Quick cleaning method and system for blocking material at discharging opening of grab machine grating and storage medium

Abstract

The invention provides a quick cleaning method and system for blocking materials at a discharging opening of a grab machine grating and a storage medium. The method comprises the steps that a scanner is used for scanning the blocking materials to obtain the highest blocking material point, and the grating center point closest to the highest blocking material point serves as a material cleaning point; and the relation between the total time Tz accumulated and spent after the cleaning is executed and the time threshold Tq is calculated, if the Tz is smaller than or equal to the time threshold Tq, blockage material cleaning is conducted on the material cleaning point, then the blockage material is scanned again to enter the next cleaning cycle, and if the Tz is larger than the time threshold Tq, material cleaning is ended. The blocking material cleaning device can strictly prevent blocking material cleaning at the discharging opening from affecting discharging work of the grab machine, meanwhile, the grating center point closest to the highest material point is selected as the material cleaning point every time, the material cleaning amount every time is large, the material cleaning effect is good, and blocking material cleaning can be rapidly completed.

Description

Technical Field

[0001] The present invention relates to the technical field of blockage cleaning, and in particular to a method, system and storage medium for quickly cleaning blockage at a grate discharge port of a grab machine. Background Art

[0002] The raw material yard is a place for receiving, storing, processing, and mixing raw materials and fuels for steel metallurgy. The storage yard of a modern large-scale raw material yard (the site for storing raw materials) includes an ore yard, a coal yard, and an auxiliary raw material yard. It not only stores external iron ore, iron ore concentrate, pellets, manganese ore, limestone, dolomite, serpentine, silica, coking coal, and thermal coal, but also stores a portion of sintered ore, pellets, and recycled materials within the steel plant, such as iron oxide scale, blast furnace ash, crushed coke, sinter powder, and end-of-line ore. The bulk material yard uses carts, trucks, and other means to stack materials for storage in the yard. When needed, materials are retrieved by grab buckets. After the grab buckets retrieve the materials, the materials are unloaded through the circular discharge port. The steel bar grille at the discharge port can prevent large materials from falling and blocking the discharge port at the bottom, but the grille is usually blocked by materials.

[0003] Currently, the problem of circular discharge port blockage is typically solved by manual digging. This is labor-intensive, time-consuming, and dust pollution from the bulk material can significantly impact the operator's physical and mental health, affecting discharge efficiency. Furthermore, clearing the discharge port blockage is tied to the grab reclaiming process, and must not affect the grab reclaiming process. This means that the blockage must not be cleared while the grab is unloading. Traditional manual cleaning methods fail to fully utilize the grab reclaiming interval, fail to achieve optimal cleaning results within a limited timeframe, and are prone to safety incidents.

[0004] In summary, there is an urgent need for a method, system and storage medium for quickly cleaning the blockage at the discharging port of the grab machine grille to solve the problems existing in the prior art. Summary of the Invention

[0005] The present invention aims to provide a method for quickly clearing blockages at the discharging port of a grab bucket machine, aiming to solve the problems of manual cleaning of blockages at the discharging port being labor-intensive, affecting the physical and mental health of the operator, and failing to achieve the optimal cleaning effect within a limited time. The specific technical solution is as follows:

[0006] A method for quickly clearing material blockage at a grab machine grille discharge port comprises the following steps:

[0007] C1. Get the coordinates of the center point of each grid at the discharge port and obtain the grid center point set P. k , and set the initial value of m' to 1;

[0008] C2. Scan the blockage on the discharge port. If no blockage is found, proceed to step C6. If a blockage is found, find the highest blockage point p on the blockage. max .z' and then go to step C3;

[0009] C3, in set P k Find the highest blocking point p max .z'The nearest grid center point is used as the clearing point;

[0010] C4. Predict the total time T spent on cleaning after completing this cleaning. z , if T z Less than or equal to the time threshold T q Then go to step C5, if T z Greater than the time threshold T q Then proceed to step C6;

[0011] C5. Clean the blockage on the discharge port at the cleaning point. After completing this cleaning, move the center point of the selected grid to the set P. k Delete it, set m′=m′+1 and then re-enter step C2;

[0012] C6. Finish cleaning.

[0013] Preferably, in step C3, find the distance from the highest blocking point p max The center point of the grid closest to .z′ is used as the cleaning point, specifically:

[0014] The highest blocking point p max .z' is projected onto the XY plane to obtain p m , calculate the set P k From each grid center point to p m The distance d fm , select the minimum d fm The corresponding grid center point is used as the material clearing point;

[0015] Among them, d fm＝ ||p m p f ||, p f Represents the set P k Any grid center point in m Indicates the highest blocking point p max .z' is projected onto the XY plane.

[0016] Preferably, the total time T spent on cleaning in step C4 is z for:

[0017]

[0018] Among them, ts The time required to clear the blockage at the discharge port, t w To complete the clearing point p w The time required to clean the blockage.

[0019] Preferably, the material clearing point p is completed w Time required for cleaning the upper blockage t w for:

[0020]

[0021] Among them, t p The cleaning rod is at the initial position p o With the clearing point p w One-way translation time between p The cleaning rod is at the initial position p o With the clearing point p w Translational speed between t k For cleaning rod at the cleaning point p w Vertical running time when no load; v k For cleaning rod at the cleaning point p w Vertical running speed when no load; t f For cleaning rod at the cleaning point p w Vertical running time when clearing blockage; v f For cleaning rod at the cleaning point p w Vertical running speed when clearing blockage; H o Indicates the initial height of the cleaning rod; P w .z indicates the clearing point p w The corresponding blocking material height.

[0022] Preferably, the time threshold T q Set as the grab machine's reclaiming time interval t m , where t m for:

[0023]

[0024] Among them, t xk represents the running time of the grab in the x direction when it is empty; t yk Indicates the running time of the grab in the y direction when it is empty; t zk Indicates the running time of the grab in the z direction when it is empty; t xf Indicates the running time of the grab bucket in the x direction when loaded; t yf Indicates the running time of the grab bucket in the y direction when carrying load; t zf Indicates the running time of the grab bucket in the z direction when it is loaded; T indicates the time correction constant; X xIndicates the x-coordinate value of the discharge port, X y Indicates the y coordinate value of the discharge port, p max .z represents the z coordinate value of the current highest material point in the material taking area P, and G represents the grab bucket at p max .z lift height above, Indicates the x-coordinate value of the m-th material collection point, Indicates the y coordinate value of the mth material collection point, Indicates the z coordinate value of the mth material collection point, v xk Indicates the running speed of the grab in the x direction when it is empty, v yk Indicates the running speed of the grab in the y direction when it is empty, v zk Indicates the running speed of the grab in the z direction when it is empty, v xf Indicates the running speed of the grab bucket in the x direction when it is loaded, v yf Indicates the running speed of the grab bucket in the y direction when it is loaded, v zf Indicates the running speed of the grab bucket in the z direction when it is loaded.

[0025] Preferably, the method for confirming the material taking point when the grab machine takes the material is:

[0026] Obtain a height map of the effective material, and determine the material collection area P corresponding to the discharge port in the height map of the effective material;

[0027] Arrange the material collection points in a matrix in the material collection area P to obtain the set of all material collection points

[0028] According to the average feeding depth H of the grab bucket and the current highest material point in the feeding area P, the material point set P of the current feeding layer is selected. n ; Where n represents the number of the material layer;

[0029] In the collection Find the set P n The material collection point of the current material collection layer is obtained

[0030] Preferably, the material point set P of the current material layer n Expressed as:

[0031] P n ={p|p z >p max .zH}

[0032] Among them, p z Indicates the z coordinate value of the material point p in the material picking area P, p max .z represents the z coordinate value of the current highest material point in the material reclaiming area P, and H is the average reclaiming depth of the grab bucket;

[0033] The material taking points are arranged in a matrix according to the material taking radius r of the grab in the material taking area P, and the set of material taking points in the material taking area P is expressed as:

[0034] and (p ij .x ∈ [x1, x2]), (p ij .y = j × l) and (p ij .y ∈ [y1, y2])}

[0035] where i = 1, 2, 3,...; j = 1, 2, 3,...; p ij .x represents the x - coordinate value of the material taking point p ij ; p ij .y represents the y - coordinate value of the material taking point p ij ; l is the interval between the material taking points and l = 2r; x1 and x2 are the two boundary points of the material taking area P in the x - axis direction, and y1 and y2 are the two boundary points of the material taking area P in the y - axis direction.

[0036] The set of material taking points of the current material taking layer is expressed as:

[0037]

[0038] where p' represents the material taking point in the set .

[0039] Preferably, the material taking points of two adjacent material taking layers are offset by a distance r in both the x - axis direction and the y - axis direction. The material taking points in the set are expressed as:

[0040]

[0041] The present invention also provides a rapid cleaning system for blockage of the grab machine grille discharge opening, including a memory and a processor. A computer program is stored in the memory, and when the processor runs the computer program, the method is executed.

[0042] The present invention also provides a storage medium in which a computer program is stored, and when the computer program is run, the method is executed.

[0043] Applying the technical solution of the present invention has the following beneficial effects:

[0044] Before each cleaning, the total time T spent on cleaning accumulation is predicted and calculated in the present invention z, which can strictly avoid the blockage cleaning at the discharge port affecting the unloading work of the grab machine; at the same time, the present invention selects the center point of the grid closest to the highest material point as the cleaning point each time, with a large amount of material cleared each time and a good cleaning effect, and can quickly complete the blockage cleaning.

[0045] The cleaning method of the present invention can realize automatic cleaning of blockages, and the entire process does not require human participation, thereby solving the problem that manual cleaning of blockages affects the health of personnel.

[0046] In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0048] Figure 1 1 is a front structural diagram of the grab machine in Example 1;

[0049] Figure 2 is a top view of the grab machine in Example 1;

[0050] Figure 3 is a schematic diagram of the current material extraction layer in Example 1;

[0051] Figure 4 is a flow chart of the rapid cleaning method in Example 2;

[0052] Figure 5 This is a schematic diagram of the blocking area at the discharge port in Example 2;

[0053] Among them, 1. grab bucket, 2. traction rope, 3. mobile trolley, 4. laser scanner, 5. material, 6. crane, 7. longitudinal track, 8. discharge port, 9. center point of the grille. DETAILED DESCRIPTION

[0054] To facilitate understanding of the present invention, the present invention will be described more fully below, along with preferred embodiments thereof. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure of the present invention.

[0055] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0056] Example 1:

[0057] This embodiment provides a grab material control method, which specifically includes:

[0058] S1. Obtain the height map of valid materials;

[0059] like Figure 1 As shown, the longitudinal rails 7 at both ends enable the crane 6 to move along the length of the material 5. The mobile trolley 3 is connected to the grab 1 via the traction rope 2, driving the grab 1 to move vertically. The mobile trolley 3 can move laterally along the length of the crane 6. The grab 1 grabs the material and moves it to the discharge port to release it, so that the material can enter the next process. A laser scanner 4 is fixedly installed at the center of the crane. It can scan the entire cross-section of the material 5 while the crane 6 is running. The data is then converted into three-dimensional point cloud data based on the positioning information of the crane. Combined with the installation position of the laser scanner, the point cloud data is converted into a world coordinate system with the ground as the horizontal plane. The length and width of the ground are further used as the length and width of the image, and the height of the material is used as the data of the corresponding point in the image. The point cloud is converted into a height map. Usually, one pixel represents an actual space size of 5mm×5mm. The specific size can be adjusted according to the refinement requirements.

[0060] The height map is updated in real time while the crane is in operation. Each time the height map is updated, a material inventory can be performed. The real-time volume of the material is obtained by simply summing all pixel values ​​in the height map and multiplying it by the area represented by the pixel value. Because the presence of ineffective material in the material pile can affect the grab's reclaiming ability, in order to accurately obtain the effective material that the grab can grasp, it is necessary to create separate height maps for ineffective material and for unreclaimed material. Subtracting the two height maps yields a height map for effective material, from which the volume of the effective material can be calculated.

[0061] Among them, the height map of invalid materials is obtained by scanning with a laser scanner after the materials are taken out. At this time, the remaining materials are invalid materials (i.e., materials that the grab bucket cannot grab); the height map of materials to be taken is obtained by scanning with a laser scanner before taking the materials.

[0062] S2. Determine the current discharge port according to the process requirements, and determine the material collection area P corresponding to the discharge port in the height map of the effective material, and set n = 1; the effective material volume in the material collection area P must be greater than or equal to the required material collection volume;

[0063] like Figure 2As shown, the material taking area P can be selected based on the location of the discharge port. A material taking area can be preliminarily confirmed first. Generally, the width of the material taking area is required to cover the width of the material. After the material taking area is preliminarily determined, the effective material volume in the preliminarily determined material taking area can be counted. If the effective material volume is greater than or equal to the required material taking amount, it means that the effective material volume in the material taking area can meet the material taking task. If it does not meet the requirement, it means that the scope of the material taking area needs to be further expanded until the requirement is met. Furthermore, in this embodiment, the material taking area is expanded by expanding the length of the material taking area. When expanding, it is preferred to expand the material taking area symmetrically at both ends in the length direction. Among them, the required material taking amount is the total material taking amount that needs to be completed for the material taking task.

[0064] Furthermore, after the material picking area P is determined, the coordinate interval in the length direction is expressed as [x1, x2], and the coordinate interval in the width direction is expressed as [y1, y2], where |x2-x1|=w, |y2-y1|=h, w represents the length of the material picking area P, h represents the width of the material picking area P, x1 and x2 are the two boundary points of the material picking area in the length direction (i.e., the x-axis direction), and y1 and y2 are the two boundary points of the material picking area in the width direction (i.e., the y-axis direction).

[0065] S3. Arrange the material taking points in a matrix in the material taking area P to obtain the set of all material taking points According to the average feeding depth H of the grab bucket and the current highest material point in the feeding area P, the material point set P of the current feeding layer is selected. n ; In the collection Find the set P n The material collection point of the current material collection layer is obtained

[0066] In this embodiment, the material is taken from the material taking area P in a layered manner, such as Figure 3 As shown, the material point set P of the current material layer n Expressed as:

[0067] P n ={p|p z >p max .zH}

[0068] Among them, p z Indicates the z coordinate value of the material point p in the material picking area P, p max .z represents the z coordinate value of the current highest material point in the material reclaiming area P, and H is the average reclaiming depth of the grab bucket.

[0069] Furthermore, the material collection points are set in a matrix according to the material collection radius r of the grab bucket in the material collection area P. The collection of material collection points in the material collection area P is Expressed as:

[0070]

[0071] Where i = 1, 2, 3, ...; j = 1, 2, 3, ...; p ij .x represents the material taking point p ij The x-coordinate value of p ij .y represents the material taking point p ij y coordinate value; l is the interval between the material collection points and l = 2r.

[0072] Furthermore, since the material point set of the current material layer is P n , so in the set Find the set P n The material collection point p of the current material collection layer can be obtained

[0073]

[0074] Get the collection of material points Then you can follow Select the material taking point in the process to perform material taking operation on the current material taking layer.

[0075] S4, control the grab bucket according to the assembly The material taking point in the process takes the material from the current material taking layer and updates the height map of the effective material in real time; during the material taking process, the relationship between the current total material taking amount and the required material taking amount is judged in real time. If the current total material taking amount is greater than or equal to the required material taking amount, enter S6; if the current total material taking amount is less than the required material taking amount, continue taking the material until the material taking of the current material taking layer is completed and enter S5 (that is, if the current total material taking amount is less than the required material taking amount, continue taking the material; if the current total material taking amount is still not greater than or equal to the required material taking amount after the material taking of the current material taking layer is completed, enter S5);

[0076] Furthermore, the collection point set of the current collection layer is obtained. After that, the material can be collected in an orderly manner according to the material collection points. In this embodiment, the material collection order of each material collection point is controlled as follows: the material is collected from each material collection point in ascending order of y coordinates, and the material collection points with the same y coordinates are collected in ascending order of x coordinates. Of course, if the positions of the discharge port and each material collection point have been determined, in some embodiments, the material collection points may be collected in another order.

[0077] S5, take n=n+1 and re-enter S3; where the set With collection The material taking points in the machine need to be staggered;

[0078] Specifically, in this embodiment, the set The material taking point in is expressed as:

[0079]

[0080] In this embodiment, the set The material taking point in is expressed as:

[0081]

[0082] The offset distance r between the feeding points of two adjacent feeding layers in the y-axis direction and the x-axis direction is set to avoid the problem of high accumulation of surrounding materials caused by continuous excavation at the same point, which is not conducive to feeding; the offset distance r between the feeding points of two adjacent feeding layers can ensure that the grab bucket can just take out the materials cleanly, avoiding the increase in the number of feeding times due to the offset distance of the feeding points between two adjacent feeding layers being too small, and avoiding the omission of materials due to the offset distance being too large.

[0083] S6, finish taking material.

[0084] If the current total material taking amount is greater than or equal to the required material taking amount, it means that the material taking task of the current discharge port has been completed, the material taking of the current discharge port should be ended, and the grab machine should be shut down or enter the next material taking process.

[0085] Preferably, in order to save material retrieving time, the lifting height of the grab bucket after each material retrieving can be set to the z-coordinate value of the current highest material point in the material retrieving area P plus a constant G, so as to ensure that the lifting height of the grab bucket is as small as possible while ensuring safety, so as to shorten the material retrieving time; among them, the value of G can be set according to actual conditions, generally depending on the structure of the grab bucket machine itself, and it is necessary to avoid movement collisions.

[0086] Preferably, the position X of the discharge port and the position p of each material collection point m If it is determined, m is the serial number of the material collection point, and the time t for each material collection can be calculated. m :

[0087]

[0088] Among them, t xk represents the running time of the grab in the x direction when it is empty; t yk Indicates the running time of the grab in the y direction when it is empty; t zk Indicates the running time of the grab in the z direction when it is empty; t xf Indicates the running time of the grab bucket in the x direction when loaded; t yf Indicates the running time of the grab bucket in the y direction when carrying load; t zfIt indicates the running time of the grab bucket in the z direction when loaded; T is the time correction constant, which indicates the material grabbing time, unloading time, acceleration when empty, deceleration when empty, acceleration when loaded, and deceleration when loaded for time t m The influence of , T can be considered as a constant value; X x Indicates the x-coordinate value of the discharge port, X y Indicates the y coordinate value of the discharge port, p max .z represents the z coordinate value of the current highest material point in the material taking area P, and G represents the grab bucket at p max .z lift height above, Indicates the x-coordinate value of the m-th material collection point, Indicates the y coordinate value of the mth material collection point, Indicates the z coordinate value of the mth material collection point, v xk Indicates the running speed of the grab in the x direction when it is empty, v yk Indicates the running speed of the grab in the y direction when it is empty, v zk Indicates the running speed of the grab in the z direction when it is empty, v xf Indicates the running speed of the grab bucket in the x direction when it is loaded, v yf Indicates the running speed of the grab bucket in the y direction when it is loaded, v zf Indicates the running speed of the grab bucket in the z direction when it is loaded.

[0089] Preferably, the average material quantity taken by the grabber each time can be obtained by inventory, which is V1. When the required material quantity V2 is known, the number of material taking times required to complete the material taking task can be calculated as:

[0090] q=V2 / V1

[0091] Obtain the number of times q required to complete the material taking task and the time t for each material taking m Based on this, the total time t required to complete the material retrieving task can be calculated a for:

[0092]

[0093] The material reclaiming control method of this embodiment can realize the automatic material reclaiming of the grab bucket. The layered material reclaiming method is adopted and the offset distance r between the material reclaiming points of two adjacent material reclaiming layers is controlled to ensure that no material is missed during the material reclaiming process, avoid the problem of continuous digging at the same point causing high accumulation of surrounding materials that is not conducive to material reclaiming, and avoid the adverse effects caused by excessively large or small offset distances between the material reclaiming points of two adjacent material reclaiming layers. At the same time, the material reclaiming control method of this embodiment can also clearly define the time t for each material reclaiming. m and the total time t required to complete the material collection task a, so as to guide the operation planning; similarly, when obtaining the time t for each material m and the total time t required to complete the material retrieving task a Afterwards, feedback guidance can be used to adjust the material retrieving area P to shorten the total time required to complete the material retrieving task as much as possible.

[0094] Example 2:

[0095] See also Figure 4 This embodiment provides a method for quickly clearing material from a grate discharge port of a grab bucket, comprising the following steps:

[0096] C1. Get the coordinates of the center point of each grid at the discharge port and obtain the grid center point set P. k , and set the initial value of m' to 1;

[0097] Specifically, in this embodiment, the coordinates of the center point of each grid on the discharge port are obtained by on-site measurement, thereby obtaining the grid center point set P k .

[0098] C2. Scan the blockage on the discharge port. If no blockage is found, proceed to step C6. If a blockage is found, find the highest blockage point p on the blockage. max .z′ and then proceed to step C3;

[0099] In this embodiment, a scanner with a pan-tilt head is fixedly installed above the discharge port, or a 2D scanner is installed on the crane. Each time the grabber unloads the material, the discharge port is scanned and converted into a three-dimensional point cloud. Combined with the installation position of the scanner, the data can be converted into a world coordinate system with the discharge port grid plane as the XY plane. The length and width directions of the discharge port grid (that is, the grid formed by the grille) are further used as the length and width directions of the image, and the height data of the material points on the blockage pile are used as the height data of the corresponding points in the image, that is, the point cloud is converted into a height map. Usually, one pixel represents an actual space size of 5mm×5mm, and the specific size can be adjusted according to the refinement requirements. The height map data can be directly used to calculate the amount of blockage.

[0100] Furthermore, when the discharge port is empty, it is scanned to establish an empty pile model (that is, a height map of the empty pile is established, and an empty pile means that there is no blockage on the discharge port). Each time the grab machine unloads the material, it is scanned again to establish a real-time model (that is, a real-time height map of the discharge port). The empty pile model is subtracted from the real-time model to obtain the blockage model (that is, the blockage height map). The sum of all pixel values ​​on the blockage height map is directly counted, and then multiplied by the area represented by the pixel value to obtain the real-time volume of the blockage.

[0101] Furthermore, after obtaining the blocking model, the blocking point set P1 on the blocking model can be further obtained. The area where the blocking point set P1 is projected on the XY plane is the blocking area, such as Figure 5 The blocking point set P1 is expressed as:

[0102]

[0103] Where: p i .z represents the loading point p of the blocking model i The z coordinate value of It is the height threshold, for example, it can be set to 0.1m. The specific threshold can be set according to the site conditions.

[0104] C3, in set P k Find the highest blocking point p max .z′ The nearest grid center point is used as the clearing point;

[0105] Preferably, find the distance from the highest blocking point p max The center point of the grid closest to .z′ is used as the cleaning point, specifically:

[0106] The highest blocking point p max .z′ is projected onto the XY plane to obtain p m , calculate the set P k From each grid center point to p m The distance d fm , select the minimum d fm The corresponding grid center point is used as the material clearing point. fm =|p m p f ||, p f Represents the set P k Any grid center point in m Indicates the highest blocking point p max .z′ is projected onto the point on the XY plane.

[0107] Furthermore, if there are multiple grid center points to the highest blocking point p max .z′ are equal and minimum, then any center point of the grid can be selected as the clearing point.

[0108] C4. Predict the total time T spent on cleaning after completing this cleaning. z , if T z Less than or equal to the time threshold T q Then go to step C5, if T z Greater than the time threshold T q Then proceed to step C6;

[0109] Preferably, the time t required to complete the cleaning can be obtained after the cleaning point is confirmed. w And the total time T spent on cleaning z .

[0110] In this embodiment, a robotic arm is used to control the cleaning rod with a pointed tip to be inserted into the grid at the cleaning point to complete the cleaning of the blocked material at the cleaning point. After the cleaning is completed, the cleaning rod is reset to the initial position. The time t required to complete the cleaning is w for:

[0111]

[0112] Among them, t p The cleaning rod is at the initial position p o With the clearing point p w One-way translation time between p The cleaning rod is at the initial position p o With the clearing point p w Translational speed between t k For cleaning rod at the cleaning point p w The vertical running time when no-load is used includes the vertical descent and vertical ascent when no-load is used. No-load means that the cleaning rod is not used to clean the blockage; v k For cleaning rod at the cleaning point p w Vertical running speed when no load; t f For cleaning rod at the cleaning point p w Vertical running time when clearing blockage; v f For cleaning rod at the cleaning point p w Vertical running speed when clearing blockage; H o Indicates the initial height of the cleaning rod, that is, the height of the cleaning rod from the grid when it moves horizontally; P w .z indicates the clearing point p w The corresponding blockage height, that is, the cleaning point p w The corresponding material point height, P w .z can be obtained directly from the blocking model.

[0113] Preferably, in this embodiment, the cleaning rod is reset to its initial position each time after cleaning is completed, so as to prevent the cleaning rod from being above the discharge port when the grab machine is unloading and affecting the unloading.

[0114] Furthermore, the total time spent on cleaning is T z for:

[0115]

[0116] Among them, t sThe time required to scan the blockage at the discharge port can be considered as a constant time.

[0117] C5. Clean the blockage on the discharge port at the cleaning point. After completing this cleaning, move the center point of the selected grid to the set P. k Delete it, set m′=m′+1 and then re-enter step C2;

[0118] Specifically, in the set P k The purpose of deleting the center point of the grille selected this time is to prevent the same highest blockage point from reappearing in extreme cases, resulting in repeated blockage cleaning of the same grille center point each time; at the same time, the grille center point is deleted after each cleaning, which makes it easier for staff to clearly understand which grilles have been cleaned.

[0119] C6. Finish cleaning.

[0120] Preferably, in this embodiment, all the screened grid center points located in the blocking area can be used as the set P k This can reduce the subsequent search for the highest blocking point p max .z′ is the amount of calculation required to find the nearest grid center point.

[0121] In this embodiment, the total time T spent on cleaning is predicted and calculated before each cleaning. z , which can strictly avoid the blockage cleaning of the discharge port affecting the unloading work of the grab machine; at the same time, in this embodiment, the center point of the grid closest to the highest material point is selected as the clearing point each time, and the material clearing amount is large and the cleaning effect is good each time, which can achieve rapid completion of the blockage cleaning.

[0122] It should be noted that although the time threshold T is introduced q It is possible that the blockage on the discharge port has not been completely cleared when the grab bucket is unloading, but this will not affect the normal operation of the grab bucket and the discharge port. Since the amount of material discharged by the grab bucket each time is not too large, the remaining blockage on the discharge port can fall to the bottom of the discharge port along with the grab bucket unloading, and can also be cleared during the next cleaning process. The time threshold T q It can be set to the grab machine material taking time interval t in Example 1 m , thereby realizing the linkage control of grab bucket unloading and material blockage cleaning at the unloading port, so as to strictly limit the time of material blockage cleaning at the unloading port; similarly, the time threshold T q It may also be a threshold artificially set by those skilled in the art based on actual conditions.

[0123] Example 3:

[0124] This embodiment provides a system for quickly clearing blockages at a grab machine's grille discharge port, comprising a memory and a processor. The memory stores a computer program, and the processor executes the method in Example 2 when running the computer program.

[0125] Example 4:

[0126] This embodiment provides a storage medium, in which a computer program is stored. When the computer program is executed, the method in embodiment 2 is executed.

[0127] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A method for quickly cleaning the blockage of the discharging port of the grab bucket machine, characterized in that: The following steps are involved: C1. Get the coordinates of the center point of each grid at the discharge port and obtain the grid center point set P. k , and set the initial value of m' to 1; C2. Scan the blockage on the discharge port. If no blockage is found, proceed to step C6. If a blockage is found, find the highest blockage point p on the blockage. max .z' and then go to step C3; C3. In the set P k Find the highest blocking point p max .z'The nearest grid center point is used as the clearing point; C4. Predict the total time T spent on cleaning after completing this cleaning. z , if T z Less than or equal to the time threshold T q Then go to step C5, if T z Greater than the time threshold T q Then proceed to step C6; C5. Clean the blockage on the discharge port at the cleaning point. After completing this cleaning, move the center point of the selected grid to the set P. k Delete it, set m'=m'+1 and then re-enter step C2; C6. Finish cleaning.

2. The method for quickly clearing the blockage of the grab bucket grille discharge port according to claim 1 is characterized in that: In step C3, find the distance from the highest blocking point p max .z' The nearest grid center point is used as the clearing point, specifically: The highest blocking point p max .z' is projected onto the XY plane to obtain p m , calculate the set P k From each grid center point to p m The distance d fm , select the minimum d fm The corresponding grid center point is used as the material clearing point; Among them, d fm =||p m p f ||, p f Represents the set P k Any grid center point in m Indicates the highest blocking point p max .z' is projected onto the XY plane.

3. The method for quickly clearing the blockage of the grab bucket grille discharge port according to claim 1 is characterized in that: The total time T spent on cleaning in step C4 z for: Among them, t s The time required to clear the blockage at the discharge port, t w To complete the clearing point p w The time required to clean the blockage.

4. The method for quickly clearing the blockage of the grab bucket grille discharge port according to claim 3 is characterized in that: Complete the clearing point p w Time required for cleaning the upper blockage t w for: Among them, t p The cleaning rod is at the initial position p o With the clearing point p w One-way translation time between p The cleaning rod is at the initial position p o With the clearing point p w Translational speed between t k For cleaning rod at the cleaning point p w Vertical running time when no load; v k For cleaning rod at the cleaning point p w Vertical running speed when no load; t f For cleaning rod at the cleaning point p w Vertical running time when clearing blockage; v f For cleaning rod at the cleaning point p w Vertical running speed when clearing blockage; H o Indicates the initial height of the cleaning rod; P w .z indicates the clearing point p w The corresponding blocking material height.

5. The method for quickly clearing the blockage at the discharging port of the grab bucket according to any one of claims 1 to 4, characterized in that: Time threshold T q Set as the grab machine's reclaiming time interval t m , where t m for: Among them, t xk represents the running time of the grab in the x direction when it is empty; t yk Indicates the running time of the grab in the y direction when it is empty; t zk Indicates the running time of the grab in the z direction when it is empty; t xf Indicates the running time of the grab bucket in the x direction when loaded; t yf Indicates the running time of the grab bucket in the y direction when carrying load; t zf Indicates the running time of the grab bucket in the z direction when it is loaded; T indicates the time correction constant; X x Indicates the x-coordinate value of the discharge port, X y Indicates the y coordinate value of the discharge port, p max .z represents the z coordinate value of the current highest material point in the material taking area P, and G represents the grab bucket at p max .z lift height above, Indicates the x-coordinate value of the m-th material collection point, Indicates the y coordinate value of the mth material collection point, Indicates the z coordinate value of the mth material collection point, v xk Indicates the running speed of the grab in the x direction when it is empty, v yk Indicates the running speed of the grab in the y direction when it is empty, v zk Indicates the running speed of the grab in the z direction when it is empty, v xf Indicates the running speed of the grab bucket in the x direction when it is loaded, v yf Indicates the running speed of the grab bucket in the y direction when it is loaded, v zf Indicates the running speed of the grab bucket in the z direction when it is loaded.

6. The method for quickly clearing the blockage of the grab bucket grille discharge port according to claim 5 is characterized in that: The method for confirming the material taking point when the grab bucket takes the material is as follows: Obtain a height map of the effective material, and determine the material collection area P corresponding to the discharge port in the height map of the effective material; Arrange the material collection points in a matrix in the material collection area P to obtain the set of all material collection points According to the average feeding depth H of the grab bucket and the current highest material point in the feeding area P, the material point set P of the current feeding layer is selected. n ; Where n represents the number of the material layer; In the collection Find the set P n The material collection point of the current material collection layer is obtained 7. The method for quickly clearing the blockage of the discharging port of the grab bucket according to claim 6 is characterized in that: The material point set P of the current material taking layer n Expressed as: P n ={p|p z >p max .z-H} Among them, p z Indicates the z coordinate value of the material point p in the material picking area P, p max .z represents the z coordinate value of the current highest material point in the material reclaiming area P, and H is the average reclaiming depth of the grab bucket; The collection points in the collection area P are set in a matrix according to the collection radius r of the grab bucket. Expressed as: Where i = 1, 2, 3, ...; j = 1, 2, 3, ...; p ij .x represents the material taking point p ij The x-coordinate value of p ij .y represents the material taking point p ij y coordinate value; l is the interval between the material collection points and l = 2r; x1 and x2 are the two boundary points of the material collection area P in the x-axis direction, and y1 and y2 are the two boundary points of the material collection area P in the y-axis direction; The collection of material points in the current material layer Expressed as: Among them, p ' Representing a collection The material taking point in.

8. The method for quickly clearing the blockage of the discharging port of the grab bucket according to claim 7 is characterized in that: The feeding points of two adjacent feeding layers are offset by a distance r in the x-axis and y-axis directions. The material taking point in is expressed as:

9. A quick cleaning system for blocking material at the discharging port of a grab bucket machine, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and the processor executes the method according to any one of claims 1 to 8 when running the computer program.

10. A storage medium, characterized in that: The storage medium stores a computer program, which, when executed, executes the method according to any one of claims 1 to 8.

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