Bulk material transport control method, system, and medium for a ship unloader

Abstract

The application discloses a kind of mineral aggregate transport capacity control method, system and medium of cleaning machine, it is related to equipment control: real-time detection vehicle body pitch angle α;And obtain the structural parameter of cleaning machine push shovel, according to structural parameter, establish the geometric model of push shovel material taking;Set target material taking depth h, according to real-time detection vehicle body pitch angle α, and geometric model, calculate the required cylinder length L to reach h;First pressure sensor is installed on the cylinder of cleaning machine push shovel, real-time monitoring push shovel pressure P1, set push shovel pressure threshold T1;According to cylinder length L, control push shovel down;P1 is monitored in push shovel down process, when P1 exceeds threshold T1, stop push shovel down;Second pressure sensor is installed on the conveying belt of cleaning machine, real-time monitoring conveying belt pressure P2, set conveying belt pressure threshold T2;Compare P2 and T2, according to the comparison result, adjust cylinder length L.The application effectively solves the problem that mineral aggregate transport is prone to conveying belt blockage and stop rotation.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of device control, and in particular to a method and system for controlling the amount of mineral transported by a ship unloader, and a medium. BACKGROUND

[0002] Ship unloaders are widely used in the cleaning of ship holds for bulk cargoes such as coal and ore. The ship unloader pushes the mineral in the ship hold to a conveyor belt using a push shovel, and the conveyor belt then transports the mineral to a designated location, completing the concentration and transfer of the mineral.

[0003] In actual ship unloading operations, the coordinated control of the ship unloader and the conveyor belt has always been a key technical problem affecting operational efficiency. Specifically, the following problems exist:

[0004] Firstly, the matching of the amount of mineral transported and the carrying capacity of the conveyor belt is a prominent problem. When the ship unloader operates at a high speed, the amount of mineral pushed onto the conveyor belt per unit time is too large, exceeding the conveying capacity of the conveyor belt, which can cause a backlog of mineral, and in severe cases, the conveyor belt can stop running due to overload, causing the entire operation system to malfunction. When the ship unloader operates at a low speed, the conveyor belt is in a light load state, and it is difficult to achieve the designed conveying capacity, which reduces the overall operational efficiency.

[0005] Secondly, the control accuracy of the material taking depth is insufficient. During the material taking process of the push shovel, due to the unevenness of the ship hold bottom and the changes in the attitude of the ship unloader during travel (pitching, rolling, etc.), the actual material taking depth of the push shovel constantly changes, which cannot guarantee the smoothness of the working face after material taking, forming an uneven working face that affects the subsequent cleaning operation.

[0006] Currently, the above problems are mainly controlled manually by operators based on experience, by observing the accumulation of mineral on the conveyor belt and manually adjusting the speed of the ship unloader or the height of the push shovel to avoid excessive material taking that causes blockage. This control method has the following defects: (1) It is highly subjective and the control effect depends heavily on the experience level of the operator, with large differences in operation between different operators, resulting in inconsistent cleaning efficiency and operation quality; (2) It has a lag in response, as manual observation and judgment takes time, and by the time the problem is discovered, the mineral has already accumulated, causing frequent interruptions in the material taking operation and poor operation continuity; (3) It lacks a prevention mechanism and cannot predict and avoid blockage risks in advance, which can easily cause sudden conveyor belt blockage and stoppage accidents.

[0007] Therefore, there is an urgent need for an automated technical solution that can achieve coordinated control of the ship unloader and the conveyor belt to solve the problem of conveyor belt blockage and stoppage, and improve the efficiency and safety of ship unloading operations. SUMMARY

[0008] In view of the problem that the conveying belt is prone to stop due to blockage during the transportation of the mineral aggregate, the application provides a mineral aggregate transportation quantity control method, system and medium of a cleaning machine, which effectively prevents the problem of stoppage of the conveying belt due to blockage through joint control of the cleaning machine and the conveying belt.

[0009] One aspect of the application provides a mineral aggregate transportation quantity control method of a cleaning machine, comprising: S1, installing an inertial sensor on a vehicle chassis to monitor the pitch angle a of the vehicle chassis in real time; and obtaining the structural parameters of a push shovel of the cleaning machine, and establishing a geometric model of material taking of the push shovel according to the structural parameters; S2, setting a target material taking depth h, calculating the required oil cylinder length L to reach the target material taking depth h according to the real-time detected vehicle body pitch angle a and the geometric model, the oil cylinder length L being used for controlling the process of lowering the push shovel in step S3; S3, installing a first pressure sensor on the oil cylinder of the push shovel of the cleaning machine to monitor the push shovel pressure P1 in real time, setting a push shovel pressure threshold T1; controlling the lowering of the push shovel according to the oil cylinder length L calculated in step S2; monitoring the push shovel pressure P1 during the lowering of the push shovel, and stopping the lowering of the push shovel when P1 exceeds the threshold T1; S4, installing a second pressure sensor on the conveying belt of the cleaning machine to monitor the conveying belt pressure P2 in real time, setting a conveying belt pressure threshold T2; comparing the conveying belt pressure P2 and the threshold T2, and adjusting the oil cylinder length L according to the comparison result.

[0010] The cleaning machine is a large mobile engineering machinery equipment used for cleaning and transporting bulk materials in mines. In the present scheme, the cleaning machine mainly consists of the following core components: a tracked chassis providing equipment movement and load bearing functions; a push shovel device located at the front end of the equipment, driven by a hydraulic cylinder, responsible for pushing and gathering scattered mineral aggregate; a conveying belt system conveying the mineral aggregate gathered by the push shovel to a designated location or subsequent transportation equipment; a hydraulic control system controlling the lifting and angle adjustment of the push shovel; in the mine operation environment, the cleaning machine is mainly used for cleaning residual mineral aggregate at the bottom of the stockpile, leveling the surface of the stockpile, and centrally conveying scattered mineral aggregate.

[0011] The structural parameters refer to the geometric dimensions and installation position parameters of the push shovel mechanism of the cleaning machine, which determine the spatial trajectory of the push shovel movement. In the present scheme, they mainly include: L1 represents the distance from the tail seat fulcrum of the oil cylinder to the push shovel rotation center (usually 1.5-2.5 meters); L2 represents the distance from the oil cylinder extension rod fulcrum to the push shovel rotation center (usually 0.8-1.2 meters); L3 represents the distance from the push shovel rotation center to the front end of the push shovel (i.e. the push shovel working radius, usually 2.5-4 meters); h1 represents the vertical height from the push shovel rotation center to the ground (usually 0.6-1.0 meters); the oil cylinder installation angle a represents the initial angle between the oil cylinder axis and the horizontal plane; the push shovel initial installation angle β represents the initial angle between the push shovel plane and the oil cylinder axis.

[0012] The geometry model of the push shovel is a kinematics model describing the mathematical relationship among the posture of the push shovel, the length of the oil cylinder and the depth of the material taking.

[0013] Further, the geometry model of the push shovel is established according to the structural parameters, comprising: ; ; ; wherein h represents the initial cleaning depth of the push shovel, represents the vertical distance from the center of rotation of the push shovel to the horizontal plane; L represents the length of the oil cylinder, represents the distance from the tail support point of the oil cylinder to the center of rotation of the push shovel, represents the distance from the support point of the elongated rod of the oil cylinder to the center of rotation of the push shovel; represents the distance from the center of rotation of the push shovel to the front end of the push shovel; α represents the pitch angle of the vehicle body, i.e. the angle between the plane of the vehicle body and the horizontal plane; β represents the angle between the two virtual lines after the two end points of the oil cylinder of the push shovel are connected to the center of rotation of the push shovel; represents the angle between the plane of the vehicle body and the horizontal plane; represents the angle between the plane of the push shovel and the horizontal plane; represents the angle between the horizontal plane and the bottom plane of the push shovel;

[0014] Further, S3, the push shovel is lowered according to the length of the oil cylinder L calculated in step S2, comprising: S31, setting the speed v of the cleaning machine and the target depth h of material taking; S32, according to the set target depth h of material taking, combining the real-time monitored pitch angle α of the vehicle body, calculating the displacement amount of the hydraulic rod through the geometry model in step S2, the displacement amount of the hydraulic rod representing the change amount of the length of the oil cylinder from the initial position to the target position; S33, according to the calculated displacement amount of the hydraulic rod, generating and executing the lowering instruction of the push shovel, controlling the oil cylinder to elongate to the target length of the oil cylinder; S34, in the process of executing the lowering instruction of the push shovel, the push shovel pressure P1 is monitored through the first pressure sensor, and it is judged whether the push shovel pressure P1 is less than the preset push shovel pressure threshold T1: if P1 < T1, the push shovel lowering action is continued to be executed, and step S35 is entered; if P1 ≥ T1, the push shovel lowering action is immediately stopped, and step S31 is returned, so as to avoid the cleaning machine track being lifted; S35, judging whether the current length of the oil cylinder is equal to the length of the oil cylinder L calculated in step S2: if the target position is reached, the push shovel lowering is stopped, and the material taking is completed this time; if the target position is not reached, the push shovel pressure P1 is continuously monitored in step S34 until the target position is reached or the push shovel pressure P1 exceeds the threshold T1.

[0015] Further, S4, a second pressure sensor is installed on the conveying belt of the ship unloader to monitor the belt pressure P2 in real time, and a belt pressure threshold T2 is set; the belt pressure P2 is compared with the threshold T2, and the cylinder length L is adjusted according to the comparison result, including: S41, during the operation of the ship unloader, the belt pressure P2 is continuously monitored and compared with the preset belt pressure threshold T2; S42, when it is detected that the belt pressure P2 is greater than the threshold T2, it is determined that the conveying amount of the ore is too large, and the load reduction control is executed; S43, when it is detected that the belt pressure P2 is less than or equal to the threshold T2, it is determined that the conveying amount of the ore is insufficient, and the load increase control is executed.

[0016] Further, S42, when it is detected that the belt pressure P2 is greater than the threshold T2, it is determined that the conveying amount of the ore is too large, and the load reduction control is executed, including: the speed v of the ship unloader is reduced according to the formula: , wherein, is the adjusted speed of the ship unloader, is the current speed of the ship unloader; n is the number of iterations; after each speed reduction, the belt pressure P2 is re-detected at a preset time interval; it is judged whether the adjusted belt pressure P2 meets the stop condition: if P2=T2, the speed reduction adjustment is stopped, and the current speed of the ship unloader is maintained ; if P2>T2, and , the speed reduction is continued; if , the operation of the ship unloader is stopped to avoid the blockage of the belt.

[0017] Further, S43, when it is detected that the belt pressure P2 is less than or equal to the threshold T2, it is determined that the conveying amount of the ore is insufficient, and the load increase control is executed, including: the speed v of the ship unloader is increased according to the formula: , wherein, is the adjusted speed of the ship unloader, is the current speed of the ship unloader, and ;

[0018] The speed increasing operation is performed successively until the speed v of the ship unloader reaches a preset maximum speed , or the belt pressure P2 reaches the threshold T2; if the speed v of the ship unloader has reached , but the belt pressure P2 is still less than the threshold T2, the depth of material taking is adjusted, and the target depth of material taking is adjusted according to the formula: , wherein, is the adjusted target depth of material taking, is the current target depth of material taking; after each increase in the depth of material taking, the step S2 is returned to, and the new target depth of material taking and the real-time vehicle body pitch angle α recalculation required cylinder length L, and through step S3 to perform pusher control until the transmission belt pressure P2 is equal to the threshold T2.

[0019] Further, the threshold T1 is set by the following formula: , wherein, is a safety factor, and the value range is 0.7-0.9; represents the ground pressure of the cleaner, W represents the total weight of the cleaner, and A represents the area of the cleaner track and the ground base;

[0020] Further, the threshold T2 is set by the following formula: , wherein, is a load factor, and the value range is 0.8-0.95; represents the rated load capacity of the transmission belt; W represents the width of the transmission belt.

[0021] Another aspect of the present application also provides a mineral material transportation quantity control system of a cleaner, comprising: a posture detection module comprising an inertial sensor installed on a pusher of the cleaner, for real-time detection of a vehicle body pitch angle α; a geometric modeling module, which obtains structural parameters of the pusher of the cleaner, and establishes a geometric model of the pusher material taking according to the structural parameters; a cylinder control module, which calculates a cylinder length required to reach a target material taking depth according to the target material taking depth, the vehicle body pitch angle α and the geometric model; a pusher control module, which monitors a pusher pressure P1 through a first pressure sensor installed on a cylinder of the pusher of the cleaner, generates a pusher lowering instruction according to P1 and a set threshold T1, and controls the cylinder to extend to a target position; during the pusher lowering process, when P1 is greater than T1, the pusher lowering action is immediately stopped; a transmission belt control module, which monitors a transmission belt pressure P2 through a second pressure sensor installed on a transmission belt of the cleaner, adjusts the cleaner speed and the material taking depth according to P2 and a set threshold T2, and feeds back the adjusted material taking depth to the cylinder control module; and a threshold setting module, which sets the thresholds T1 and T2 respectively.

[0022] Another aspect of the present application also provides a computer readable storage medium, which stores computer instructions, and when the computer instructions are executed by a processor, a mineral material transportation quantity control method of a cleaner is realized.

[0023] Compared with the prior art, the present application has the following advantages:

[0024] The application establishes a closed-loop feedback system of the push shovel control of the cleaning machine and the monitoring of the belt pressure, realizes the dynamic matching of the ore taking amount and the conveying capacity, and fundamentally solves the problem of the belt stop caused by the overloading. Specifically, when the belt pressure P2 approaches the threshold T2, the system automatically reduces the cleaning machine speed, reduces the ore supply amount per unit time, and makes the belt always work in the safe load range (0.8-0.95 times the rated load), effectively avoiding the belt stop caused by the instantaneous ore amount being too large. BRIEF DESCRIPTION OF DRAWINGS

[0025] The application will be further described in the form of exemplary embodiments, which will be described in detail with reference to the drawings. These embodiments are not limiting, and in these embodiments, the same numbers represent the same structures, wherein:

[0026] Figure 1 is an exemplary flow chart of an ore conveying amount control method of a cleaning machine according to some embodiments of the application;

[0027] Figure 2 is a schematic diagram of a push shovel ore taking geometric model according to some embodiments of the application;

[0028] Figure 3 is an exemplary flow chart of push shovel control according to some embodiments of the application;

[0029] Figure 4 is an exemplary flow chart of belt pressure control according to some embodiments of the application. DETAILED DESCRIPTION

[0030] The method and system provided by the embodiments of the application will be described in detail below with reference to the drawings.

[0031] As shown in Figure 1 , an inertial sensor is installed on the push shovel of the cleaning machine to detect the body pitch angle a in real time; the structural parameters of the push shovel of the cleaning machine are obtained, and a geometric model of the push shovel ore taking is established according to the structural parameters; a target ore taking depth h is set, the oil cylinder length L required to reach the target ore taking depth h is calculated according to the real-time detected body pitch angle a and the geometric model, the oil cylinder length L is used for controlling the push shovel lowering process in step S3; a first pressure sensor is installed on the oil cylinder of the push shovel to monitor the push shovel pressure P1 in real time, and a push shovel pressure threshold T1 is set; the push shovel lowering is controlled according to the oil cylinder length L calculated in step S2; the push shovel pressure P1 is monitored during the push shovel lowering, and the push shovel lowering is stopped when P1 exceeds the threshold T1; a second pressure sensor is installed on the belt of the cleaning machine to monitor the belt pressure P2 in real time, and a belt pressure threshold T2 is set; the belt pressure P2 and the threshold T2 are compared, and the oil cylinder length L is adjusted according to the comparison result.

[0032] In detail, S1, an inertial sensor is installed on the push shovel of the cleaning machine to detect the pitch angle a of the vehicle body in real time; and the structural parameters of the push shovel are obtained, and a geometric model of the push shovel for material taking is established according to the structural parameters; ; ; ; wherein h represents the initial cleaning depth of the push shovel, represents the vertical distance from the center of rotation of the push shovel to the horizontal plane; L represents the length of the oil cylinder, represents the distance from the tail support point of the oil cylinder to the center of rotation of the push shovel, represents the distance from the support point of the oil cylinder extension rod to the center of rotation of the push shovel; represents the distance from the center of rotation of the push shovel to the front end of the push shovel; a represents the pitch angle of the vehicle body, that is, the angle between the vehicle chassis plane and the horizontal plane; β represents the angle between the two virtual lines after the two end points of the push cylinder and the center of rotation of the push shovel; represents the angle between the vehicle chassis plane and the horizontal plane; represents the angle between the push shovel bottom plane and the horizontal plane; represents the angle between the horizontal plane and the push shovel bottom plane.

[0033] As shown in Figure 2 , S2, a target material taking depth h is set, and the oil cylinder length L required to reach the target material taking depth h is calculated according to the real-time detected pitch angle a of the vehicle body and the geometric model, and the oil cylinder length L is used for controlling the push shovel lowering process in step S3;

[0034] As shown in Figure 3 , S3, the push shovel is controlled to lower according to the oil cylinder length L calculated in step S2, including:

[0035] S31, the cleaning machine speed v and the target material taking depth h are set;

[0036] S32, the hydraulic rod displacement amount representing the change amount of the oil cylinder length from the initial position to the target position is calculated through the geometric model in step S2 according to the set target material taking depth h combined with the real-time monitored pitch angle a of the vehicle body;

[0037] S33, the push shovel lowering instruction is generated and executed according to the calculated hydraulic rod displacement amount to control the oil cylinder to extend to the target oil cylinder length;

[0038] S34, in the process of executing the push shovel lowering instruction, the push shovel pressure P1 is monitored through the first pressure sensor, and it is judged whether the push shovel pressure P1 is less than the preset push shovel pressure threshold T1:

[0039] If P1 < T1, the push shovel lowering action is continued to be executed, and step S35 is entered;

[0040] If P1≥T1, immediately stop the shovel lowering action and return to step S31 to avoid the cleaning machine tracks being lifted.

[0041] S35, Determine whether the current cylinder length is equal to the cylinder length L calculated in step S2:

[0042] If the target position has been reached, stop lowering the shovel and complete the material retrieval.

[0043] If the target position is not reached, return to step S34 to continue monitoring the pusher pressure P1 until the target position is reached or the pusher pressure P1 exceeds the threshold T1.

[0044] Specifically, in mining operations, when the cleaning machine travels on uneven ore pile surfaces, the vehicle body experiences continuous pitch angle changes. Traditional fixed cylinder length control causes the actual material removal depth to fluctuate with the pitch angle. This solution achieves attitude decoupling control by real-time monitoring of the vehicle body pitch angle α and using a geometric model to calculate the hydraulic rod displacement—ensuring a constant cutting depth h of the pusher blade relative to the ore surface regardless of whether the cleaning machine is on an uphill slope (vehicle pitch angle α>0) or a downhill slope (vehicle pitch angle α<0). The technical significance of this compensation mechanism lies in decomposing the complex three-dimensional motion into a controllable one-dimensional hydraulic telescopic motion, significantly improving the control accuracy of the material removal depth.

[0045] Furthermore, in ore transportation scenarios, the physical properties of ore, such as density, moisture content, and particle size distribution, exhibit significant spatial differences. When the pusher encounters a dense ore layer or large pieces of ore, the pusher resistance increases dramatically even before reaching the set depth. This solution establishes a priority control mechanism by monitoring the pusher pressure P1 in real time: under normal operating conditions, position control is prioritized (tracking the target cylinder length L); under abnormal operating conditions, force control takes priority (immediate stop when P1 ≥ T1). The significance of this dual-mode switching technology lies in ensuring material handling efficiency under normal operating conditions while preventing equipment damage caused by hard obstacles, achieving a dynamic balance between efficiency and safety.

[0046] like Figure 4 As shown in Figure S4, a second pressure sensor is installed on the conveyor belt of the cleaning machine to monitor the conveyor belt pressure P2 in real time and set the conveyor belt pressure threshold T2; the conveyor belt pressure P2 and the threshold T2 are compared, and the cylinder length L is adjusted according to the comparison result, including:

[0047] S41, During the cleaning machine operation, continuously monitor the conveyor belt pressure P2 and compare it with the preset conveyor belt pressure threshold T2;

[0048] S42, when detecting that the transmission belt pressure P2 is greater than the threshold T2, determining that the aggregate conveying amount is too large, and performing load reduction control, including:

[0049] The speed v of the cleaning machine is reduced according to the formula: , wherein, is the adjusted speed of the cleaning machine, is the current speed of the cleaning machine;

[0050] After each speed reduction, the transmission belt pressure P2 is re-detected at a preset time interval;

[0051] Determine whether the adjusted transmission belt pressure P2 meets the stop condition:

[0052] If P2 = T2, stop the speed reduction adjustment and maintain the current speed of the cleaning machine ;

[0053] If P2 > T2, and , return to continue speed reduction;

[0054] If , stop the cleaning machine operation to avoid transmission belt blockage.

[0055] In particular, the fundamental defect of the conventional aggregate conveying control is that the transmission belt overload is regarded as a binary state - normal or abnormal. This simplified cognition leads to the mechanization of the control strategy: either full-speed operation or emergency shutdown. This control logic ignores the dynamic characteristics of the aggregate conveying system, i.e., there is a continuously changing imbalance between the input flow and the output flow. When the pressure is detected to be excessive, the machine is immediately shut down, which seems to protect the equipment, but in fact it causes more problems: the aggregate that has entered the transmission system has nowhere to go, forming a serious accumulation that requires manual intervention to clean up, and the entire production line is paralyzed. Even if a fixed speed reduction scheme is used, due to the inability to accurately match the actual required flow balance point, it often appears that the speed reduction is excessive, resulting in low production efficiency, or the speed reduction is insufficient, still causing blockage.

[0056] The present application regards the aggregate conveying system as a continuous fluid system, and the core control objective is changed from avoiding overload to maintaining flow balance. By establishing a mathematical model of the aggregate accumulation rate , the system can quantitatively analyze the difference between the input and output flow, and adjust the speed v of the cleaning machine to achieve a dynamic balance approaching zero.

[0057] In addition, the present application adopts The proportional speed reduction strategy can quickly relieve pressure when the flow is seriously unbalanced, and can accurately find the stable working point when it is close to the balance point. With the preset time interval, each adjustment is based on the real feedback after the system reaches steady state, avoiding excessive adjustment or oscillation caused by system time lag.

[0058] The threshold T1 is set by the following formula:

[0059] , wherein, is a safety factor, and the value range is 0.7-0.9; represents the ground pressure of the cleaning machine, W represents the total weight of the cleaning machine, and A represents the area of the cleaning machine track and the ground base;

[0060] In particular, in the mine cleaning operation, the setting of the push shovel pressure threshold has always been a technical problem that puzzles the field engineers. The traditional method is to use a fixed empirical value, usually a recommended value obtained by consulting the operation manual according to the equipment model, or a safety value set by the experience of old engineers. However, the actual carrying capacity of the same model of cleaning machine under different working conditions is very different - empty and full load, flat and slope, dry and muddy road, and the anti-overturning capacity of the equipment is different in each case.

[0061] Therefore, the present application proposes When the push shovel is subjected to the resistance of the mine material, an overturning moment will be generated on the cleaning machine, and this moment must be less than the stable moment generated by the self-weight of the cleaning machine. By introducing the ground pressure This concept, the system can real-time evaluate the anti-overturning capacity of the cleaning machine: when the cleaning machine is fully loaded, the increase of W leads to increase, and the allowable push shovel pressure threshold T1 is correspondingly increased; when working on soft ground, the increase of the effective ground area A leads to decrease, and the threshold T1 is automatically reduced to ensure safety.

[0062] S43, when it is detected that the conveyor belt pressure P2 is less than or equal to the threshold T2, it is determined that the mine material conveying amount is insufficiently large, and the load increasing control is executed, including:

[0063] The cleaning machine speed v is adjusted according to the formula: , wherein, is the adjusted cleaning machine speed, is the current cleaning machine speed, and ;

[0064] The speed increasing operation is performed successively until the cleaning machine speed v reaches the preset maximum speed , or the conveyor belt pressure P2 reaches the threshold T2;

[0065] If the speed v of the cleaning machine has reached but the belt pressure P2 is still less than the threshold T2, the depth of the material is adjusted, and the target depth of the material is adjusted according to the formula: wherein, is the adjusted target depth of the material, is the current target depth of the material;

[0066] After each increase in the depth of the material, return to step S2 to recalculate the required cylinder stroke length L according to the new target depth of the material and the real-time body pitch angle a, and perform push shovel control through step S3 until the belt pressure P2 is equal to the threshold T2.

[0067] In particular, in the field of bulk material transportation in mines, the problem of underloading of the belt has been ignored for a long time, and the traditional concept is that it is better to load less than to block the material. This conservative operation concept seriously restricts the capacity of the mine transportation system. When the belt pressure is lower than the design value, the operator usually maintains the current operation, fearing that increasing the load will cause the risk of blocking the material.

[0068] The present application adopts a hierarchical optimization control strategy, which separates the speed adjustment and depth adjustment into two independent control levels and gives them different priorities to achieve risk-controllable capacity optimization. The first level of speed adjustment adopts a gradual speed-up strategy with a 10% increase The ingenuity of this design lies in its inherent safety: the speed adjustment has an immediate and reversible effect on the system, and a 10% increase ensures that the system will not be destabilized by sudden speed-up. Only when the speed reaches the equipment limit and still cannot meet the capacity demand, the system starts the second level of depth adjustment.

[0069] In addition, the depth adjustment adopts a more cautious 5% increase The change in the depth of the material not only affects the instantaneous flow, but also changes the stress state of the push shovel and the power balance of the cleaning machine. Each depth adjustment requires recalculation of the cylinder stroke, verification of the push shovel pressure, and ensuring the safety of the equipment. Through small-step iteration, the system can gradually approach the optimal depth of the material under the premise of ensuring safety.

[0070] The threshold T2 is set by the following formula:

[0071] wherein, is the load coefficient, with a value range of 0.8-0.95; represents the rated load capacity of the belt; W represents the width of the belt.

[0072] In particular, the physical properties of the ore materials are extremely uneven, ranging from fine powder to large blocks mixed together, and the density varies sharply with the moisture content; the distribution of the ore materials on the conveyor belt is random, sometimes concentrated in the center of the belt surface and sometimes biased to one side; the continuity of the operation is extremely high, and once the conveyor belt stops due to overload, the entire production line is paralyzed. For a long time, the setting of the pressure threshold of the conveyor belt has been in a misunderstanding: the rated load capacity is directly taken as the control threshold. This approach ignores a key fact that the failure of the conveyor belt is not caused by the total load exceeding the standard, but by the local stress concentration leading to the tearing of the belt surface or the breaking of the joint. For a 2-meter-wide conveyor belt, even if the total load does not exceed the standard, if the ore materials are all accumulated in a 0.5-meter-wide area, the local stress will be 4 times the average value, which is enough to cause catastrophic damage.

[0073] Therefore, the present application proposes to take the conveyor belt as a flexible bearing structure, whose strength depends on the tensile capacity of the warp and weft in unit width, rather than the total load capacity of the belt surface. When the pressure P2 detected by the pressure sensor approaches the threshold of the unit width bearing capacity, it means that even in the most unfavorable partial load working condition, the belt surface stress is still within the safe range.

[0074] The above has described the present application and its embodiments in a schematic manner, which is not restrictive, and the present application can be realized in other specific forms without departing from the spirit or essential characteristics of the present application. The embodiments shown in the drawings are only one of the embodiments of the present application, and the actual structure is not limited thereto. Therefore, if a person skilled in the art is inspired by it, without departing from the spirit of the present application, similar structural forms and embodiments can be designed without creative design, which should belong to the protection scope of the present application. In addition, the word "comprising" does not exclude other elements or steps, and the word "one" before the element does not exclude the inclusion of "multiple" elements. The words "first", "second", etc. are used to represent the name, and do not represent any specific order.

Claims

1. A method of controlling the burden transport of a ship unloader, characterized in that The method comprises the following steps: S1, installing an inertial sensor on the vehicle chassis to detect the body pitch angle α in real time; and obtaining the structural parameters of the push shovel of the cleaning machine, and establishing a geometric model of the push shovel according to the structural parameters; S2, setting a target material taking depth h, calculating the required oil cylinder length L according to the real-time detected body pitch angle α and the geometric model, and the oil cylinder length L is used for controlling the push shovel lowering in step S3; S3, installing a first pressure sensor on the oil cylinder of the push shovel of the cleaning machine to monitor the push shovel pressure P1 in real time, setting a push shovel pressure threshold T1, and controlling the push shovel lowering according to the oil cylinder length L calculated in step S2; monitoring the push shovel pressure P1 during the push shovel lowering, and stopping the push shovel lowering when P1 exceeds the threshold T1; S4, installing a second pressure sensor on the conveying belt of the cleaning machine to monitor the conveying belt pressure P2 in real time, setting a conveying belt pressure threshold T2, comparing the conveying belt pressure P2 with the threshold T2, and adjusting the oil cylinder length L according to the comparison result; wherein S3, controlling the push shovel lowering according to the oil cylinder length L calculated in step S2, comprises: S31, setting the cleaning machine speed v and the target material taking depth h; S32, calculating the hydraulic rod displacement amount according to the set target material taking depth h, combining the real-time monitored body pitch angle α, and the hydraulic rod displacement amount represents the change amount of the oil cylinder length from the initial position to the target position; S33, generating and executing the push shovel lowering instruction according to the calculated hydraulic rod displacement amount, and controlling the oil cylinder to extend to the target oil cylinder length; S34, monitoring the push shovel pressure P1 through the first pressure sensor during the execution of the push shovel lowering instruction, and judging whether the push shovel pressure P1 is less than the preset push shovel pressure threshold T1: if P1 < T1, continue to execute the push shovel lowering action, and enter step S35; if P1 > T1, immediately stop the push shovel lowering action, and return to step S31 to avoid the cleaning machine track being lifted; S35, judging whether the current oil cylinder length is equal to the oil cylinder length L calculated in step S2: if the target position has been reached, stop the push shovel lowering, and complete the material taking this time; if the target position has not been reached, return to step S34 to continue monitoring the push shovel pressure P1 until the target position is reached or the push shovel pressure P1 exceeds the threshold T1.

2. The method for controlling the mineral material conveying capacity of the cleaning machine according to claim 1, wherein: establishing the geometric model of the push shovel according to the structural parameters comprises: ； ； ； Wherein, h represents the initial cleaning depth of the push shovel, represents the vertical distance from the push shovel rotation center to the horizontal plane; L represents the oil cylinder length, represents the distance from the oil cylinder tail seat fulcrum to the push shovel rotation center, represents the distance from the oil cylinder extension rod fulcrum to the push shovel rotation center; represents the distance from the push shovel rotation center to the front end of the push shovel; α represents the vehicle body pitch angle; β represents the angle between the two ends of the push shovel oil cylinder and the push shovel rotation center after connection; represents the angle with the vehicle chassis plane; represents the angle with the push shovel bottom plane; represents the angle between the horizontal plane and the push shovel bottom plane.

3. The method for controlling the mineral material conveying capacity of the cleaning machine according to claim 2, wherein: S4, installing a second pressure sensor on the conveying belt of the cleaning machine to monitor the conveying belt pressure P2 in real time, setting a conveying belt pressure threshold T2, comparing the conveying belt pressure P2 with the threshold T2, and adjusting the oil cylinder length L according to the comparison result, comprising: S41, continuously monitoring the conveying belt pressure P2 during the operation of the cleaning machine, and comparing the conveying belt pressure P2 with the preset conveying belt pressure threshold T2; S42, when it is detected that the conveying belt pressure P2 is greater than the threshold T2, it is determined that the mineral material conveying capacity is too large, and the load reduction control is executed; S43, when detecting that the transmission belt pressure P2 is less than the threshold T2, it is determined that the mineral conveying amount is insufficient, and the load increasing control is executed.

4. The mineral conveying amount control method of the cleaning machine according to claim 3, characterized in that: S42, when detecting that the transmission belt pressure P2 is greater than the threshold T2, it is determined that the mineral conveying amount is excessive, and the load reducing control is executed, comprising: The speed v of the stripping machine is reduced according to the formula: wherein is the adjusted speed of the stripping machine, is the current speed of the stripping machine; n is the iteration number. After each speed reduction, the transmission belt pressure P2 is re-detected at a preset time interval; determine whether the adjusted transmission belt pressure P2 meets the stop condition: If P2 = T2, then stop the speed reduction regulation, maintain the current speed of the stripping machine ; If P2 > T2, and then return to continue the speed reduction; If then stop the operation of the ship unloader to avoid a jam of the conveyor belt.

5. The mineral conveying amount control method of the cleaning machine according to claim 3, characterized in that: S43, when detecting that the transmission belt pressure P2 is less than the threshold T2, it is determined that the mineral conveying amount is insufficient, and the load increasing control is executed, comprising: The speed v of the stripping machine is adjusted at a higher speed according to the formula: wherein is the adjusted speed of the stripping machine, is the current speed of the stripping machine, and ; The speed-up operation is performed successively until the speed v of the de-clogger reaches a preset maximum speed or the belt pressure P2 reaches a threshold value T2. If the speed v of the de-clogger has reached but the belt pressure P2 is still less than the threshold T2, the depth of the pick-up is adjusted, the target depth of pick-up being adjusted according to the formula: wherein is the adjusted target depth of pick-up, is the current target depth of pick-up; After each increase in the depth of material removal, return to step S2 to recalculate the required cylinder stroke length L based on the new target depth of material removal and the real-time vehicle body pitch angle a, and perform pusher control through step S3 until the conveyor belt pressure P2 equals the threshold value T2.

6. The mineral conveying amount control method of the cleaning machine according to any one of claims 2 to 5, characterized in that: The threshold T1 is set by the following formula: wherein, is a safety factor; represents the ground pressure of the straddle carrier, W represents the total weight of the straddle carrier, and A represents the area of the straddle carrier track in contact with the ground base.

7. The mineral conveying amount control method of the cleaning machine according to claim 6, characterized in that: The threshold T2 is set by the following formula: wherein, is a load factor; represents the rated load capacity of the conveyor belt; W represents the width of the conveyor belt.

8. A bulk material transport control system for a ship unloader, characterized by, comprising: The attitude detection module comprises an inertial sensor mounted on the push shovel of the cleaning machine, for real-time detection of the body pitch angle a; The geometric modeling module obtains the structural parameters of the push shovel of the cleaning machine, and establishes a geometric model of the push shovel material taking according to the structural parameters; The oil cylinder control module calculates the required oil cylinder length to reach the target material taking depth according to the target material taking depth, the body pitch angle a and the geometric model; The push shovel control module monitors the push shovel pressure P1 through the first pressure sensor mounted on the oil cylinder of the push shovel of the cleaning machine, generates a push shovel lowering instruction according to P1 and the set threshold T1, and controls the oil cylinder to extend to the target position; during the push shovel lowering process, when P1 is greater than T1, the push shovel lowering action is immediately stopped; The transmission belt control module monitors the transmission belt pressure P2 through the second pressure sensor mounted on the transmission belt of the cleaning machine, adjusts the speed and material taking depth of the cleaning machine according to P2 and the set threshold T2, and feeds back the adjusted material taking depth to the oil cylinder control module; The threshold setting module sets the thresholds T1 and T2 respectively; Wherein, S3, the push shovel is lowered according to the oil cylinder length L calculated in step S2, comprising: S31, set the speed v of the cleaning machine and the target material taking depth h; S32, according to the set target material taking depth h, combined with the real-time monitored body pitch angle a, the hydraulic rod displacement amount is calculated through the geometric model in step S2, which represents the change amount of the oil cylinder length from the initial position to the target position; S33, according to the calculated hydraulic rod displacement amount, generate and execute the push shovel lowering instruction, control the oil cylinder to extend to the target oil cylinder length; S34, during the execution of the push shovel lowering instruction, the push shovel pressure P1 is monitored through the first pressure sensor, and it is judged whether the push shovel pressure P1 is less than the preset push shovel pressure threshold T1: If P1 < T1, continue to execute the push shovel lowering action, and enter step S35; If P1 > T1, the push shovel lowering action is immediately stopped, and returns to step S31 to avoid the cleaning machine track being lifted up; S35, judge whether the current oil cylinder length is equal to the oil cylinder length L calculated in step S2: If the target position has been reached, stop the push shovel down, complete this time taking material; If the target position has not been reached, return to step S34 to continue monitoring the push shovel pressure P1 until the target position is reached or the push shovel pressure P1 exceeds the threshold T1.

9. A computer readable storage medium, the storage medium stores computer instructions, when the computer instructions are executed by a processor, the method of any one of claims 1-7 is implemented.

Images