Blockage cleaning method for discharge port of grab machine grating

Abstract

The invention provides a blocking material cleaning method for a grab machine grating discharging opening. The blocking material cleaning method comprises the steps that blocking materials on the discharging opening are scanned to obtain a blocking material area; all grid center points located in the material blocking area are screened out to serve as material cleaning points; the material blocking area is divided into a plurality of concentric annular material blocking sub-intervals, material cleaning points in the material blocking sub-intervals are sequentially connected in series in the circumferential direction to form cleaning sub-paths respectively, and the adjacent cleaning sub-paths are connected end to end to generate a material cleaning path; and calculating the total time Tz required for completing blockage cleaning according to the current material cleaning path, if Tz is less than or equal to a time threshold Tq, completing the cleaning of the blockage on the discharge port according to the current material cleaning path, and if Tz is greater than Tq, carrying out interval sampling on the current material cleaning path to generate a new material cleaning path, and then recalculating the total time Tz. According to the invention, automatic blockage cleaning can be realized, and limited cleaning time is fully utilized.

Description

Technical Field

[0001] The invention relates to the technical field of blockage cleaning, and in particular to a method for 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 for clearing the blockage at the discharging port of a 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 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 clearing blocked material at a discharging port of a grab machine grille comprises the following steps:

[0007] A1. Scan the blockage on the discharge port to obtain the blockage area;

[0008] A2. Obtain the coordinates of the center point of each grille at the discharge port, and select all the grille center points in the blocked area as the clearing point set P. q ;

[0009] A3. Divide the blocked area into several concentric annular blocked sub-intervals. Connect the clearing points in each blocked sub-interval in series along the circumferential direction to form clearing sub-paths. Connect the end of the previous clearing sub-path to the beginning of the next clearing sub-path to generate a spiral clearing path.

[0010] A4. Calculate the total time T required to complete the blockage clearing according to the current clearing path. z , if T z Less than or equal to the time threshold T q Then go to step A5, if T z Greater than the time threshold T q Then the current cleaning path is sampled at intervals to generate a new cleaning path, and the new cleaning path is used as the current cleaning path to recalculate the total time T z ;

[0011] A5. Complete the cleaning of the blockage at the discharge port according to the current cleaning path.

[0012] Preferably, the spiral material clearing path generated in step A3 is specifically:

[0013] A3.1. Confirm the middle position p of the blocking area c ;

[0014] A3.2. Calculate each clearing point p l To the middle position p c The distance d l And each cleaning point p l With the middle position p c The angle θ between the line connecting the two and the positive direction of the X axis l ;

[0015] A3.3. Select a distance p from the middle position c The farthest clearing point p s , and take k = 1;

[0016] A3.4, with p c Filter out the blocking material sub-interval for the center of the circle (d s -L×k,d s -L×(k-1)] to obtain the set P of all clearing points within k , with the clearing point p s As the starting point, according to the angle θ l The order of monotonically changing sets P k The clearing points in the d are sorted in order to obtain the clearing subpath within the current blocking subinterval; s The clearing point p s To the middle position p c The distance, L is the distance constant;

[0017] A3.5, if d s -L×k≥0, then take k=k+1 and go to step A3.6. If d s -L×k<0, proceed to A3.7;

[0018] A3.6, with p c Filter out the blocking material sub-interval for the center of the circle (d s -L×k,d s -L×(k-1)] to obtain the set P of all clearing points within k , the clearing point p at the end of the clearing subpath of the previous blocking subinterval e As the starting point, according to the angle θ l The order of monotonically changing sets P k Sort the clearing points in sequence, obtain the clearing subpath within the current blocked subinterval, and then re-enter step A3.5;

[0019] A3.7. Output the complete material clearing path.

[0020] Preferably, the middle position p of the blocking area c is the center of the blocking area, and the center of the blocking area is expressed as:

[0021]

[0022] Among them, p l represents the lth clearing point in the blockage area, and b represents the total number of clearing points in the blockage area.

[0023] Preferably, the middle position p of the blocking area c is the projection of the center of gravity of the plugging model on the XY plane. The x-coordinate and y-coordinate of the center of gravity of the plugging model are respectively expressed as:

[0024]

[0025] Among them, p i .z represents the loading point p of the blocking model i The z coordinate value, p i .x represents the loading point p of the blocking model i The x-coordinate value, p i .y represents the loading point p of the blocking model i The y-coordinate value, p c .x represents the x-coordinate value of the center of gravity of the plugging model, p c .y represents the y coordinate value of the center of gravity of the plugging model, f ′ Indicates the total number of loading points in the blocking model.

[0026] Preferably, the distance d l and the angle θ lRespectively expressed as:

[0027]

[0028] Among them, (p l -p c ).y represents the middle position p c With the clearing point p l The y-coordinate difference between l -p c ).x represents the middle position p c With the clearing point p l The x-coordinate difference between them.

[0029] Preferably, the total time T required to complete the blockage cleaning according to the current cleaning path in step A4 is z Expressed as:

[0030]

[0031] Among them, t w To complete a single clearing point p in the clearing path w The time required to clear the blockage, d is the total number of clearing points in the clearing path, t h It is the reset time after the cleaning rod completes cleaning;

[0032] Reset time t after the cleaning rod completes cleaning h Expressed as:

[0033]

[0034] Among them, v h Indicates the reset speed of the cleaning rod returning to the initial position after cleaning, p s Indicates the initial position of the cleaning rod, p d Indicates the last purge point in the purge path.

[0035] Preferably, a single clearing point p is completed in the clearing path w The time required to clean the blockage t w for:

[0036]

[0037] Among them, t p To clean the rod from the current position p o Move to the clearing point p w Time; v p To clean the rod from the current position p o Move to the clearing point p w Speed; t k For cleaning rod at the cleaning point p wVertical 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.

[0038] Preferably, the method for performing interval sampling on the material clearing path to generate a new material clearing path in step A4 is:

[0039] A4.11. Set m′ = 1.

[0040] A4.12, take the first clearing point p in the current clearing path s As the starting point and set its cumulative step size to 1, follow s g =s g-1 +m′ to complete the sampling of the remaining clearing points to construct a new clearing path, and use the new clearing path as the current clearing path; where s g is the g-th clearing point p sampled g The cumulative step length of the current clearing path The clearing point is the sampled clearing point p g , Indicates rounding up;

[0041] A4.13. Calculate the total time T required to complete the blockage clearing according to the current clearing path z , if T z Less than or equal to the time threshold T q Then go to step A5, if T z Greater than the time threshold T q Then take m′=m′+Δm′ and re-enter step A4.12, where Δm′ is the sampling interval increment, Δm′∈[0.5,1].

[0042] Preferably, the method for performing interval sampling on the material clearing path to generate a new material clearing path in step A4 is:

[0043] A4.21. Obtain the k value when outputting the clearing path in step A3. Number each blocked subinterval from outside to inside as 1, 2, 3, ..., k. Set the sampling interval m' for each blocked subinterval.

[0044] A4.22. Assign a weight q to each blocking subintervalc ; Among them, q c =a / (b+c), where a and b are weight coefficients and c represents the number of the plugging sub-interval;

[0045] A4.23. Normalize the weight of each blocking subinterval to obtain q c_1 ,in

[0046] A4.24. Update the weight q of each blocking subinterval c , where q c =q c_1 ×k;

[0047] A4.25. Calculate the sampling interval m' of the clearing point in each blocked sub-interval c ; Where: m′ c =q c ×m′,m′ c represents the sampling interval of the c-th plugging subinterval;

[0048] A4.26, take the first clearing point of the current clearing path as the starting point and set its cumulative step length to 1, and follow s g =s g-1 +m′ c(g-1) The sampling of the remaining clearing points is completed according to the law to construct a new clearing path, and the new clearing path is used as the current clearing path; where s g is the cumulative step length of the g-th clearing point sampled, and the g-th clearing point in the current clearing path is The clearing point is the sampled clearing point p g , m′ c(g-1) is the g-1th clearing point p sampled g-1 The sampling interval of the plugging sub-interval, Indicates rounding up;

[0049] A4.27. Calculate the total time T required to complete the blockage clearing according to the current clearing path z , if T z Less than or equal to the time threshold T q Then go to step A5, if T z Greater than the time threshold T q Then set m′=m′+Δt and re-enter step A4.25; where Δt is the incremental value of the sampling interval.

[0050] Preferably, the time threshold T q Set as the time interval t for each material removal by the grab bucket m , t m Expressed as:

[0051]

[0052] 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.

[0053] The application of the technical solution of the present invention has the following beneficial effects:

[0054] The blockage cleaning method of the present invention can strictly control the total time T spent on completing the blockage cleaning. z , by optimizing the cleaning path to ensure T z Controlled at the time threshold T q The grabber unloading and the unloading port blockage cleaning can work together without affecting each other.

[0055] The present invention gradually reduces the total time T by sampling at intervals. z , can be achieved when the time threshold T is met q The optimal material clearing path is output under the condition of meeting the time constraint, that is, the optimal material clearing effect is achieved.

[0056] The cleaning method of the present invention can realize automatic cleaning of blockages on the discharge port without manual participation in the whole process, thus solving the problem of high labor intensity and adverse effects on personnel health in the prior art of manual cleaning of blockages.

[0057] 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

[0058] 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:

[0059] Figure 1 1 is a front structural diagram of the grab machine in Example 1;

[0060] Figure 2 is a top view of the grab machine in Example 1;

[0061] Figure 3 is a schematic diagram of the current material extraction layer in Example 1;

[0062] Figure 4 is a flow chart of the blockage cleaning method in Example 2;

[0063] Figure 5 This is a schematic diagram of another scanner arrangement in Example 2;

[0064] Figure 6 This is a schematic diagram of the material clearing path in Example 2;

[0065] Among them, 1. Grab bucket, 2. Towing rope, 3. Mobile trolley, 4. Laser scanner, 5. Material, 6. Driving, 7. Longitudinal track, 8. Discharge port, 9. Grille center point, 10. 2D scanner. DETAILED DESCRIPTION

[0066] 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.

[0067] 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.

[0068] Example 1:

[0069] This embodiment provides a grab material control method, which specifically includes:

[0070] S1. Obtain the height map of valid materials;

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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;

[0075] 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.

[0076] 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).

[0077] 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

[0078] 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:

[0079] P n ={p|p z >p max .zH}

[0080] 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.

[0081] 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:

[0082]

[0083] 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.

[0084] 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

[0085]

[0086] 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.

[0087] 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);

[0088] 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.

[0089] 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;

[0090] Specifically, in this embodiment, the set The material taking point in is expressed as:

[0091]

[0092] In this embodiment, the set The material taking point in is expressed as:

[0093]

[0094] 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.

[0095] S6, finish taking material.

[0096] 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.

[0097] 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.

[0098] 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 :

[0099]

[0100] 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.

[0101] 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:

[0102] q=V2 / V1

[0103] 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:

[0104]

[0105] 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.

[0106] Example 2:

[0107] like Figure 4 As shown, this embodiment provides a method for clearing the blockage at the discharging port of a grab machine grille, comprising the following steps:

[0108] A1. Scan the blockage on the discharge port to obtain the blockage area;

[0109] 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.

[0110] 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.

[0111] 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. The blocking point set P1 is expressed as:

[0112]

[0113] 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.

[0114] Furthermore, this embodiment also provides another method for confirming the blockage area:

[0115] like Figure 5 As shown, multiple 2D scanners are evenly distributed around the discharge port, at a height H1 above the discharge port grille. The distance between a single 2D scanner and the discharge port is controlled between 1 and 5 meters, ensuring that the scanning range of all 2D scanners completely covers the discharge port. The 2D scanners are installed at a height higher than the discharge port H1. Any blockage above H1 on the discharge port will be scanned. If no target is scanned, it is considered to be free of blockage. If a target is scanned, it is considered to be a blockage. The blockage area can also be determined based on the scanning results of multiple 2D scanners. H1 is the height threshold, which can be set based on site conditions.

[0116] A2. Obtain the coordinates of the center point of each grille at the discharge port, and select all the grille center points in the blocked area as the clearing point set P. q ;

[0117] Specifically, the coordinates of the center point of each grid on the discharge port can be obtained by on-site measurement, thereby obtaining the grid center point set P z ; If the set P z If the x-coordinate value and y-coordinate value of a grid center point are both in the material blocking area, the grid center point is considered to be the material clearing point, and thus the material clearing point set P can be obtained. q .

[0118] A3. Divide the blocked area into several concentric annular blocked sub-intervals. Connect the clearing points in each blocked sub-interval in series along the circumferential direction to form clearing sub-paths. The end of the previous clearing sub-path is connected to the beginning of the next clearing sub-path to generate a spiral clearing path, such as Figure 6 As shown;

[0119] Preferably, the spiral cleaning path generated in this embodiment is specifically:

[0120] A3.1. Confirm the middle position p of the blocking area c ;

[0121] Preferably, the middle position p of the blocking area c is the center of the blocking area, and the center of the blocking area is expressed as:

[0122]

[0123] Among them, p l represents the lth clearing point in the blockage area, and b represents the total number of clearing points in the blockage area.

[0124] Preferably, when a scanner is set on the top of the blocking material to obtain the blocking material model in step A1, and then the blocking material area is obtained, the middle position p of the blocking material area isc You can also choose to project the center of gravity of the blocking model onto the XY plane. The x-coordinate and y-coordinate of the center of gravity of the blocking model are expressed as:

[0125]

[0126] Among them, p i .z represents the loading point p of the blocking model i The z coordinate value, p i .x represents the loading point p of the blocking model i The x-coordinate value, p i .y represents the loading point p of the blocking model i The y-coordinate value, p c .x represents the x-coordinate value of the center of gravity of the plugging model, p c .y represents the y-coordinate value of the center of gravity of the blocking model, and f′ represents the total number of feeding points of the blocking model.

[0127] A3.2. Calculate each clearing point p l To the middle position p c The distance d l And each cleaning point p l With the middle position p c The angle θ between the line connecting the two and the positive direction of the X axis l ;

[0128] Preferably, the distance d l and the angle θ l Respectively expressed as:

[0129]

[0130] Among them, (p l -p c ).y represents the middle position p c With the clearing point p l The y-coordinate difference between l -p c ).x represents the middle position p c With the clearing point p l The x-coordinate difference between them.

[0131] A3.3. Select a distance p from the middle position c The farthest clearing point p s , and take k = 1;

[0132] Specifically, in actual situations, there may be multiple clearing points to the intermediate position p at the same time. c The distance between them is equal and the largest. At this time, you can choose any clearing point.

[0133] A3.4, with pc Filter out the blocking material sub-interval for the center of the circle (d s -L×k,d s -L×(k-1)] to obtain the set P of all clearing points within k , with the clearing point p s As the starting point, according to the angle θ l The order of monotonically changing sets P k The clearing points in the d are sorted in order to obtain the clearing subpath within the current blocking subinterval; s The clearing point p s To the middle position p c The distance between the two grids is 1 / 4, L is the distance constant. In order to ensure that there is a clearing point in each blockage sub-interval, L is generally the side length of a single grid. The shape of the grid is square.

[0134] A3.5, if d s -L×k≥0, then take k=k+1 and go to step A3.6. If d s -L×k<0, proceed to A3.7;

[0135] A3.6, with p c Filter out the blocking material sub-interval for the center of the circle (d s -L×k,d s -L×(k-1)] to obtain the set P of all clearing points within k , the clearing point p at the end of the clearing subpath of the previous blocking subinterval e As the starting point, according to the angle θ l The order of monotonically changing sets P k Sort the clearing points in sequence, obtain the clearing subpath within the current blocked subinterval, and then re-enter step A3.5;

[0136] A3.7. Output the complete material clearing path.

[0137] Preferably, in this embodiment, according to the angle θ l The order of monotonic change refers to: according to the angle θ l A sequence that changes monotonically, either increasing or decreasing. Figure 6 As shown, following steps A3.1-A3.7, all the clearing points in the blocked area can be connected in series to generate a spiral clearing path to guide the clearing of the blocked material at the discharge port. Furthermore, the clearing points in the clearing path are numbered in sequence as 1, 2, 3, ..., d.

[0138] A4. Calculate the total time T required to complete the blockage clearing according to the current clearing path. z , if T z Less than or equal to the time threshold T q Then go to step A5, if Tz Greater than the time threshold T q Then the current cleaning path is sampled at intervals to generate a new cleaning path, and the new cleaning path is used as the current cleaning path to recalculate the total time T z ;

[0139] Furthermore, after the material clearing path is confirmed, the total time T required to complete the material clearing according to the material clearing path can be calculated by summing up. z , specifically:

[0140] In this embodiment, a mechanical 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. A single cleaning point p is completed in the cleaning path. w The time required for clearing the blockage is:

[0141]

[0142] Among them, t p To clean the rod from the current position p o Move to the clearing point p w Time, p o Indicates the initial position of the cleaning rod or the cleaning point p in the cleaning path w Previous clearing point p w-1 Position; v p To clean the rod from the current position p o Move to the clearing point p w Speed; 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 blocking height is set at the top of the blocking material. When a scanner is set on the top of the blocking material to obtain the blocking material model and then obtain the blocking material area, P w .z can be directly obtained from the blockage model. When the blockage area is obtained by setting multiple 2D scanners at intervals around the discharge port, considering that the vertical no-load running speed of the cleaning rod is not much different from the vertical loaded running speed, P can be used to calculate the blockage area. w.z is preset, for example, if the maximum height of the blocking material is 1 meter, then P w .z is preset to 1 meter.

[0143] From this, we can calculate the time required for each cleaning point to complete the blockage cleaning, and then the total time required to complete the blockage cleaning according to the cleaning path is T z Expressed as:

[0144]

[0145] Where d is the total number of clearing points in the clearing path, t h This is the reset time after the cleaning rod completes cleaning.

[0146] Among them, the reset time t after the cleaning rod completes cleaning h Expressed as:

[0147]

[0148] Among them, v h Indicates the reset speed of the cleaning rod returning to the initial position after cleaning, p s Indicates the initial position of the cleaning rod, p d Indicates the last purge point in the purge path.

[0149] Furthermore, the time threshold T q That is, it limits the maximum time to complete the cleaning of the blockage at the discharge port, so as to ensure that the cleaning of the blockage at the discharge port will not affect the subsequent material collection work of the grabber. The time threshold T q It can be set as the time interval t between each material removal by the grabber in Example 1 m , that is, the time threshold T q The time interval t of each grab bucket can be used to m Dynamic setting, at the same time, the time threshold T q It can also be set by those skilled in the art according to actual conditions to limit the cleaning of blockages.

[0150] Specifically, in this embodiment, the method for performing interval sampling on the material clearing path to generate a new material clearing path is:

[0151] A4.11. Set m′ = 1.

[0152] A4.12, take the first clearing point p in the current clearing path s As the starting point and set its cumulative step size to 1, follow s g =s g-1 +m′ to complete the sampling of the remaining clearing points to construct a new clearing path, and use the new clearing path as the current clearing path; where s gis the g-th clearing point p sampled g The cumulative step length of the current clearing path The clearing point is the sampled clearing point p g , Indicates rounding up;

[0153] A4.13. Calculate the total time T required to complete the blockage clearing according to the current clearing path z , if T z Less than or equal to the time threshold T q Then go to step A5, if T z Greater than the time threshold T q Then take m′=m′+Δm′ and re-enter step A4.12; where Δm′ is the sampling interval increment, Δm′∈[0.5,1].

[0154] Furthermore, this embodiment also provides another method for performing interval sampling on the material clearing path to generate a new material clearing path, specifically:

[0155] A4.21. Obtain the k value when outputting the material clearing path in step A3, and set the sampling interval m' for each material blockage subinterval. Preferably, in this embodiment, the initial value of the sampling interval m' for each material blockage subinterval is set to 1.

[0156] Specifically, the k value when outputting the clearing path in step A3 indicates how many annular blocking sub-intervals the blocking area is ultimately divided into, i.e., k represents the total number of blocking sub-intervals, and the blocking sub-intervals are numbered 1, 2, 3, ..., k from the outside to the inside.

[0157] A4.22. Assign a weight q to each blocking subinterval c ; Among them, q c =a / (b+c), where a and b are weight coefficients and c represents the number of the plugging sub-interval;

[0158] A4.23. Normalize the weight of each blocking subinterval to obtain q c_1 ,in

[0159] A4.24. Update the weight q of each blocking subinterval c , where q c =q c_1 ×k;

[0160] A4.25. Calculate the sampling interval m' of the clearing point in each blocked sub-interval c ; Where: m′ c =q c ×m′, c represents the number of the plugging sub-interval, m′ crepresents the sampling interval of the c-th plugging subinterval;

[0161] A4.26, take the first clearing point of the current clearing path as the starting point and set its cumulative step length to 1, and follow s g =s g-1 +m′ c(g-1) The sampling of the remaining clearing points is completed according to the law to construct a new clearing path, and the new clearing path is used as the current clearing path; where s g is the cumulative step length of the g-th clearing point sampled, and the g-th clearing point in the current clearing path is The clearing point is the sampled clearing point p g , m′ c(g-1) is the g-1th clearing point p sampled g-1 The sampling interval of the plugging sub-interval, Indicates rounding up;

[0162] A4.27. Calculate the total time T required to complete the blockage clearing according to the current clearing path z , if T z Less than or equal to the time threshold T q Then go to step A5, if T z Greater than the time threshold T q Then set m'=m'+Δt and re-enter step A4.25, where Δt is the incremental value of the sampling interval, and the value of Δt can be an integer or a decimal.

[0163] It should be noted that although interval sampling will reduce the number of cleaning points and affect the final cleaning effect to a certain extent, since the material will slide by itself when the cleaning rod is cleaning, the blockage on the uncleaned grid will also fall into the bottom of the discharge port through the adjacent cleaned grid; at the same time, even if there is some blockage on the discharge port that has not been completely cleaned after the final cleaning, the blockage can also fall into the bottom of the discharge port with the next discharge of the grab (the single discharge volume of the grab is not too large), or it will be cleaned in the next cleaning cycle. Therefore, although the interval sampling method optimizes the cleaning path and sacrifices the cleaning effect of the blockage to a certain extent, it does not affect the subsequent unloading work of the grab; in this embodiment, the total time T required for each optimized cleaning path is z With time threshold T q By making comparative judgments, the single cleaning effect can be optimized while meeting the time constraints.

[0164] A5. Complete the cleaning of the blockage at the discharge port according to the current cleaning path.

[0165] By using the blockage cleaning method of this embodiment, the total time T required to complete the blockage cleaning can be strictly controlled. z, by optimizing the cleaning path to ensure T z Controlled at the time threshold T q The grabber unloading and the unloading port blockage cleaning can work together without affecting each other.

[0166] In this embodiment, the total time T is gradually shortened by sampling at intervals. z , can be achieved when the time threshold T is met q The optimal material clearing path is output under the condition of meeting the time constraint, that is, the optimal material clearing effect is achieved.

[0167] The cleaning method of this embodiment can realize automatic cleaning of blockages on the discharge port without manual participation throughout the process, solving the problem of high labor intensity and adverse effects on personnel health in the prior art of manual cleaning of blockages.

[0168] 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 clearing the blockage at the discharging port of a grab bucket machine, characterized in that: The following steps are involved: A1. Scan the blockage on the discharge port to obtain the blockage area; A2. Obtain the coordinates of the center point of each grille at the discharge port, and select all the grille center points in the blocked area as the clearing point set P. q ; A3. Divide the blocked area into several concentric annular blocked sub-intervals. Connect the clearing points in each blocked sub-interval in series along the circumferential direction to form clearing sub-paths. Connect the end of the previous clearing sub-path to the beginning of the next clearing sub-path to generate a spiral clearing path. A4. Calculate the total time T required to complete the blockage clearing according to the current clearing path. z , if T z Less than or equal to the time threshold T q Then go to step A5, if T z Greater than the time threshold T q Then the current cleaning path is sampled at intervals to generate a new cleaning path, and the new cleaning path is used as the current cleaning path to recalculate the total time T z ; A5. Complete the cleaning of the blockage at the discharge port according to the current cleaning path.

2. The method for clearing the blockage at the discharging port of the grab bucket according to claim 1, characterized in that: The spiral cleaning path generated in step A3 is specifically: A3.

1. Confirm the middle position p of the blocking area c ; A3.

2. Calculate each clearing point p l To the middle position p c The distance d l And each cleaning point p l With the middle position p c The angle θ between the line connecting the two and the positive direction of the X axis l ; A3.

3. Select a distance p from the middle position c The farthest clearing point p s , and take k = 1; A3.4, with p c Filter out the blocking material sub-interval for the center of the circle (d s -L×k,d s -L×(k-1)] to obtain the set P of all clearing points within k , with the clearing point p s As the starting point, according to the angle θ l The order of monotonically changing sets P k The clearing points in the d are sorted in order to obtain the clearing subpath within the current blocking subinterval; s The clearing point p s To the middle position p c The distance, L is the distance constant; A3.5, if d s -L×k≥0, then take k=k+1 and proceed to step A3.

6. If d s -L×k<0, proceed to A3.7; A3.6, with p c Filter out the blocking material sub-interval for the center of the circle (d s -L×k,d s -L×(k-1)] to obtain the set P of all clearing points within k , the clearing point p at the end of the clearing subpath of the previous blocking subinterval e As the starting point, according to the angle θ l The order of monotonically changing sets P k Sort the clearing points in sequence, obtain the clearing subpath within the current blocked subinterval, and then re-enter step A3.5; A3.

7. Output the complete material clearing path.

3. The method for clearing the blockage at the discharging port of the grab bucket according to claim 2, characterized in that: The middle position p of the blocking area c is the center of the blocking area, and the center of the blocking area is expressed as: Among them, p l represents the lth clearing point in the blockage area, and b represents the total number of clearing points in the blockage area.

4. The method for clearing the blockage at the discharging port of the grab bucket according to claim 2, characterized in that: The middle position p of the blocking area c is the projection of the center of gravity of the plugging model on the XY plane. The x-coordinate and y-coordinate of the center of gravity of the plugging model are respectively expressed as: Among them, p i .z represents the loading point p of the blocking model i The z coordinate value, p i .x represents the loading point p of the blocking model i The x-coordinate value, p i .y represents the loading point p of the blocking model i The y-coordinate value, p c .x represents the x-coordinate value of the center of gravity of the plugging model. p cy represents the y-coordinate value of the center of gravity of the blocking model, and f' represents the total number of feeding points of the blocking model.

5. The method for clearing the blockage at the discharging port of the grab bucket according to claim 2, characterized in that: Distance d l and the angle θ l Respectively expressed as: Among them, (p l -p c ).y represents the middle position p c With the clearing point p l The y-coordinate difference between l -p c ).x represents the middle position p c With the clearing point p l The x-coordinate difference between them.

6. The method for clearing the blockage at the discharging port of the grab bucket according to claim 1, characterized in that: The total time T required to complete the blockage cleaning according to the current cleaning path in step A4 z Expressed as: Among them, t w To complete a single clearing point p in the clearing path w The time required to clear the blockage, d is the total number of clearing points in the clearing path, t h It is the reset time after the cleaning rod completes cleaning; Reset time t after the cleaning rod completes cleaning h Expressed as: Among them, v h Indicates the reset speed of the cleaning rod returning to the initial position after cleaning, p s Indicates the initial position of the cleaning rod, p d Indicates the last purge point in the purge path.

7. The method for clearing the blockage at the discharging port of the grab bucket according to claim 6, characterized in that: Complete a single clearing point p in the clearing path w The time required to clean the blockage t w for: Among them, t p To clean the rod from the current position p o Move to the clearing point p w Time; v p To clean the rod from the current position p o Move to the clearing point p w Speed; 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.

8. The method for clearing the blockage at the discharging port of the grab bucket according to claim 1, characterized in that: The method for performing interval sampling on the material clearing path in step A4 to generate a new material clearing path is: A4.

11. Set m' = 1; A4.12, take the first clearing point p in the current clearing path s As the starting point and set its cumulative step size to 1, follow s g =s g-1 +m' to complete the sampling of the remaining clearing points to construct a new clearing path, and use the new clearing path as the current clearing path; where s g is the g-th clearing point p sampled g The cumulative step length of the current clearing path The clearing point is the sampled clearing point p g , Indicates rounding up; A4.

13. Calculate the total time T required to complete the blockage clearing according to the current clearing path z , if T z Less than or equal to the time threshold T q Then go to step A5, if T z Greater than the time threshold T q Then take m'=m'+Δm' and re-enter step A4.12, where Δm' is the sampling interval increment, Δm'∈[0.5,1].

9. The method for clearing the blockage at the discharging port of the grab bucket according to claim 2, characterized in that: The method for performing interval sampling on the material clearing path in step A4 to generate a new material clearing path is: A4.

21. Obtain the k value when outputting the clearing path in step A3. Number each blocked subinterval from outside to inside as 1, 2, 3, ..., k. Set the sampling interval m' for each blocked subinterval. A4.

22. Assign a weight q to each blocking subinterval c ; Among them, q c =a / (b+c), where a and b are weight coefficients and c represents the number of the plugging sub-interval; A4.

23. Normalize the weight of each blocking subinterval to obtain q c_1 ,in A4.

24. Update the weight q of each blocking subinterval c , where q c =q c_1 ×k; A4.

25. Calculate the sampling interval m' of the clearing point in each blocked sub-interval c ; Where: m′ c =q c ×m',m' c represents the sampling interval of the c-th plugging subinterval; A4.26, take the first clearing point of the current clearing path as the starting point and set its cumulative step length to 1, and follow s g =s g-1 +m' c(g-1) The sampling of the remaining clearing points is completed according to the law to construct a new clearing path, and the new clearing path is used as the current clearing path; where s g is the cumulative step length of the g-th clearing point sampled, and the g-th clearing point in the current clearing path is The clearing point is the sampled clearing point p g , m' c(g-1) is the g-1th clearing point p sampled g-1 The sampling interval of the plugging sub-interval, Indicates rounding up; A4.

27. Calculate the total time T required to complete the blockage clearing according to the current clearing path z , if T z Less than or equal to the time threshold T q Then go to step A5, if T z Greater than the time threshold T q Then set m'=m'+Δt and re-enter step A4.25; where Δt is the incremental value of the sampling interval.

10. The method for clearing the blockage at the discharging port of the grab bucket according to claim 1, characterized in that: Time threshold T q Set as the time interval t for each material removal by the grab bucket m , t m Expressed as: 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.

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