[0076] In an exemplary embodiment, as Figure 6 shown, based on the reverse movement result, discharging control is performed on the target chute to obtain the discharging control result of the target chute, including:

[0077] Step S602, based on the reverse movement result, analyze the discharging state of the target chute again to obtain the current state information of the target chute.

[0078] Among them, the current state information may refer to the state information of the target chute after the driving device moves in the reverse direction.

[0079] Exemplarily, after the driving device completes the reverse movement, the server analyzes the discharging state of the target chute again. That is, the image data of the target chute is collected again. Since the load of the driving device has been adjusted at this time, its load information may not be obtained temporarily. The server inputs the current image data into the model again, and the model can determine the current state of the target chute by detecting the change in the blocked material area. For example, if the blocked material area drops within the allowable blocked material area, it means that the discharging control strategy of the first level has achieved the expected dredging effect and the chute discharging state has returned to normal.

[0080] Step S604, if the current status information indicates that the target chute is still in the abnormal discharging state, obtain the current load information of the driving device during reverse movement and the current working condition information of the target chute under the reverse movement of the driving device.

[0081] Exemplarily, if the target chute is still in the abnormal discharging state, such as the blocked material area not decreasing, it means that the discharging regulation strategy of the first level has not achieved the expected dredging effect. At this time, the server needs to obtain the current load information of the driving device during reverse movement and the current working condition information of the target chute under the reverse movement of the driving device again to analyze the discharging regulation strategy again.

[0082] Step S606, optimize the control parameters of the target chute based on the fusion information between the current load information and the current working condition information to obtain the optimized control parameters.

[0083] Among them, the control parameters are specifically PID parameters. PID parameters are key parameters used to adjust the action intensity of the proportional (KP), integral (KI), and derivative (KD) links in the control system. By adjusting these parameters, the optimization of the system response speed, stability, and anti-interference ability can be achieved. Among them, the function of the proportional term (KP) is to amplify the direct influence of the current error and determine the response speed of the system. For example: if KP increases, the system will respond to the deviation faster (such as increasing the driving torque and increasing the gate opening). The function of the integral term (KI) is to accumulate historical errors and eliminate the steady-state error. The function of the derivative term (KD) is to predict the future error trend and suppress overshoot and oscillation. For example: increasing KD can prevent the drastic fluctuation of the material flow rate caused by the excessive adjustment of the driving torque and / or the gate opening.

[0084] Exemplarily, the specific process of information fusion can refer to Step S302 and will not be elaborated here. The output of the discharging regulation analysis of this model is the discharging regulation strategy of the first level, that is, the optimal control parameters, to achieve the purpose of forced dredging.

[0085] Step S608, perform discharging regulation on the target chute according to the optimized control parameters to obtain the discharging regulation result of the target chute.

[0086] Exemplarily, the server performs discharging regulation on the target chute again according to the optimal control parameters output by the model. At this time, the server still needs to detect whether the target chute has returned to the normal discharging state. If the target chute has not recovered for a period of time (such as 5 seconds), the server will activate the warning strategy, that is, trigger the audible and visual warning, record the image of the fault location, and stop the machine waiting for the operator to repair.

[0087] In this embodiment, the optimal control parameters are calculated through a deep learning model to re-regulate the discharging of the target chute, ensuring the effect of the discharging regulation, so as to ensure that the chute returns to the normal discharging state.

[0088] In an exemplary embodiment, as Figure 7 shown, based on the fusion information, the discharging state of the target chute is evaluated to obtain the target state information of the target chute, including:

[0089] Step S702, based on the fusion information, evaluate the discharging state of the target chute to obtain the initial state information of the target chute.

[0090] Among them, the initial state information can be understood as the state information of the target chute obtained preliminarily. Since there will be a large amount of impact and vibration during the discharging process, which causes fluctuations in the signals of the sensors, in order to eliminate the interference caused by the normal impact and vibration of the material transportation, in this embodiment, the initial state information will be verified to ensure the accuracy of the state evaluation.

[0091] Step S704, obtain the historical working condition information of the target chute when performing historical discharging operations, and verify the reliability of the initial state information based on the historical working condition information to obtain the reliability verification result of the initial state information.

[0092] Step S706, when the reliability verification result indicates that the initial state information is reliable, use the initial state information as the target state information of the target chute.

[0093] Among them, the historical discharging operation can refer to the discharging operation performed by the target chute within a historical period (such as the past week, month, etc.). The historical working condition information can refer to the integrated working condition information of the target chute when performing historical discharging operations. Reliability verification refers to verifying whether the preliminarily obtained state information is reliable.

[0094] Exemplarily, after the server obtains the initial state information of the target chute, if the initial state information indicates that the target chute is in an abnormal discharging state, the server can further obtain the normal working condition information of the target chute when performing historical discharging operations, and then compare these normal working condition information with the fusion information of the target chute. If the comparison is consistent, it is considered that the current so-called abnormality actually belongs to the normal working condition phenomenon of the chute. Therefore, the preliminary determination result that the target chute is abnormal is unreliable. If the comparison is inconsistent, it is determined that the target chute is abnormal, that is, the preliminary determination result that the target chute is abnormal is reliable. At this time, the initial state information is the target state information of the target chute.

[0095] In this embodiment, the historical working condition information of the chute is used to verify the preliminary state information of the chute, so as to further determine whether the "abnormality" is caused by the impact vibration of the chute during normal material operation, eliminate noise interference, thereby improving the accuracy of chute state detection, and further improving the accuracy of the entire discharging regulation.

[0096] In some embodiments, based on the image data, the discharging working condition of the target chute is analyzed to obtain the discharging working condition information of the target chute, including: based on the image data, the working conditions of the target chute and the target material discharged by the target chute are respectively analyzed to obtain the chute working condition information of the target chute and the material working condition information of the target material; the chute working condition information and the material working condition information are jointly used as the discharging working condition information.

[0097] Among them, the target material refers to the material transported through the target chute, such as iron ore, coal, etc. The chute working condition information refers to the working condition information of the target chute, such as the opening of the chute gate, the swing / lifting position of the chute, etc. The material working condition information refers to the working condition information of the target material, such as the material flow rate, the material distribution, the material accumulation form, the discharging amount, etc.

[0098] In some embodiments, the swing / lifting position of the chute can be detected by a limit sensor. The limit sensor is a device used to detect the position or movement range of the target chute. Its core function is to sense the position of the target chute through physical contact or non-contact means and convert this state into an electrical signal and output it to the server. The limit sensor can further include an upper limit sensor and a lower limit sensor. The upper limit sensor can be installed at the maximum return position of the target chute, and the lower limit sensor can be installed at the maximum stroke position of the target chute. Specifically, the server can monitor the real-time position of the target chute through the limit sensor, and when the target chute starts to perform the discharging operation, reset the target chute to the specified position to ensure that the target chute starts to move from the specified position and ensure the discharging effect.

[0099] In a specific embodiment, the above-mentioned discharging regulation method can be applied to Figure 8 the intelligent chute discharging regulation device located at the loading station as shown. The discharging control system corresponding to the intelligent chute discharging regulation device can be an electrical control cabinet with a built-in microcomputer. The microcomputer is equipped with an artificial intelligence algorithm, and the hardware is integrated in the electrical control cabinet. The server 104 can be the control center of the electrical control cabinet. Combining Figure 8 、 Figure 9 as shown, the intelligent chute discharging regulation device includes: a vibrating screen chute 1, an electrical control cabinet 2, a torque sensor 3, a hoist motor 4, a swinging chute 5, a binocular camera 6, a movable pulley transmission mechanism 7, and a movable pulley fixing device 8.

[0100] Specifically, the vibrating screen chute 1 is located at a fixed position, and this chute is the material source of the intelligent discharging control device. The swing chute 5 is fixed under the supporting platform (such as a floor slab), connected and communicated with the vibrating screen chute 1, and fixed by bolts and welding. Limit sensors (upper limit sensor and lower limit sensor) are installed at the maximum return position and the maximum stroke position of the swing chute 5. The hoist motor 4 is fixed above the supporting platform by bolts and is suspended and connected through a wire rope and a movable pulley transmission mechanism 7. A torque sensor 3 is installed inside the hoist motor 4. The movable pulley fixing device 8 is located above the swing chute 5, connected to the swing chute 5 by bolts, and at the same time, the movable pulley fixing device 8 is fixedly connected to the movable pulley transmission mechanism 7 through a pin shaft, restricting the degrees of freedom of the movable pulley transmission mechanism 7 in the xyz directions, so that it can only rotate. In this way, the movable pulley can move along the lifting direction without deflection, ensuring that there is no vertical extrusion and friction between the wire rope and the pulley, and guaranteeing the service life of the equipment. The binocular camera 6 is installed above the chute outlet. The electrical control cabinet 2 is placed beside the hoist motor 4.

[0101] Figure 10 A schematic diagram of a material control process is shown. Among them, the coordinated limit sensors, binocular camera, and torque sensor are used to obtain multi-sensor data. The control center can perform information fusion on the multi-sensor data through a convolutional neural network to determine whether abnormal phenomena such as blockage occur during the discharging process of the swing chute. If there is no blockage, the discharging work is completed according to the normal working process. If a blockage occurs, a hierarchical control strategy is triggered. The first-level control strategy is to control the hoist motor to reverse for a specified duration (such as 0.5 seconds), attempt to dredge the blockage through reverse torque vibration, and at the same time finely adjust the opening of the large gate to further reduce the material pressure. If the first-level control strategy does not achieve the expected effect, that is, there is still a blockage, the second-level control strategy is started. That is, the optimal PID parameters are dynamically calculated to increase the driving torque (such as increasing by 20%) and adjust the gate opening to force the dredging. If the normal discharging state is not restored within 5 seconds continuously, an audible and visual alarm is triggered, the image of the fault location is recorded, and the machine is stopped waiting for the operator to repair.

[0102] In this embodiment, the real-time detection of the discharging state of the chute is realized. When abnormal phenomena such as blockage occur in the swing chute, a hierarchical control strategy is adopted, and the multi-sensor data fusion technology is combined with the deep learning model to ensure the accuracy and reliability of the discharging control, thus guaranteeing the discharging efficiency and production efficiency of the chute.

[0103] It should be understood that although the steps in the flowcharts involved in the above embodiments are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless specifically stated herein, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or steps or stages in other steps.

[0104] Based on the same inventive concept, an embodiment of the present application also provides a discharge control device for implementing the above-mentioned discharge control method. The solution provided by this device to solve the problem is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the discharge control device provided below can refer to the limitations on the discharge control method in the above text, and will not be repeated here.

[0105] In an exemplary embodiment, as Figure 11 shown, a discharge control device is provided, including:

[0106] An image acquisition module 1102, configured to obtain image data of a target chute in response to a discharge control instruction for the target chute;

[0107] A discharge condition analysis module 1104, configured to perform discharge condition analysis on the target chute based on the image data to obtain discharge condition information of the target chute;

[0108] A load information acquisition module 1106, configured to obtain equipment load information of a driving device used to control the movement of the target chute;

[0109] A discharge control module 1108, configured to perform discharge control on the target chute based on the discharge condition information and the equipment load information to obtain a discharge control result of the target chute.

[0110] In some embodiments, the discharge control module 1108 is further configured to: fuse the discharge condition information and the equipment load information to obtain fused information; perform discharge state evaluation on the target chute based on the fused information to obtain target state information of the target chute; and when the target state information indicates that the target chute is in an abnormal discharge state, perform discharge control on the target chute to obtain a discharge control result of the target chute.

[0111] In some embodiments, the unloading control module 1108 is further configured to: when the target status information indicates that the target chute is in an abnormal unloading state, control the driving device to move in the reverse direction to obtain the reverse movement result of the driving device; based on the reverse movement result, perform unloading control on the target chute to obtain the unloading control result of the target chute.

[0112] In some embodiments, the unloading control module 1108 is further configured to: based on the reverse movement result, perform unloading state analysis on the target chute again to obtain the current status information of the target chute; if the current status information indicates that the target chute is still in an abnormal unloading state, obtain the current load information of the driving device during the reverse movement and the current working condition information of the target chute under the reverse movement of the driving device; based on the fusion information between the current load information and the current working condition information, optimize the control parameters of the target chute to obtain the optimized control parameters; according to the optimized control parameters, perform unloading control on the target chute to obtain the unloading control result of the target chute.

[0113] In some embodiments, the unloading control module 1108 is further configured to: based on the fusion information, perform unloading state evaluation on the target chute to obtain the initial status information of the target chute; obtain the historical working condition information when the target chute executes the historical unloading operation, and perform reliability verification on the initial status information based on the historical working condition information to obtain the reliability verification result of the initial status information; in the case where the reliability verification result indicates that the initial status information is reliable, use the initial status information as the target status information of the target chute.

[0114] In some embodiments, the unloading working condition analysis module 1104 is further configured to: based on the image data, perform working condition analysis on the target chute and the target material unloaded by the target chute respectively to obtain the chute working condition information of the target chute and the material working condition information of the target material; use the chute working condition information and the material working condition information together as the unloading working condition information.

[0115] Each module in the above-mentioned unloading control device can be implemented in whole or in part by software, hardware, and their combination. The above-mentioned modules can be embedded in the processor in the computer device in the form of hardware or be independent of it, or can be stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above-mentioned modules.

[0116] In an exemplary embodiment, a computer device is provided. The computer device can be a server, and its internal structure diagram can be as Figure 12As shown in the figure. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store discharging data. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements a discharging regulation method.

[0117] Those skilled in the art can understand that Figure 12 the structure shown in the figure is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0118] In an exemplary embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, the following steps are implemented: in response to a discharging regulation instruction for a target chute, obtain image data of the target chute; based on the image data, analyze the discharging working condition of the target chute to obtain discharging working condition information of the target chute; obtain device load information of a driving device used to control the movement of the target chute; based on the discharging working condition information and the device load information, perform discharging regulation on the target chute to obtain a discharging regulation result of the target chute.

[0119] In an embodiment, when the processor executes the computer program, the following steps are further implemented: fuse the discharging working condition information and the device load information to obtain fused information; based on the fused information, evaluate the discharging state of the target chute to obtain target state information of the target chute; when the target state information indicates that the target chute is in an abnormal discharging state, perform discharging regulation on the target chute to obtain a discharging regulation result of the target chute.

[0120] In an embodiment, when the processor executes the computer program, the following steps are further implemented: when the target state information indicates that the target chute is in an abnormal discharging state, control the driving device to perform reverse movement to obtain a reverse movement result of the driving device; based on the reverse movement result, perform discharging regulation on the target chute to obtain a discharging regulation result of the target chute.

[0121] In one embodiment, when the processor executes the computer program, the following steps are further implemented: based on the reverse movement result, analyze the discharging state of the target chute again to obtain the current state information of the target chute; if the current state information indicates that the target chute is still in an abnormal discharging state, obtain the current load information of the driving device during the reverse movement and the current working condition information of the target chute under the reverse movement of the driving device; based on the fusion information between the current load information and the current working condition information, optimize the control parameters of the target chute to obtain the optimized control parameters; according to the optimized control parameters, perform discharging regulation on the target chute to obtain the discharging regulation result of the target chute.

[0122] In one embodiment, when the processor executes the computer program, the following steps are further implemented: based on the fusion information, evaluate the discharging state of the target chute to obtain the initial state information of the target chute; obtain the historical working condition information of the target chute during the execution of the historical discharging operation, and verify the reliability of the initial state information based on the historical working condition information to obtain the reliability verification result of the initial state information; in the case where the reliability verification result indicates that the initial state information is reliable, use the initial state information as the target state information of the target chute.

[0123] In one embodiment, when the processor executes the computer program, the following steps are further implemented: based on the image data, analyze the working conditions of the target chute and the target material discharged by the target chute respectively to obtain the chute working condition information of the target chute and the material working condition information of the target material; use the chute working condition information and the material working condition information together as the discharging working condition information.

[0124] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented: in response to a discharging regulation instruction for the target chute, obtain the image data of the target chute; based on the image data, analyze the discharging working condition of the target chute to obtain the discharging working condition information of the target chute; obtain the equipment load information of the driving device used to control the movement of the target chute; based on the discharging working condition information and the equipment load information, perform discharging regulation on the target chute to obtain the discharging regulation result of the target chute.

[0125] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: fuse the discharging working condition information and the equipment load information to obtain fusion information; based on the fusion information, evaluate the discharging state of the target chute to obtain the target state information of the target chute; in the case where the target state information indicates that the target chute is in an abnormal discharging state, perform discharging regulation on the target chute to obtain the discharging regulation result of the target chute.

[0126] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: when the target state information indicates that the target chute is in an abnormal discharging state, controlling the driving device to perform a reverse movement to obtain the reverse movement result of the driving device; based on the reverse movement result, performing discharging regulation on the target chute to obtain the discharging regulation result of the target chute.

[0127] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: based on the reverse movement result, analyzing the discharging state of the target chute again to obtain the current state information of the target chute; if the current state information indicates that the target chute is still in an abnormal discharging state, obtaining the current load information of the driving device during the reverse movement and the current working condition information of the target chute under the reverse movement of the driving device; based on the fusion information between the current load information and the current working condition information, optimizing the control parameters of the target chute to obtain the optimized control parameters; according to the optimized control parameters, performing discharging regulation on the target chute to obtain the discharging regulation result of the target chute.

[0128] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: based on the fusion information, evaluating the discharging state of the target chute to obtain the initial state information of the target chute; obtaining the historical working condition information when the target chute performs historical discharging operations, and verifying the reliability of the initial state information based on the historical working condition information to obtain the reliability verification result of the initial state information; when the reliability verification result indicates that the initial state information is reliable, using the initial state information as the target state information of the target chute.

[0129] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: based on the image data, analyzing the working conditions of the target chute and the target material discharged by the target chute respectively to obtain the chute working condition information of the target chute and the material working condition information of the target material; using the chute working condition information and the material working condition information together as the discharging working condition information.

[0130] In one embodiment, a computer program product is provided, including a computer program, which when executed by a processor, implements the following steps: in response to a discharging regulation instruction for a target chute, obtaining image data of the target chute; based on the image data, analyzing the discharging working condition of the target chute to obtain the discharging working condition information of the target chute; obtaining the device load information of the driving device used to control the movement of the target chute; based on the discharging working condition information and the device load information, performing discharging regulation on the target chute to obtain the discharging regulation result of the target chute.

[0131] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: fusing the discharging condition information and the equipment load information to obtain fused information; evaluating the discharging state of the target chute based on the fused information to obtain the target state information of the target chute; and when the target state information indicates that the target chute is in an abnormal discharging state, performing discharging regulation on the target chute to obtain the discharging regulation result of the target chute.

[0132] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: when the target state information indicates that the target chute is in an abnormal discharging state, controlling the driving device to move in the reverse direction to obtain the reverse movement result of the driving device; and performing discharging regulation on the target chute based on the reverse movement result to obtain the discharging regulation result of the target chute.

[0133] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: based on the reverse movement result, analyzing the discharging state of the target chute again to obtain the current state information of the target chute; if the current state information indicates that the target chute is still in an abnormal discharging state, obtaining the current load information of the driving device during the reverse movement and the current working condition information of the target chute under the reverse movement of the driving device; optimizing the control parameters of the target chute based on the fused information between the current load information and the current working condition information to obtain the optimized control parameters; and performing discharging regulation on the target chute according to the optimized control parameters to obtain the discharging regulation result of the target chute.

[0134] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: evaluating the discharging state of the target chute based on the fused information to obtain the initial state information of the target chute; obtaining the historical working condition information of the target chute during the execution of the historical discharging operation, and verifying the reliability of the initial state information based on the historical working condition information to obtain the reliability verification result of the initial state information; and when the reliability verification result indicates that the initial state information is reliable, using the initial state information as the target state information of the target chute.

[0135] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented: based on the image data, analyzing the working conditions of the target chute and the target material discharged by the target chute respectively to obtain the chute working condition information of the target chute and the material working condition information of the target material; and using the chute working condition information and the material working condition information together as the discharging condition information.

[0136] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with relevant regulations.

[0137] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in this application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., and are not limited thereto. The processors involved in the embodiments provided in this application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logic devices, data processing logics based on quantum computing, artificial intelligence (AI) processors, etc., and are not limited thereto.

[0138] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this application.

[0139] The above embodiments only express several implementation manners of this application, and the description is relatively specific and detailed. However, it should not be understood as a limitation to the patent scope of this application. It should be noted that for those of ordinary skill in the art, without departing from the concept of this application, several deformations and improvements can still be made, and these all belong to the protection scope of this application. Therefore, the protection scope of this application should be subject to the appended claims.

Claims

1. A discharging regulation method, characterized in that, The method includes: In response to a discharging regulation instruction for a target chute, acquiring image data of the target chute; Based on the image data, analyzing the discharging working condition of the target chute to obtain discharging working condition information of the target chute; Acquiring equipment load information of a driving device used to control the movement of the target chute; Based on the discharging working condition information and the equipment load information, performing discharging regulation on the target chute to obtain a discharging regulation result of the target chute.

2. The method according to claim 1, characterized in that, The performing discharging regulation on the target chute based on the discharging working condition information and the equipment load information to obtain a discharging regulation result of the target chute includes: Fusing the discharging working condition information and the equipment load information to obtain fused information; Based on the fused information, evaluating the discharging state of the target chute to obtain target state information of the target chute; When the target state information indicates that the target chute is in an abnormal discharging state, performing discharging regulation on the target chute to obtain a discharging regulation result of the target chute.

3. The method according to claim 2, wherein The performing discharging regulation on the target chute to obtain a discharging regulation result of the target chute when the target state information indicates that the target chute is in an abnormal discharging state includes: When the target state information indicates that the target chute is in an abnormal discharging state, controlling the driving device to perform reverse movement to obtain a reverse movement result of the driving device; Based on the reverse movement result, performing discharging regulation on the target chute to obtain a discharging regulation result of the target chute.

4. The method according to claim 3, wherein The performing discharging regulation on the target chute based on the reverse movement result to obtain a discharging regulation result of the target chute includes: Based on the reverse movement result, analyzing the discharging state of the target chute again to obtain current state information of the target chute; If the current state information indicates that the target chute is still in an abnormal discharging state, acquiring current load information of the driving device during reverse movement and current working condition information of the target chute under the reverse movement of the driving device; Based on the fused information between the current load information and the current working condition information, optimizing control parameters of the target chute to obtain optimized control parameters; According to the optimized control parameters, performing discharging regulation on the target chute to obtain a discharging regulation result of the target chute.

5. The method according to claim 2, wherein The evaluating the discharging state of the target chute based on the fused information to obtain target state information of the target chute includes: Based on the fused information, evaluating the discharging state of the target chute to obtain initial state information of the target chute; Acquiring historical working condition information when the target chute executes historical discharging operations, and verifying the reliability of the initial state information based on the historical working condition information to obtain a reliability verification result of the initial state information; When the reliability verification result indicates that the initial state information is reliable, using the initial state information as the target state information of the target chute.

6. The method according to claim 1, wherein Performing a discharge condition analysis on the target chute based on the image data to obtain the discharge condition information of the target chute, including: Performing a condition analysis on the target chute and the target material discharged by the target chute respectively based on the image data to obtain the chute condition information of the target chute and the material condition information of the target material; Using the chute condition information and the material condition information together as the discharge condition information.

7. A discharging control device, characterized in that, The device includes: An image acquisition module, configured to obtain the image data of the target chute in response to a discharge control instruction for the target chute; A discharge condition analysis module, configured to perform a discharge condition analysis on the target chute based on the image data to obtain the discharge condition information of the target chute; A load information acquisition module, configured to obtain the device load information of the drive device used to control the movement of the target chute; A discharge control module, configured to perform discharge control on the target chute based on the discharge condition information and the device load information to obtain the discharge control result of the target chute.

8. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product comprising a computer program, characterized in that, When the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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