Unloading control method and system for wood chip storage yard

Abstract

The invention provides an unloading control method and system for a wood chip storage yard, and relates to the technical field of port intelligent control, and the method comprises the steps: firstly, building a single-axis control coordinate system, and dividing the storage yard to obtain a plurality of grid regions; then, the average height and the volume value of each grid area are obtained, whether a grid area where materials are excavated to be hollow or low exists in the passing area or not is obtained by judging the current grid area and the adjacent grid area, if yes, the grid area serves as a discharging area, and if not, the grid area serves as a discharging area; if yes, the area with the high average height or the large size is screened out to serve as the unloading area, and if no area with the high average height or the large size exists, the area with the maximum size or the minimum value of the X-axis coordinate values is selected to serve as the unloading area of the unloading trolley. The unloading position can be selected according to the real-time change of a stock ground, materials are placed in a centralized mode, management of the materials is facilitated, and the operation efficiency of follow-up loading is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of port intelligent control, and in particular to a method and system for controlling unloading of wood chips in a wood chip yard. Background Art

[0002] Currently, bulk cargo yards for raw material supply and finished product storage in mines, metallurgy, ports, and power plants occupy vast areas, host numerous and dispersed equipment, operate in large quantities and with a high degree of randomness in the movement of materials. Bulk cargo yards are crucial for raw material supply and finished product storage, and they present a cyclical, labor-intensive, and harsh operating environment. Implementing unmanned, intelligent management and control of bulk cargo yard equipment, such as stacking and reclaiming, is crucial for improving operational efficiency and utilization, reducing labor intensity, and reducing staffing. This, in turn, lays the foundation for the intelligent development of mines, metallurgy, ports, and power plants.

[0003] For the automated unloading operation of the wood chip yard, the existing management and control method is that the unloading trolley unloads materials in the same direction one by one. This cannot adapt to the real-time changes of the yard, cannot effectively gather the materials together, is inconvenient to manage, and occupies a large area, which greatly reduces the efficiency of subsequent loading operations.

[0004] Furthermore, unloading carts can automatically arrange the unloading sequence based on stack height detection data. Based on the cart's current position, the system prioritizes unloading at locations close to the cart and with relatively empty storage areas. This selection criterion, however, still prevents the material from being centralized and prevents the timely replenishment of the loaded area. Summary of the Invention

[0005] The object of the present invention is to provide a method and system for controlling the unloading of wood chips in a wood chip yard, which can select the unloading location according to the real-time changes of the yard, place the materials in a centralized manner, facilitate material management, and improve the efficiency of subsequent loading operations.

[0006] A method for controlling unloading of a wood chip yard is disclosed. An operation unit of the wood chip yard includes a unloading channel, a belt conveyor is provided on the unloading channel, and an unloading trolley is provided on the belt conveyor. Stockpiles are provided on both sides of the unloading channel, respectively defined as a first stockpiling yard and a second stockpiling yard. The method comprises:

[0007] S1, establishing a single-axis control coordinate system with the center point of the distal end of the unloading channel as the origin and the direction of the center line of the unloading channel from the distal end to the proximal end as the X-axis; dividing the first stockpile yard and the second stockpile yard along the X-axis according to a set spacing to obtain a plurality of grid areas;

[0008] S2, obtaining the average height and volume of the materials in each grid area based on the three-dimensional model of the storage yard;

[0009] S3, taking the grid areas whose average heights are smaller than the average heights corresponding to the adjacent grid areas and / or whose volume values ​​are smaller than the volume values ​​of the adjacent grid areas as the first grid area set;

[0010] S4, determining whether the first grid area set is empty. If so, executing S5; if not, using the grid area corresponding to the minimum volume value of the grid areas in the first grid area set as the unloading grid area, and using the X-axis coordinate value of the reference coordinate line of the unloading grid area as the unloading position of the unloading trolley; the reference coordinate line is the center line of the grid area perpendicular to the X-axis; the reference coordinate line of the grid areas symmetrical on both sides of the X-axis is the same;

[0011] S5, taking the grid areas whose average height is greater than the first height setting threshold and less than the maximum height and / or whose volume is greater than the first volume setting threshold and less than the maximum volume as a second grid area set, and determining whether the second grid area set is empty; if so, executing S7; if not, executing S6;

[0012] S6, determining whether the maximum value of the average height and the maximum value of the volume of the grid areas in the second grid area set correspond to the same grid area; if so, using the X-axis coordinate value of the reference coordinate line of the grid area as the unloading position of the unloading trolley; if not, subtracting the two volume values ​​corresponding to one reference coordinate line to obtain a plurality of volume difference values; using the X-axis coordinate value of the reference coordinate line corresponding to the maximum value of the volume difference as the unloading position of the unloading trolley;

[0013] S7, taking the grid areas whose average height is greater than the second height setting threshold and less than the maximum height and / or whose volume value is greater than the second volume setting threshold and less than the maximum volume as a third grid area set;

[0014] S8, determine whether the third grid area set is empty. If so, use the minimum X-axis coordinate value of the reference coordinate line as the unloading position of the unloading trolley. If not, use the X-axis coordinate value of the reference coordinate line of the grid area corresponding to the maximum volume value as the unloading position of the unloading trolley.

[0015] Optionally, the first height setting threshold is greater than the second height setting threshold; the first volume setting threshold is greater than the second volume setting threshold;

[0016] The maximum height is the maximum height value of the material stored in the grid area, and the maximum volume is the maximum volume value of the material stored in the grid area.

[0017] Optionally, the first height setting threshold is a first setting ratio of the maximum height, the first volume setting threshold is a first setting ratio of the maximum volume, and the first setting ratio is 0.85-0.95.

[0018] Optionally, the second height setting threshold is a second setting ratio of the maximum height, the second volume setting threshold is a second setting ratio of the maximum volume, and the second setting ratio is 0.05-0.15.

[0019] Optionally, the distal end of the unloading channel is the farthest end of the unloading channel along the conveying direction of the belt conveyor.

[0020] The present invention also provides a discharge control system for a wood chip yard. An operation unit of the wood chip yard includes a discharge channel, a belt conveyor is provided on the discharge channel, and a discharge trolley is provided on the belt conveyor. Stockpiles are provided on both sides of the discharge channel, which are defined as a first stockpiling yard and a second stockpiling yard respectively. The system includes:

[0021] An area division module is used to establish a single-axis control coordinate system with the center point of the far end of the unloading channel as the origin and the direction of the center line of the unloading channel from the far end to the near end as the X-axis; the first stockpile yard and the second stockpile yard are divided along the X-axis according to the set spacing to obtain a plurality of grid areas;

[0022] A data acquisition module, configured to acquire the average height and volume of materials in each grid area based on the three-dimensional model of the storage yard;

[0023] A first grid area module, configured to take grid areas whose average heights are all smaller than the average heights corresponding to adjacent grid areas and / or whose volume values ​​are all smaller than the volume values ​​of adjacent grid areas as a first grid area set;

[0024] A first judgment module determines whether the first grid area set is empty. If so, the second grid area module is executed. If not, the grid area corresponding to the minimum volume value of the grid areas in the first grid area set is used as the unloading grid area, and the X-axis coordinate value of the reference coordinate line of the unloading grid area is used as the unloading position of the unloading trolley; the reference coordinate line is the center line of the grid area perpendicular to the X-axis; the reference coordinate line of the grid areas symmetrical on both sides of the X-axis is the same;

[0025] a second grid area, configured to take grid areas whose average height is greater than a first height setting threshold and less than a maximum height and / or whose volume is greater than a first volume setting threshold and less than the maximum volume as a second grid area set, and determine whether the second grid area set is empty; if so, execute the third grid area module; if not, execute the second determination module;

[0026] The second judgment module judges whether the maximum value of the average height and the maximum value of the volume of the grid areas in the second grid area set correspond to the same grid area. If so, the X-axis coordinate value of the reference coordinate line of the grid area is used as the unloading position of the unloading trolley; if not, the two volume values ​​corresponding to one reference coordinate line are subtracted to obtain a plurality of volume difference values; the X-axis coordinate value of the reference coordinate line corresponding to the maximum value of the volume difference is used as the unloading position of the unloading trolley;

[0027] A third grid area module, configured to take grid areas whose average height is greater than a second height setting threshold and less than a maximum height and / or whose volume value is greater than a second volume setting threshold and less than a maximum volume as a third grid area set;

[0028] The third judgment module is used to determine whether the third grid area set is empty. If so, the minimum X-axis coordinate value of the reference coordinate line is used as the unloading position of the unloading trolley. If not, the X-axis coordinate value of the reference coordinate line of the grid area corresponding to the maximum volume value is used as the unloading position of the unloading trolley.

[0029] Optionally, the first height setting threshold is greater than the second height setting threshold; the first volume setting threshold is greater than the second volume setting threshold;

[0030] The maximum height is the maximum height value of the material stored in the grid area, and the maximum volume is the maximum volume value of the material stored in the grid area.

[0031] Optionally, the first height setting threshold is a first setting ratio of the maximum height, and the first volume setting threshold is a first setting ratio of the maximum volume;

[0032] The first setting ratio is 0.85-0.95.

[0033] Optionally, the second height setting threshold is a second set ratio of the maximum height, and the second volume setting threshold is a second set ratio of the maximum volume;

[0034] The second set ratio is 0.05-0.15.

[0035] Optionally, the distal end of the unloading channel is the farthest end of the unloading channel along the conveying direction of the belt conveyor.

[0036] The effects of the present invention are as follows:

[0037] The present invention is used for the unloading control method of the wood chip yard. By judging whether there are grid areas whose average height is smaller than the average height and / or volume value is smaller than the volume value of the grid areas adjacent to them, it is determined whether the materials in the grid areas that have been passed through during the operation have been hollowed out or dug down by the mobile machinery. The method gives priority to unloading the areas where the materials in the grid areas that have been passed through have been hollowed out or dug down by the mobile machinery. The method can automatically shift to fill the pile shape of the goods at that location, so that the materials are concentrated as much as possible, which is convenient for material management.

[0038] The present invention is used for the unloading control method of the wood chip yard. By judging whether there are grid areas with an average height greater than a first height setting threshold and less than a maximum height and / or a volume value greater than a first volume setting threshold and less than the maximum volume, the grid areas with a large amount of stored materials but not full are preferentially unloaded, so that the materials are concentrated as much as possible, which facilitates the management of the materials.

[0039] The present invention is used for the unloading control method of the wood chip yard, which can place materials in a centralized manner, reduce the moving path of equipment, is suitable for continuous operation of large-scale machinery, facilitates subsequent material retrieving work, and cooperates with retrieving vehicles to complete efficient operations.

[0040] The present invention is used for the unloading control method of the wood chip yard, which can realize the centralized placement of materials in the loading area when the materials are small, and facilitate the subsequent material retrieval work, while avoiding the large-scale movement of the unloader and the collision between the cantilever of the unloader and the mobile machinery.

[0041] The present invention is used for the unloading control method of the wood chip yard. By placing and storing materials in a centralized manner as much as possible, the materials can be prevented from being blown away by the wind, thereby polluting the environment or affecting the safety of operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 The present invention is a flow chart of the unloading control method for a wood chip yard.

[0043] Figure 2 It is a schematic diagram of the wood chip yard structure of the present invention.

[0044] In the figure: 1. Main conveyor belt; 2. Belt conveyor; 3. Unloading trolley; 4. Unloading channel; 5. First stockpile yard; 6. Second stockpile yard; 7. Operation unit. DETAILED DESCRIPTION

[0045] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0046] like Figure 2As shown, the unloading principle of the wood chip yard is to transport the unloaded materials via the main conveyor belt 1 to the belt conveyor 2 in each operation unit 7. The operation unit 7 includes a discharge channel 4, on which is installed the belt conveyor 2, and the belt conveyor 2 is equipped with a discharge trolley 3. After the operation is started, the discharge trolley 3 stacks the materials according to the preset strategy. During this process, the 3D laser radar continuously updates the point cloud data of the materials in the stockpile to ensure the most accurate stockpile status at all times, ensuring the accuracy and efficiency of the stockpile operation. Stockpile yards are set up on both sides of the discharge channel, respectively defined as the first stockpile yard 5 and the second stockpile yard 6.

[0047] Figure 1 This is a flow chart of the unloading control method for wood chip yards of the present invention. Figure 1 As shown, the present invention provides a method for controlling unloading of wood chips in a wood chip yard, which comprises:

[0048] S1, with the center point of the far end of the unloading channel as the origin, and the direction of the center line of the unloading channel from the far end to the near end as the X axis, establish a single-axis control coordinate system; divide the first and second stockpiles along the X axis according to the set spacing to obtain a number of grid areas. Specifically, the far end of the unloading channel is the farthest end of the unloading channel along the conveying direction of the belt conveyor, and the center point of the far end of the unloading channel is as follows: Figure 2 As shown by point S in the figure. The single-axis control coordinate system is as follows Figure 2 The spacing is set according to actual needs and control accuracy.

[0049] S2, based on the three-dimensional model of the yard, obtain the average height and volume of the materials in each grid area.

[0050] S3, grid areas whose average heights are smaller than the average heights and / or whose volumes are smaller than the volume values ​​of the grid areas adjacent to them are taken as a first grid area set. Specifically, adjacent means front-to-back adjacent in the conveying direction of the belt conveyor.

[0051] Specifically, taking the 7th grid area as an example, adjacent to the 7th grid area are the 8th grid area and the 9th grid area; when the average height of the 7th grid area is compared with the average height of the 8th grid area and the average height of the 9th grid area, and the average height of the 7th grid area is the minimum of the three, then the 7th grid area is concentrated in the first grid area; if the average height of the 7th grid area is not the minimum of the three, and the volume value of the 7th grid area is greater than the volume value of the 8th grid area but less than the volume value of the 9th grid area, then the 7th grid area is not concentrated in the first grid area.

[0052] S4, determine whether the first grid area set is empty. If so, execute S5. If not, use the grid area corresponding to the minimum volume value of the grid areas in the first grid area set as the unloading grid area, and use the X-axis coordinate value of the reference coordinate line of the unloading grid area as the unloading position of the unloading trolley. The reference coordinate line is the center line of the grid area perpendicular to the X-axis; the reference coordinate line of the grid areas symmetrical on both sides of the X-axis is the same. By judging whether there are grid areas whose average height is less than the average height and / or volume value is less than the volume value of the grid areas adjacent to it, it is obtained that the materials in the grid areas that have been passed through during the operation have been hollowed out or dug down by the mobile machinery, and give priority to unloading the areas where the materials in the grid areas that have been passed through have been hollowed out or dug down by the mobile machinery. It can automatically shift to fill the pile shape of the cargo stack at that location, so that the materials are concentrated as much as possible, which is convenient for material management.

[0053] S5: Grid regions whose average height is greater than a first set height threshold and less than a maximum height value and / or whose volume is greater than a first set volume threshold and less than the maximum volume value are selected as a second grid region set. A determination is made as to whether the second grid region set is empty. If so, S7 is executed; if not, S6 is executed. Specifically, the maximum height value is the maximum height value of the material stored in the grid region, and the maximum volume value is the maximum volume value of the material stored in the grid region.

[0054] S6, determine whether the maximum value of the average height and the maximum value of the volume of the grid areas in the second grid area concentration correspond to the same grid area. If so, use the X-axis coordinate value of the reference coordinate line of this grid area as the unloading position of the unloading trolley; if not, subtract the two volume values ​​corresponding to a reference coordinate line to obtain several volume difference values; and use the X-axis coordinate value of the reference coordinate line corresponding to the maximum value of the volume difference as the unloading position of the unloading trolley.

[0055] S7 , taking grid areas whose average height is greater than a second height setting threshold and less than a maximum height and / or whose volume is greater than a second volume setting threshold and less than a maximum volume as a third grid area set.

[0056] In this embodiment, the first height setting threshold is greater than the second height setting threshold; the first volume setting threshold is greater than the second volume setting threshold. The first height setting threshold is a first set ratio of the maximum height, and the first volume setting threshold is a first set ratio of the maximum volume. The first set ratio is 0.85-0.95, preferably 0.9. The second height setting threshold is a second set ratio of the maximum height, and the second volume setting threshold is a second set ratio of the maximum volume. The second set ratio is 0.05-0.15, preferably 0.1.

[0057] S8, determine whether the third grid area set is empty. If so, use the minimum X-axis coordinate value of the reference coordinate line as the unloading position of the unloading trolley. If not, use the X-axis coordinate value of the reference coordinate line of the grid area corresponding to the maximum volume value as the unloading position of the unloading trolley.

[0058] Specifically, taking an operation unit in a wood chip yard as an example, the length of the first and second stockpiles are both 50 m and 10 m, with the length direction being the X-axis direction. After being divided with a set interval of 10 m, 10 grid areas are obtained. The grid areas on the left side of the belt conveyor are defined as the 1st grid area, the 2nd grid area, the 3rd grid area, the 4th grid area, and the 5th grid area according to the transportation direction of the belt conveyor. The grid areas on the right side of the belt conveyor are defined as the 6th grid area, the 7th grid area, the 8th grid area, the 9th grid area, and the 10th grid area according to the transportation direction of the belt conveyor. The average height and volume values ​​of the 10 grid areas are shown in Table 1.

[0059] Table 1 Average height and volume values ​​of 10 grid areas

[0060]

[0061]

[0062] Among them, the average height of the 9th grid area is smaller than the average height of the 8th grid area and the average height of the 10th grid area, the volume value of the 9th grid area is smaller than the volume value of the 8th grid area and the volume value of the 10th grid area, the average height of the 4th grid area is smaller than the average height of the 3rd grid area and the average height of the 5th grid area, and the volume value of the 4th grid area is smaller than the volume value of the 3rd grid area and the volume value of the 5th grid area. Therefore, the first grid area concentrates on the 4th grid area and the 9th grid area, and the volume value of the 4th grid area is smaller than the volume value of the 9th grid area. Therefore, the X-axis coordinate value of the reference coordinate line of the 4th grid area is used as the unloading position of the unloading trolley.

[0063] The present invention also provides a unloading control system for a wood chip yard, the system comprising:

[0064] The region division module is used to establish a single-axis control coordinate system with the center point of the far end of the discharge channel as the origin and the direction of the center line of the discharge channel from the far end to the near end as the X-axis. The first and second stockpiles are divided along the X-axis at set intervals to obtain multiple grid regions. The far end of the discharge channel is the farthest end of the discharge channel along the conveyor belt direction.

[0065] The data acquisition module is used to obtain the average height and volume of materials in each grid area based on the three-dimensional model of the yard.

[0066] The first grid area module is configured to take grid areas whose average heights are smaller than the average heights and / or whose volumes are smaller than the volume values ​​of the adjacent grid areas as the first grid area set.

[0067] The first determination module determines whether the first grid area set is empty. If so, the second grid area module is executed. If not, the grid area corresponding to the minimum volume value of the grid areas in the first grid area set is used as the unloading grid area, and the X-axis coordinate value of the reference coordinate line of the unloading grid area is used as the unloading position of the unloading trolley. The reference coordinate line is the centerline of the grid area perpendicular to the X-axis; the reference coordinate line of the grid areas symmetrical on both sides of the X-axis is the same.

[0068] The second grid area is configured to define as a second grid area set the grid areas whose average height is greater than a first set height threshold and less than a maximum height value, and / or whose volume is greater than a first set volume threshold and less than a maximum volume value. The second grid area set is then determined to determine whether the second grid area set is empty. If so, the third grid area module is executed; if not, the second determination module is executed. Specifically, the maximum height value is the maximum height value of the material stored in the grid area, and the maximum volume value is the maximum volume value of the material stored in the grid area.

[0069] The second judgment module judges whether the maximum value of the average height and the maximum value of the volume of the grid areas in the second grid area concentration correspond to the same grid area. If so, the X-axis coordinate value of the reference coordinate line of this grid area is used as the unloading position of the unloading trolley; if not, the two volume values ​​corresponding to a reference coordinate line are subtracted to obtain several volume difference values; the X-axis coordinate value of the reference coordinate line corresponding to the maximum value of the volume difference is used as the unloading position of the unloading trolley.

[0070] The third grid area module is configured to take grid areas whose average height is greater than a second height setting threshold and less than a maximum height and / or whose volume value is greater than a second volume setting threshold and less than a maximum volume as a third grid area set.

[0071] Preferably, the first height setting threshold is greater than the second height setting threshold; the first volume setting threshold is greater than the second volume setting threshold. The first height setting threshold is a first set ratio of the maximum height, and the first volume setting threshold is a first set ratio of the maximum volume; the first set ratio is 0.85-0.95, preferably 0.9. The second height setting threshold is a second set ratio of the maximum height, and the second volume setting threshold is a second set ratio of the maximum volume; the second set ratio is 0.05-0.15, preferably 0.1.

[0072] The third judgment module is used to determine whether the third grid area set is empty. If so, the minimum X-axis coordinate value of the reference coordinate line is used as the unloading position of the unloading trolley. If not, the X-axis coordinate value of the reference coordinate line of the grid area corresponding to the maximum volume value is used as the unloading position of the unloading trolley.

[0073] The above embodiments are merely descriptions of preferred implementations of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the scope of protection determined by the claims of the present invention.

Claims

1. A method for controlling unloading of a wood chip yard, wherein an operation unit of the wood chip yard comprises a unloading channel, a belt conveyor disposed on the unloading channel, and an unloading trolley disposed on the belt conveyor; stockpiles are disposed on both sides of the unloading channel, respectively defined as a first stockpiling yard and a second stockpiling yard; the method is characterized in that: Methods include: S1, establishing a single-axis control coordinate system with the center point of the distal end of the unloading channel as the origin and the direction of the center line of the unloading channel from the distal end to the proximal end as the X-axis; dividing the first stockpile yard and the second stockpile yard along the X-axis according to a set spacing to obtain a plurality of grid areas; S2, obtaining the average height and volume of the materials in each grid area based on the three-dimensional model of the storage yard; S3, taking the grid areas whose average heights are smaller than the average heights corresponding to the adjacent grid areas and / or whose volume values ​​are smaller than the volume values ​​of the adjacent grid areas as the first grid area set; S4, determining whether the first grid area set is empty. If so, executing S5; if not, using the grid area corresponding to the minimum volume value of the grid areas in the first grid area set as the unloading grid area, and using the X-axis coordinate value of the reference coordinate line of the unloading grid area as the unloading position of the unloading trolley; the reference coordinate line is the center line of the grid area perpendicular to the X-axis; the reference coordinate line of the grid areas symmetrical on both sides of the X-axis is the same; S5, taking the grid areas whose average height is greater than the first height setting threshold and less than the maximum height and / or whose volume is greater than the first volume setting threshold and less than the maximum volume as a second grid area set, and determining whether the second grid area set is empty; if so, executing S7; if not, executing S6; S6, determining whether the maximum value of the average height and the maximum value of the volume of the grid areas in the second grid area set correspond to the same grid area; if so, using the X-axis coordinate value of the reference coordinate line of the grid area as the unloading position of the unloading trolley; if not, subtracting the two volume values ​​corresponding to one reference coordinate line to obtain a plurality of volume difference values; using the X-axis coordinate value of the reference coordinate line corresponding to the maximum value of the volume difference as the unloading position of the unloading trolley; S7, taking the grid areas whose average height is greater than the second height setting threshold and less than the maximum height and / or whose volume value is greater than the second volume setting threshold and less than the maximum volume as a third grid area set; S8, determine whether the third grid area set is empty. If so, use the minimum X-axis coordinate value of the reference coordinate line as the unloading position of the unloading trolley. If not, use the X-axis coordinate value of the reference coordinate line of the grid area corresponding to the maximum volume value as the unloading position of the unloading trolley.

2. The unloading control method for a wood chip yard according to claim 1, characterized in that: The first height setting threshold is greater than the second height setting threshold; the first volume setting threshold is greater than the second volume setting threshold; The maximum height is the maximum height value of the material stored in the grid area, and the maximum volume is the maximum volume value of the material stored in the grid area.

3. The unloading control method for a wood chip yard according to claim 2, characterized in that: The first height setting threshold is a first setting ratio of the maximum height, the first volume setting threshold is a first setting ratio of the maximum volume, and the first setting ratio is 0.85-0.

95.

4. The unloading control method for a wood chip yard according to claim 2, characterized in that: The second height setting threshold is a second setting ratio of the maximum height, and the second volume setting threshold is a second setting ratio of the maximum volume. The second setting ratio is 0.05-0.

15.

5. The unloading control method for a wood chip yard according to claim 1, characterized in that: The distal end of the unloading channel is the farthest end of the unloading channel along the conveying direction of the belt conveyor.

6. A wood chip yard unloading control system, wherein an operation unit of the wood chip yard comprises a unloading channel, a belt conveyor is provided on the unloading channel, and an unloading trolley is provided on the belt conveyor; stockpiles are provided on both sides of the unloading channel, respectively defined as a first stockpiling yard and a second stockpiling yard; and the system is characterized in that: The system includes: An area division module is used to establish a single-axis control coordinate system with the center point of the far end of the unloading channel as the origin and the direction of the center line of the unloading channel from the far end to the near end as the X-axis; the first stockpile yard and the second stockpile yard are divided along the X-axis according to the set spacing to obtain a plurality of grid areas; A data acquisition module, configured to acquire the average height and volume of materials in each grid area based on the three-dimensional model of the storage yard; A first grid area module, configured to take grid areas whose average heights are all smaller than the average heights corresponding to adjacent grid areas and / or whose volume values ​​are all smaller than the volume values ​​of adjacent grid areas as a first grid area set; A first judgment module determines whether the first grid area set is empty. If so, the second grid area module is executed. If not, the grid area corresponding to the minimum volume value of the grid areas in the first grid area set is used as the unloading grid area, and the X-axis coordinate value of the reference coordinate line of the unloading grid area is used as the unloading position of the unloading trolley; the reference coordinate line is the center line of the grid area perpendicular to the X-axis; the reference coordinate line of the grid areas symmetrical on both sides of the X-axis is the same; a second grid area, configured to take grid areas whose average height is greater than a first height setting threshold and less than a maximum height and / or whose volume is greater than a first volume setting threshold and less than the maximum volume as a second grid area set, and determine whether the second grid area set is empty; if so, execute the third grid area module; if not, execute the second determination module; The second judgment module judges whether the maximum value of the average height and the maximum value of the volume of the grid areas in the second grid area set correspond to the same grid area. If so, the X-axis coordinate value of the reference coordinate line of the grid area is used as the unloading position of the unloading trolley; if not, the two volume values ​​corresponding to one reference coordinate line are subtracted to obtain a plurality of volume difference values; the X-axis coordinate value of the reference coordinate line corresponding to the maximum value of the volume difference is used as the unloading position of the unloading trolley; A third grid area module, configured to take grid areas whose average height is greater than a second height setting threshold and less than a maximum height and / or whose volume value is greater than a second volume setting threshold and less than a maximum volume as a third grid area set; The third judgment module is used to determine whether the third grid area set is empty. If so, the minimum X-axis coordinate value of the reference coordinate line is used as the unloading position of the unloading trolley. If not, the X-axis coordinate value of the reference coordinate line of the grid area corresponding to the maximum volume value is used as the unloading position of the unloading trolley.

7. The unloading control system for a wood chip yard according to claim 6, characterized in that: The first height setting threshold is greater than the second height setting threshold; the first volume setting threshold is greater than the second volume setting threshold; The maximum height is the maximum height value of the material stored in the grid area, and the maximum volume is the maximum volume value of the material stored in the grid area.

8. The unloading control system for a wood chip yard according to claim 7, characterized in that: The first height setting threshold is a first setting ratio of the maximum height, and the first volume setting threshold is a first setting ratio of the maximum volume; The first setting ratio is 0.85-0.

95.

9. The unloading control system for a wood chip yard according to claim 7, characterized in that: The second height setting threshold is a second set ratio of the maximum height, and the second volume setting threshold is a second set ratio of the maximum volume; The second set ratio is 0.05-0.

15.

10. The unloading control system for a wood chip yard according to claim 6, characterized in that: The distal end of the unloading channel is the farthest end of the unloading channel along the conveying direction of the belt conveyor.

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