A method and system for quickly cleaning a material blocking of a grating discharge port of a grab bucket machine and a storage medium

Abstract

The application provides a quick cleaning method and system for material blockage of a grating discharge port of a grab bucket machine and a storage medium. The method comprises the following steps: scanning the material blockage by using a scanner to obtain the highest blockage point, taking the center point of the grating closest to the highest blockage point as a cleaning point, and calculating the total time T spent after the current cleaning z The relationship between the time threshold T q If T z is less than or equal to the time threshold T q , the cleaning point is cleaned of the material blockage, and then the material blockage is scanned again to enter the next cleaning cycle. If T z is greater than the time threshold T q , the cleaning is ended. The application can strictly avoid the influence of the cleaning of the material blockage of the discharge port on the unloading work of the grab bucket machine. In addition, the application selects the center point of the grating closest to the highest blockage point as the cleaning point each time, the cleaning amount is large each time, the cleaning effect is good, and the cleaning of the material blockage can be quickly completed.

Description

Technical Field

[0001] This invention relates to the field of material blockage removal technology, specifically to a rapid method, system, and storage medium for clearing material blockage at the grid discharge port of a grab bucket crane. Background Technology

[0002] A raw material yard is a site for receiving, storing, processing, and blending raw materials and fuels for iron and steel metallurgy. Modern large-scale raw material yards include ore yards, coal yards, and auxiliary raw material yards; they not only store incoming iron ore, iron concentrate, pellets, manganese ore, limestone, dolomite, serpentine, silica, coking coal, and thermal coal, but also store some sintered ore, pellets, and recycled materials from the steel plant, such as iron oxide scale, blast furnace ash, crushed coke, sinter powder, and end-of-life materials for blending. Bulk material yards store materials by stacking them in the yard using carts and trucks. When needed, materials are retrieved by grab buckets, and then unloaded through circular discharge ports. The steel grating at the discharge port prevents large pieces of material from falling and clogging the bottom discharge port; however, blockage of the grating often occurs.

[0003] Currently, the common method for clearing blockages in circular discharge ports is manual excavation. This method is labor-intensive, time-consuming, and the dust pollution from the loose material can significantly impact the physical and mental health of operators, affecting unloading efficiency. Furthermore, clearing blockages at the discharge port is linked to the grab bucket crane's material handling operation; the clearing of blockages must not interfere with the grab bucket crane's operation. In other words, the discharge port cannot be cleared while the grab bucket crane is unloading. Traditional manual clearing methods cannot fully utilize the time intervals between grab bucket crane operations, failing to achieve optimal clearing results within a limited time and easily leading to safety accidents.

[0004] In summary, there is an urgent need for a rapid cleaning method, system, and storage medium for clogging the grid discharge port of a grab bucket crane to solve the problems existing in the prior art. Summary of the Invention

[0005] The purpose of this invention is to provide a rapid method for clearing blockages in the unloading port of a grab bucket crane, aiming to solve the problems of high labor intensity, negative impact on the physical and mental health of operators, and inability to achieve optimal cleaning results within a limited time when manually clearing blockages in the unloading port. The specific technical solution is as follows:

[0006] A rapid method for clearing blockages in the unloading port of a grab bucket crane's grid includes the following steps:

[0007] C1. Obtain the coordinates of the center point of each grid at the discharge port, and get the set P of grid center points. k Meanwhile, the initial value of m' is set to 1;

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

[0009] C3, in set P k Find the point p at the highest distance from the blockage point. max The nearest center point of the grid is used as the cleaning point;

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

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

[0012] C6. End the cleanup.

[0013] Preferably, in step C3, the point p at the highest point of blockage is identified. max The nearest center point of the grating is used as the cleaning point, specifically:

[0014] The highest blockage point p max .z' projected onto the XY plane yields p m Calculate set P k From the center point of each grid to p m distance d fm Choose the smallest d fm The corresponding center point of the grid is used as the cleaning point;

[0015] Where, d fm＝ ||p m p f ||,p f Describe set P k p is any center point of the grid. m Indicates the highest blockage point p max .z' is the point 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 blockages at the discharge port, t w To complete the cleaning point p w The time required to clear the blockage.

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

[0020]

[0021] Among them, t p For the cleaning rod at the initial position p o With cleaning point p w The unidirectional translation time between them; v p For the cleaning rod at the initial position p o With cleaning point p w Translational velocity between; t k For cleaning rods at cleaning point p w Vertical running time under no-load conditions; v k For cleaning rods at cleaning point p w Vertical running speed when unloaded; t f For cleaning rods at cleaning point p w Vertical travel time during material blockage clearing; v f For cleaning rods at cleaning point p w Vertical running speed during material blockage clearing; H o Indicates the initial height of the cleaning rod; P w .z represents the cleaning point p w The corresponding blockage height.

[0022] Preferably, the time threshold T q Set the material handling time interval t of the grab bucket crane m , where t m for:

[0023]

[0024] Among them, t xk t represents the travel time of the grab bucket in the x-direction when it is unloaded; yk t represents the travel time of the grab bucket in the y-direction when it is unloaded; zk t represents the travel time of the grab bucket in the z-direction when it is unloaded; xf t represents the travel time of the grab bucket in the x-direction when it is under load; yf t represents the travel time of the grab bucket in the y-direction when it is under load; zf X represents the travel time of the grab bucket under load in the z-direction; T represents the time correction constant; X represents the travel time of the grab bucket under load in the z-direction. xThis represents the x-coordinate value of the discharge port, X. y p represents the y-coordinate value of the discharge port. max .z represents the z-coordinate of the highest material point within the material handling area P, and G represents the position of the grab bucket at point P. max The elevation above .z This represents the x-coordinate value of the m-th material picking point. This represents the y-coordinate value of the m-th material picking point. v represents the z-coordinate value of the m-th material picking point. xk v represents the speed of the grab bucket in the x-direction when it is unloaded. yk v represents the y-speed of the grab bucket when it is unloaded. zk v represents the speed of the grab bucket in the z-direction when it is unloaded. xf v represents the speed of the grab bucket in the x-direction when it is under load. yf v represents the speed of the grab bucket in the y-direction when it is under load. zf This indicates the speed of the grab bucket in the z-direction when it is under load.

[0025] Preferably, the method for confirming the material collection point when the grab bucket crane is collecting material is as follows:

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

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

[0028] Based on the average material grabbing depth H of the grab bucket and the highest material point in the current material grabbing area P, the set of material points P of the current material grabbing layer is selected. n Where n represents the number of the material extraction layer;

[0029] In the set Searching for a set P n The collection points are determined to obtain the set of collection points for the current collection layer.

[0030] Preferably, the set of material points P in the current material extraction layer n Represented as:

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

[0032] Where, p z This represents the z-coordinate of point p within the material handling area P. max .z represents the z-coordinate value of the highest material point within the material collection area P, and H is the average material collection depth of the grab bucket;

[0033] Within the material handling area P, material handling points are set in a matrix according to the material handling radius r of the grab bucket. The set of material handling points within the material handling area P is... Represented 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 material pick-up point p ij x-coordinate value; p ij .y represents the material pick-up point p ij The y-coordinate value; l is the interval between the material picking points and l = 2r; x1 and x2 are the two boundary points of the material picking area P in the x-axis direction, and y1 and y2 are the two boundary points of the material picking area P in the y-axis direction.

[0036] Set of material collection points in the current material collection layer Represented as:

[0037]

[0038] Where p′ represents the set The material collection point in the process.

[0039] Preferably, the material collection points of two adjacent material collection layers are staggered by a distance r in both the x-axis and y-axis directions. The material collection point is represented as follows:

[0040]

[0041] The present invention also provides a rapid cleaning system for clogging the unloading port of a grab bucket crane, comprising a memory and a processor, wherein the memory stores a computer program, and the processor executes the method described thereon when running the computer program.

[0042] The present invention also provides a storage medium storing a computer program, which, when run, executes the method.

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

[0044] This invention predicts and calculates the total time T spent on cleaning before each cleaning operation. zThis invention can strictly avoid the blockage at the unloading port affecting the unloading operation of the grab bucket; at the same time, the invention selects the center point of the grid closest to the highest material point as the cleaning point each time, with a large cleaning volume and good cleaning effect each time, which can quickly complete the blockage cleaning.

[0045] The cleaning method of the present invention can automate the cleaning of blockages without human intervention, thus solving the problem of the health impact of manual cleaning of blockages.

[0046] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description

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

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

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

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

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

[0052] Figure 5 This is a schematic diagram of the blockage 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. unloading port, and 9. grid center point. Detailed Implementation

[0054] To facilitate understanding of the present invention, a more complete description is provided below, along with preferred embodiments. 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 thorough and complete understanding of the disclosure of the present invention.

[0055] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0056] Example 1:

[0057] This embodiment provides a method for controlling the material handling of a grab bucket crane, specifically including:

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

[0059] like Figure 1 As shown, the trolley 6 can move along the length of the material 5 via the longitudinal tracks 7 at both ends. The moving trolley 3 is connected to the grab bucket 1 via the traction rope 2, driving the grab bucket 1 to move vertically. The moving trolley 3 can also move laterally along the length of the trolley 6. The grab bucket 1 grabs the material and moves it to the unloading port for delivery, allowing the material to enter the next process. A laser scanner 4 is fixedly installed at the center of the trolley, which can scan the entire cross-section of the material 5 while the trolley 6 is running. The data is then converted into three-dimensional point cloud data based on the trolley's positioning information. 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 used as the length and width of the image, and the height of the material is used as the data of the corresponding points in the image. In other words, the point cloud is converted into a height map. Typically, one pixel represents an actual space size of 5mm × 5mm, but the specific size can be adjusted according to the refinement requirements.

[0060] The height map is updated in real time during crane operation, and material inventory can be performed each time the height map is updated. The real-time volume of the material is obtained by summing all pixel values ​​on the height map and multiplying them by the area represented by each pixel value. Since invalid material in the material pile can affect the grab crane's material handling, in order to accurately obtain the effective material that the grab crane can grab, it is necessary to create separate height maps for invalid material and material to be grabbed. Subtracting the two height maps yields the height map for effective material, and the volume of effective material can be calculated based on the height map of effective material.

[0061] The height map of invalid material is obtained by the laser scanner after the material has been removed. The remaining material is invalid material (i.e., material that the grab cannot grab). The height map of material to be picked up is obtained by the laser scanner before picking up the material.

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

[0063] like Figure 2As shown, the material collection area P can be selected based on the nearest location to the unloading port. A preliminary material collection area can be identified initially, generally requiring its width to cover the width of the material. After initially determining the collection area, the effective material volume within that area can be calculated. If the effective material volume is greater than or equal to the required material collection volume, it indicates that the effective material volume within the collection area can meet the material collection task. If not, the collection area needs to be further expanded until the requirement is met. Furthermore, in this embodiment, the collection area is expanded by increasing its length, preferably symmetrically expanding both ends of the length direction. The required material collection volume refers to the total material collection volume that the task needs to complete.

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

[0065] S3. Arrange the material picking points in a matrix within the material picking area P to obtain the set of all material picking points. Based on the average material grabbing depth H of the grab bucket and the highest material point in the current material grabbing area P, the set of material points P of the current material grabbing layer is selected. n In the set Searching for a set P n The collection points are determined to obtain the set of collection points for the current collection layer.

[0066] In this embodiment, a layered material taking method is used to take material from the material taking area P, such as... Figure 3 As shown, the set of material points P in the current material picking layer n Represented as:

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

[0068] Where, p z This represents the z-coordinate of point p within the material handling area P. max .z represents the z-coordinate of the highest material point within the material collection area P, and H is the average material collection depth of the grab bucket.

[0069] Furthermore, within the material handling area P, material handling points are set in a matrix according to the material handling radius r of the grab bucket, forming the set of material handling points within the material handling area P. Represented as:

[0070]

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

[0072] Furthermore, since the current set of material points in the material extraction layer is P n Therefore, in the set Searching for a set P n The set of picking points for the current picking layer can be obtained by picking point p.

[0073]

[0074] Get the set of material collection points Then you can proceed according to The material collection point in the middle performs material collection operations on the current material collection layer.

[0075] S4. Control the grab bucket according to the assembly... The material picking point in the process picks up material from the current picking layer and updates the height map of the effective material in real time. During the picking process, the relationship between the current total picking amount and the required picking amount is judged in real time. If the current total picking amount is greater than or equal to the required picking amount, the process proceeds to S6. If the current total picking amount is less than the required picking amount, the picking continues until the picking of the current picking layer is completed, and then the process proceeds to S5 (that is, if the current total picking amount is less than the required picking amount, the picking continues. If the current total picking amount is not greater than or equal to the required picking amount after the picking of the current picking layer is completed, the process proceeds to S5).

[0076] Furthermore, the set of material collection points for the current material collection layer is obtained. Then, materials can be collected in an orderly manner according to the collection points. In this embodiment, the collection order of each collection point is controlled as follows: materials are collected from each collection point in ascending order of y-coordinate, and collection points with the same y-coordinate are collected in ascending order of x-coordinate. Of course, if the locations of the discharge port and each collection point are already determined, some embodiments may also collect materials from each collection point in other orders.

[0077] S5. After taking n = n + 1, re-enter S3; where, the set With sets The material collection points need to be staggered.

[0078] Specifically, in this embodiment, the set The material collection point is represented as follows:

[0079]

[0080] In this embodiment, the set The material collection point is represented as follows:

[0081]

[0082] The staggered distance r between the material collection points of two adjacent material collection layers in both the y-axis and x-axis directions is set to avoid the problem of high material accumulation around the same point due to continuous digging at the same point, which is not conducive to material collection. The staggered distance r between the material collection points of two adjacent material collection layers can ensure that the grab bucket can just take away the material cleanly. It avoids the need to increase the number of material collections due to the staggered distance between the material collection points of two adjacent material collection layers being too small, and also avoids the possibility of missing material due to the staggered distance being too large.

[0083] S6. End material handling.

[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 at the current unloading port has been completed, and the material taking at the current unloading port should end. The grab bucket should stop or enter the next material taking process.

[0085] Preferably, in order to save material handling time, the lifting height of the grab bucket after each material handling can be set to the z-coordinate value of the highest material point in the material handling area P plus a constant G. Under the premise of ensuring safety, the lifting height of the grab bucket should be as small as possible to shorten the material handling time. The value of G can be set according to the actual situation, generally depending on the structure of the grab bucket itself, and it is necessary to avoid the occurrence of movement collisions.

[0086] Preferably, at position X of the discharge port and position p of each material collection point... m Given a fixed m, which is the sequence number of the material collection point, the time t for each material collection can be calculated. m :

[0087]

[0088] Among them, t xk t represents the travel time of the grab bucket in the x-direction when it is unloaded; yk t represents the travel time of the grab bucket in the y-direction when it is unloaded; zk t represents the travel time of the grab bucket in the z-direction when it is unloaded; xf t represents the travel time of the grab bucket in the x-direction when it is under load; yf t represents the travel time of the grab bucket in the y-direction when it is under load; zfThe z-axis represents the travel time of the grab bucket under load in the z-direction; T represents the time correction constant, which represents the material grabbing time, unloading time, acceleration under no-load, deceleration under no-load, acceleration under load, and deceleration under load relative to time t. m The influence of X can be considered as T being a constant value; x This represents the x-coordinate value of the discharge port, X. y p represents the y-coordinate value of the discharge port. max .z represents the z-coordinate of the highest material point within the material handling area P, and G represents the position of the grab bucket at point P. max The elevation above .z This represents the x-coordinate value of the m-th material picking point. This represents the y-coordinate value of the m-th material picking point. v represents the z-coordinate value of the m-th material picking point. xk v represents the speed of the grab bucket in the x-direction when it is unloaded. yk v represents the y-speed of the grab bucket when it is unloaded. zk v represents the speed of the grab bucket in the z-direction when it is unloaded. xf v represents the speed of the grab bucket in the x-direction when it is under load. yf v represents the speed of the grab bucket in the y-direction when it is under load. zf This indicates the speed of the grab bucket in the z-direction when it is under load.

[0089] Preferably, by inventorying the storage, the average material handling volume V1 of each grab bucket can be obtained. Given the required material handling volume V2, the number of grab bucket operations required to complete the task can be calculated as follows:

[0090] q = V2 / V1

[0091] To obtain the number of material collections q required to complete the material collection task and the time t for each material collection, m Based on this, the total time t required to complete the material retrieving task can be calculated. a for:

[0092]

[0093] The material handling control method of this embodiment enables automated material handling by the grab bucket crane. By employing a layered material handling approach and controlling the offset distance *r* between the material handling points of adjacent layers, it ensures no material is missed during the handling process. This avoids the problem of excessive material accumulation around the same point due to continuous digging, which hinders material handling, and also prevents adverse effects caused by excessively large or small offset distances between the material handling points of adjacent layers. Furthermore, the material handling control method of this embodiment can clearly define the time *t* for each material handling operation. m And predict the total time t required to complete the material handling task. aThis allows for guidance of work planning; similarly, it allows for obtaining the time t for each material retrieving operation. m and the total time t required to complete the material collection task a Afterwards, feedback can be provided to guide adjustments to the material handling area P in order to minimize the total time required to complete the material handling task.

[0094] Example 2:

[0095] See Figure 4 This embodiment provides a rapid method for clearing blockages in the unloading port of a grab bucket crane's grid, including the following steps:

[0096] C1. Obtain the coordinates of the center point of each grid at the discharge port, and get the set P of grid center points. k Meanwhile, the initial value of m' is set 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 set P of grid center points. k .

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

[0099] In this embodiment, a scanner with a pan-tilt unit is fixedly installed above the unloading port, or a 2D scanner is installed on the crane. After each unloading operation, the unloading port is scanned and converted into a 3D point cloud. Based on the installation position of the scanner, the data can be converted into a world coordinate system with the unloading port grid plane as the XY plane. Furthermore, the length and width directions of the unloading port grid (i.e., the grid formed by the grid) are used as the length and width directions of the image, and the height data of the material points on the blockage pile is used as the height data of the corresponding points in the image. That is, the point cloud is converted into a height map. Typically, one pixel represents an actual space size of 5mm × 5mm. The specific size can be adjusted according to the refinement requirements. This height map data can be directly used to calculate the amount of blockage.

[0100] Furthermore, when the unloading port is empty, it is scanned to establish an empty pile model (i.e., a height map of the empty pile, indicating that there is no material blockage at the unloading port). After each unloading operation, the grab bucket is scanned again to establish a real-time model (i.e., a real-time height map of the unloading port). The blockage model (i.e., a blockage height map) is obtained by subtracting the empty pile model from the real-time model. The real-time volume of the blockage can be obtained by summing all pixel values ​​on the blockage height map and multiplying it by the area represented by the pixel value.

[0101] Furthermore, after obtaining the blockage model, the blockage point set P1 on the blockage model can be obtained. The area projected onto the XY plane by the blockage point set P1 is the blockage area, such as... Figure 5 As shown. The blockage point set P1 is represented as:

[0102]

[0103] Where: p i .z represents the material feeding point p of the blockage model. i z-coordinate value, This is a 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 point p at the highest distance from the blockage point. max The nearest center point of the grid is used as the cleaning point;

[0105] Preferably, find the distance p from the highest blockage point. max The nearest center point of the grating is used as the cleaning point, specifically:

[0106] The highest blockage point p max Projecting z′ onto the XY plane yields p m Calculate set P k From the center point of each grid to p m distance d fm Choose the smallest d fm The corresponding center point of the grid is used as the cleaning point. Where, d fm =|p m p f ||,p f Describe set P k p is any center point of the grid. m Indicates the highest blockage point p max The point on the XY plane that .z′ is projected onto.

[0107] Furthermore, if there are multiple grid center points to the highest material blockage point p max If the distances of .z′ are equal and all are minimized, then any center point of the grid can be selected as the cleaning point.

[0108] C4. Predict the total time T to be spent on cleaning up after this cleanup is completed. z If T z Less than or equal to the time threshold T q Then proceed 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 this cleaning can be obtained after the cleaning point is confirmed. w And the total time T spent on cleaning materials z .

[0110] In this embodiment, a robotic arm controls a pointed cleaning rod to insert into the grid mesh at the cleaning point to clear the blockage. After cleaning, the cleaning rod returns to its initial position. The time t required to complete this cleaning is then calculated. w for:

[0111]

[0112] Among them, t p For the cleaning rod at the initial position p o With cleaning point p w The unidirectional translation time between them; v p For the cleaning rod at the initial position p o With cleaning point p w Translational velocity between; t k For cleaning rods at cleaning point p w The vertical running time under no-load conditions includes both vertical descent and vertical ascent under no-load conditions. "No-load" refers to the time before the cleaning rod has been cleared of blockages. k For cleaning rods at cleaning point p w Vertical running speed when unloaded; t f For cleaning rods at cleaning point p w Vertical travel time during material blockage clearing; v f For cleaning rods at cleaning point p w Vertical running speed during material blockage clearing; H o This indicates the initial height of the cleaning rod, i.e., the height of the cleaning rod from the grid when it moves horizontally; P w .z represents the cleaning point p w The corresponding blockage height, i.e., the cleaning point p. w The corresponding material point height, P w .z can be obtained directly from the blockage model.

[0113] Preferably, in this embodiment, the cleaning rod is reset to its initial position after each cleaning operation to prevent the cleaning rod from being above the discharge port and affecting the unloading process when the grab bucket is unloading.

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

[0115]

[0116] Among them, t sThe time required to clear blockages at the discharge port can be considered a fixed value.

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

[0118] Specifically, in set P k The reason for deleting the center point of the grid in this case is to prevent the same highest blockage point from recurring in extreme cases, which would cause repeated blockage cleaning of the same grid center point each time. At the same time, deleting the grid center point after each cleaning makes it easier for staff to see which grids have been cleaned.

[0119] C6. End the cleanup.

[0120] Preferably, in this embodiment, all the screened grid center points located in the blockage area can also be used as a set P. k This reduces the need to find the highest blockage point p in the subsequent search. max The computational cost required to locate the nearest grid center point.

[0121] In this embodiment, the total time T for cleaning is predicted and calculated before each cleaning operation. z This can strictly avoid the blockage at the unloading port affecting the unloading operation of the grab bucket; at the same time, in this embodiment, the center point of the grid closest to the highest material point is selected as the cleaning point each time, and the cleaning volume is large and the cleaning effect is good, which can quickly complete the blockage cleaning.

[0122] It should be noted that, although a time threshold T is introduced... q It's possible that some material blockage at the discharge port may not be completely cleared when the grab bucket is unloading. However, this will not affect the normal operation of the grab bucket and the discharge port. Since the amount of material unloaded by the grab bucket each time is not large, any remaining blockage at the discharge port can fall below the discharge port along with the unloading, or it can be cleared during the next cleaning process. The time threshold T... q The material handling time interval t can be set as in Example 1. m This enables coordinated control of grab bucket unloading and material clearing at the unloading port, thus strictly limiting the time required for material clearing at the unloading port; similarly, the time threshold T q It can also be a threshold set by those in the field based on the actual situation.

[0123] Example 3:

[0124] This embodiment provides a rapid cleaning system for clogging the unloading port of a grab bucket crane's grid, including a memory and a processor. The memory stores a computer program, and the processor executes the method in Embodiment 2 when running the computer program.

[0125] Example 4:

[0126] This embodiment provides a storage medium storing a computer program, which, when run, executes the method in embodiment 2.

[0127] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A rapid method for clearing blockages in the unloading port of a grab bucket crane's grid, characterized in that, Includes the following steps: C1. Obtain the coordinates of the center point of each grid at the discharge port to obtain the set of grid center points. At the same time, set The initial value is 1; C2. Scan the discharge port for blockages. If no blockage is detected, proceed to step C6. If a blockage is detected, locate the highest point of blockage. Then proceed to step C3; C3, in the set Find the point with the highest material blockage. The nearest center point of the grille serves as the cleaning point; C4. Predict the total time required for material removal after this cleanup is completed. If the total time Less than or equal to the time threshold Then proceed to step C5, if the total time Greater than the time threshold Then proceed to step C6; C5. Clean the blockage at the discharge port at the cleaning point. After completing this cleaning, set the center point of the selected grid at the assembly point. Delete, let = After +1, re-enter step C2; C6. End the cleanup; In step C3, find the point of highest material blockage. The nearest center point of the grille is used as the cleaning point, specifically: The highest blockage point Projected onto the XY plane to obtain Calculate the set The center point of each grille distance Choose the shortest distance The corresponding center point of the grid is used as the cleaning point; in, , Represents a set Any center point of the grid, Indicates the highest blockage point Points projected onto the XY plane; The total time spent on cleaning materials in step C4 for: in, The time required to clear the blockage at the discharge port. To complete the material clearing point The time required to clear the blockage.

2. The rapid cleaning method for clogging the unloading port of a grab bucket crane's grid according to claim 1, characterized in that, Complete the cleaning point Time required for cleaning blockage for: in, To clean the rod in its initial position With cleaning point The time required for one-way translation between them; To clean the rod in its initial position With cleaning point Translational speed between them; For cleaning rods at the cleaning point Vertical running time when unloaded; For cleaning rods at the cleaning point Vertical running speed when unloaded; For cleaning rods at the cleaning point Vertical travel time during material blockage removal; For cleaning rods at the cleaning point Vertical running speed during material blockage clearing; Indicates the initial height of the cleaning rod; Indicates the material cleaning point The corresponding blockage height.

3. The rapid cleaning method for clogging the unloading port of a grab bucket crane's grid according to any one of claims 1-2, characterized in that, Time threshold Set the material handling interval for the grab bucket. The material taking time interval for: in, Indicates when the grab bucket is unloaded Running time in the direction; Indicates when the grab bucket is unloaded Running time in the direction; Indicates when the grab bucket is unloaded Running time in the direction; Indicates when the grab bucket is under load Running time in the direction; Indicates when the grab bucket is under load Running time in the direction; Indicates when the grab bucket is under load Running time in the direction; Indicates the time correction constant; Indicates the discharge port Coordinate values Indicates the discharge port Coordinate values Indicates the material picking area The highest material point in the current period Coordinate value, G represents the position of the grabber. The height of the elevation above, Indicates the first material collection point Coordinate values Indicates the first material collection point Coordinate values Indicates the first material collection point Coordinate values Indicates when the grab bucket is unloaded Speed ​​of movement in the direction, Indicates when the grab bucket is unloaded Speed ​​of movement in the direction, Indicates when the grab bucket is unloaded Speed ​​of movement in the direction, Indicates when the grab bucket is under load Speed ​​of movement in the direction, Indicates when the grab bucket is under load Speed ​​of movement in the direction, Indicates when the grab bucket is under load The speed of movement in a certain direction.

4. The rapid cleaning method for clogging the unloading port of the grab bucket crane's grid according to claim 3, characterized in that, The method for confirming the material collection point when the grab bucket crane is collecting material is as follows: Obtain the height map of the effective material, and determine the material collection area corresponding to the unloading port in the height map of the effective material. ; In the material handling area By arranging the material picking points in an internal matrix, a set of all material picking points can be obtained. ; Based on the average material handling depth H and the material handling area of ​​the grab bucket The set of material points in the current material layer is selected from the highest material point. ;in, Indicates the number of the material extraction layer; In the set Searching for items belonging to the set of material points The collection points are determined to obtain the set of collection points for the current collection layer. .

5. The rapid cleaning method for clogging the unloading port of a grab bucket crane's grid according to claim 4, characterized in that, The set of material points in the current material extraction layer Represented as: in, Indicates the material picking area Chinese material point of Coordinate values Indicates the material picking area The highest material point in the current period Coordinate values This refers to the average material handling depth of the grab bucket; In the material handling area The internal dimensions are based on the grab radius. Material picking points and picking areas are set up in a matrix. Collection of internal material picking points Represented as: in, ; Indicates the material picking point of Coordinate values; Indicates the material picking point of Coordinate values; The interval between material collection points and ; Material picking area exist x Two boundary points along the axis, Material picking area Two boundary points along the y-axis; Set of material collection points in the current material collection layer Represented as: in, Represents a set The material collection point in the process.

6. The rapid cleaning method for clogging the unloading port of a grab bucket crane's grid according to claim 5, characterized in that, The material collection points of two adjacent material collection layers are at Axial direction and Displacement distance along the axial direction ,gather The material collection point is represented as follows: 。 7. A rapid cleaning system for clogging the unloading port of a grab bucket crane's bar screen, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the method as described in any one of claims 1-6 when running the computer program.

8. A storage medium, characterized in that, The storage medium stores a computer program, which, when run, executes the method as described in any one of claims 1-6.

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