Unloading control method and system for multi-point unloading trolley

Abstract

The invention relates to the technical field of mining equipment, in particular to an unloading control method and system for a multi-point unloading trolley. The discharging control method comprises the steps that the material height of each stock bin is monitored in real time, and the monitored stock bin material height data are stored as a to-be-sorted sequence; executing a bubble sorting algorithm based on the to-be-sorted sequence, comparing the material heights of adjacent bins round by round and exchanging the sequence to generate a priority sequence from high to low; according to the priority sequence, the stock bins needing to be discharged preferentially at present are determined, the discharging trolley is controlled to move to the preset position of the target stock bin, and discharging operation is started; and after unloading is completed, the height of the materials in the stock bin is monitored again, and the sequencing and unloading processes are repeatedly executed. The problems of low unloading efficiency, poor dynamic adjustment capability, high energy consumption, insufficient safety and the like are solved, and the unloading precision and efficiency are improved by dynamically optimizing the unloading sequence and path.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mine equipment, and particularly relates to a discharging control method and system for a multi-point discharging trolley. BACKGROUND

[0002] In the production links of mine exploitation, material transportation and processing, a multi-point discharging trolley is a key equipment for discharging materials on a belt conveyor into multiple silos. Its working principle is that the trolley moves to above a specified silo on a guide rail, and the materials are released into the corresponding silo by controlling the opening of the discharging port.

[0003] The existing technology is a multi-point discharging system in a manual operation mode, and an automatic discharging system preliminarily using a single sensor (such as a mechanical material level meter) to monitor the material level. In the manual operation mode, an operator on site manually adjusts the movement and discharging action of the discharging trolley according to experience; and in the automatic discharging system using a mechanical material level meter and the like to monitor the material level, the discharging action is triggered by simply monitoring the material level of the silo, but the dynamic adjustment of the discharging sequence and the optimization of the path cannot be realized.

[0004] The existing technology has the following problems in the manual operation mode:

[0005] Firstly, the operator cannot accurately control the discharging amount, resulting in uneven distribution of materials at each discharging point, overflow of some silos, insufficient storage of some silos, material waste and increased secondary transportation cost. The discharging process relies on on-site attendance and frequent adjustment of the operator, and the operator needs to frequently go back and forth between different discharging ports, so the single discharging cycle is prolonged by 3-5 times compared with the automatic equipment, affecting the overall production capacity of the mine. The mine environment is harsh, and long-term operation can easily cause occupational health problems of the operator, and the operator is prone to make operation mistakes in a state of fatigue, increasing the risk of safety accidents. There is a lack of real-time monitoring and data analysis capability, and discharging abnormalities cannot be found in time.

[0006] Secondly, the automatic discharging mode using a single sensor to monitor the material level cannot realize dynamic adjustment of the discharging sequence, resulting in discharging priority confusion and affecting the overall operation efficiency. The discharging path cannot be dynamically optimized according to the real-time material level, resulting in increased idle running time of the trolley and increased energy consumption. SUMMARY

[0007] In view of the deficiencies of the existing technology, the purpose of the embodiments of the present application is to provide a discharging control method for a multi-point discharging trolley, to solve the problems of low discharging efficiency, poor dynamic adjustment capability, high energy consumption and insufficient safety in the prior art. By introducing a high-frequency radar material level meter, a photoelectric switch and a bubble sort algorithm, a closed-loop control system is constructed, the discharging sequence and path are dynamically optimized, the discharging precision and efficiency are improved, the idle running time is reduced, real-time monitoring and abnormal alarm are realized, and finally the automation level and production safety of the mine discharging operation are improved.

[0008] To achieve the above object, the embodiment of the present application provides the following technical scheme:

[0009] A kind of unloading control method for multi-point unloading trolley, comprising: real-time monitoring the material height of each bunker, the material height data of monitored bunker is stored as pending sequence;Bubble sort algorithm is executed based on the pending sequence, the material height of adjacent bunker is compared and exchanged order round by round, and priority order from high to low is generated;According to the priority order, determine the bunker that needs to unload preferentially currently, control the unloading trolley to move to the preset position of target bunker, start unloading operation;After unloading is completed, bunker material height is monitored again and the sorting and unloading process are repeated.

[0010] Optionally, the bubble sort algorithm controls the number of rounds of sorting by outer loop, and the number of rounds is the number of bunkers minus one;In each round of sorting, the material height of adjacent bunker is compared by inner loop;If the material height of the former bunker is lower than that of the latter bunker, the sorting positions of the two are exchanged.

[0011] Optionally, the determination of the bunker that needs to unload preferentially currently includes: selecting the bunker with the lowest material height in the priority order as the target for preferential unloading.

[0012] Optionally, the control of the movement of the unloading trolley includes: dynamically calibrating the real-time position of the unloading trolley by photoelectric switch;Combine the preset bunker coordinates to calculate the moving path.

[0013] Optionally, the state of the equipment and the material level are monitored in real time, and an alarm is triggered and the unloading process is adjusted when an abnormality occurs.

[0014] Optionally, the priority order is dynamically adjusted according to the preset bunker base priority coefficient and the real-time process emergency coefficient.

[0015] Optionally, the dynamic adjustment of the priority order includes:

[0016] The comprehensive priority Si of each bunker is calculated by the following formula:

[0017] S i =α·H i +β·(W i，base ·W i,emergency );

[0018] Wherein, α: material level weight coefficient, adjust the proportion of material level influence;β: production priority weight coefficient, adjust the proportion of production demand influence;Hi: real-time material level height of bunker;Wi,base: preset priority coefficient, Wi,emergency: process emergency coefficient;

[0019] The bubble sort is re-executed based on the comprehensive priority to generate a dynamic unloading queue.

[0020] The embodiment of the present application also provides a system for the unloading control method of the multi-point unloading trolley, comprising: a high-frequency radar material level meter installed above the material outlet of each bin for real-time detection of the material height of the bin; a photoelectric switch fixed on the guide rail and corresponding to the middle position of each bin for dynamic calibration of the real-time position of the unloading trolley; a travel switch installed at both ends of the guide rail for limiting the movement range of the unloading trolley; a PLC control system connected with the high-frequency radar material level meter, the photoelectric switch and the travel switch; the PLC control system is configured to: receive and store the material height data of each bin; execute a bubble sort algorithm to generate an unloading priority order; control the unloading trolley to move to the target bin and start unloading; monitor the equipment state and material level abnormalities and trigger an alarm.

[0021] Optionally, the high-frequency radar material level meter further comprises a transparent dust cover and a blowing assembly, the transparent dust cover covers the radar probe to block dust and water mist, and the blowing assembly maintains the radar wave penetration ability through high-speed airflow.

[0022] Optionally, the PLC control system is configured to update the comprehensive priority and reorder every interval of a preset period; in response to the process urgency change, the unloading queue is adjusted in real time.

[0023] The one or more technical solutions provided in the embodiment of the present application have at least the following technical effects or advantages:

[0024] 1. The multi-point unloading control method of the present application, by real-time monitoring of the material height of the bin and storing it as a to-be-ordered sequence, the system dynamically generates a priority order, and the material is unloaded to the bin with the lowest material height first. The bubble sort algorithm compares the data of adjacent bins round by round to ensure that the sorting result is updated in real time, solving the problem of low efficiency caused by traditional fixed sequence. After unloading is completed, the material level is re-monitored and the process is executed in a cycle to form a closed-loop control, significantly improving the automation level. The control method realizes the closed-loop control from material level detection, dynamic sorting to precise unloading, solves the problems of low precision, low efficiency and high labor intensity of traditional manual operation, and dynamically optimizes the unloading sequence through bubble sort, reduces the idle running time, improves the material supplement efficiency, and significantly improves the automation level and production efficiency of the mine unloading operation.

[0025] 2, The application introduces the bunker basis priority coefficient and the process urgency coefficient to dynamically adjust the priority order. The basis priority is manually preset (such as the highest for the feeder bunker of the crusher), and the urgency coefficient is dynamically updated through the MES system (such as 0 when the process is paused). Through multi-dimensional parameter fusion, the system can respond to changes in the material level and adapt to production plan adjustments, solving the process conflict problem caused by relying only on material level sorting. The emergency feeding response time is shortened by 40%, and dynamic order insertion is supported.

[0026] Advantages of additional aspects of the application will be given in the following description, some of which will become apparent from the following description, or will be understood through practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments described in the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings. In addition, the mutual distance or size is exaggerated to show the position of each component, and the schematic diagram is only used for illustration.

[0028] Figure 1 is a control system schematic diagram provided by the embodiment of the present application;

[0029] In the figure: 1, conveying belt; 2, unloading trolley; 3, bunker; 4, high-frequency radar level meter; 5, photoelectric switch; 6, travel switch; 7, PLC control system; DETAILED DESCRIPTION

[0030] It should be pointed out that the following detailed description is exemplary and is intended to provide further description of the present application. Unless otherwise specified, all technical and scientific terms used in the present application have the same meaning as generally understood by those skilled in the art to which the present application belongs. In addition, it should be understood that when the terms "comprise" and / or "include" are used in the present specification, they indicate the presence of a feature, step, operation, device, component and / or their combination.

[0031] Example 1

[0032] In view of the deficiencies of the prior art, the purpose of the embodiment is to provide a bubble control method for a multi-point unloading trolley, to solve the accuracy and stability problems of multi-point unloading, and to adjust the unloading sequence, optimize the unloading path, and improve the production efficiency.

[0033] The application discloses a kind of for multi-point unloading trolley's unloading control method, comprising: real-time monitoring the material height of each bunker, the material height data of monitored bunker is stored as pending sequence;Bubble sort algorithm is executed based on the pending sequence, and the material height of adjacent bunker is compared and exchanged order by round, and the priority order from high to low is generated;According to the priority order, determine the bunker that needs to be unloaded preferentially currently, control the unloading trolley to move to the preset position of target bunker, start unloading operation;After unloading is completed, the bunker material height is monitored again and the sorting and unloading process are repeatedly executed.The method solves the problems of low precision, low efficiency and high labor intensity of traditional manual operation, realizes the automation and optimization of unloading process, improves the unloading precision and efficiency, reduces the labor cost and labor intensity, reduces the material waste and secondary transportation cost, improves the overall productivity and production efficiency of mine.

[0034] The bubble sort algorithm controls the number of rounds of sorting by outer loop, and the number of rounds is one less than the number of bunkers.In each round of sorting, the material height of adjacent bunkers is compared by inner loop;If the material height of the former bunker is lower than that of the latter bunker, the sorting positions of the two are exchanged.The sorting method is simple and efficient, and can accurately generate the priority order of the bunker, provide reliable basis for subsequent accurate determination of the priority unloading target, ensure the orderliness and rationality of the unloading process, and avoid the priority confusion caused by static logic in traditional manual operation.

[0035] The determination of the bunker that needs to be unloaded preferentially currently includes selecting the bunker with the lowest material height in the priority order as the priority unloading target.This method is intuitive and reasonable, because the bunker with the lowest material height most needs to be replenished, and preferentially unloading it can effectively avoid the occurrence of empty bunker and other situations, ensure the normal progress of subsequent processes, and improve the continuity and stability of production.

[0036] The control of the unloading trolley movement includes: dynamically calibrating the real-time position of the unloading trolley by photoelectric switch;Combined with the preset bunker coordinates to calculate the moving path.The real-time position of the trolley is dynamically calibrated by photoelectric switch, and the moving path is calculated combined with the preset bunker coordinates.The use of photoelectric switch can accurately obtain the position information of the trolley, so as to realize accurate positioning, ensure that the unloading trolley accurately moves to the preset position of target bunker, improve the accuracy of unloading, reduce the problems of unloading error or material waste caused by inaccurate positioning, and enhance the reliability and stability of the system.

[0037] The unloading control method further comprises: monitoring the equipment state and the material level in real time, triggering an alarm and adjusting the unloading process when an abnormality occurs. This enables the unloading control system to have the ability of self-monitoring and self-protection, and can timely discover and handle various abnormal situations in the unloading process, such as material level exceeding the limit, equipment failure, etc., avoiding production accidents or equipment damage caused by abnormal situations, improving the safety and stability of the system, and reducing maintenance cost and risk.

[0038] Specifically:

[0039] I. System composition and function:

[0040] High-frequency radar level meter: installed at the position where the material level in the silo changes significantly, real-time monitoring of the material height in the silo. Photoelectric switch: fixed in the middle position of the belt support, used for dynamic calibration of the position of the unloading trolley, realizing accurate positioning. Travel switch: installed at both ends of the guide rail, as a mechanical limit protection device, preventing the unloading trolley from derailing. PLC control system: integrating CPU, touch screen and switching devices, responsible for receiving sensor signals, executing bubble sort algorithm, controlling the operation of the unloading trolley and the belt, and displaying real-time data and alarm information through the touch screen.

[0041] II. Control method:

[0042] Step 1: Real-time monitoring of silo material level

[0043] The high-frequency radar level meter continuously detects the material height of each silo, and the data is transmitted to the PLC in real time, providing a reliable data basis for subsequent sorting.

[0044] Step 2: Data acquisition and storage

[0045] The PLC stores the material level data of each silo in the data storage area (such as D register), forming a data sequence to be sorted. Data storage is the premise of bubble sort, and it is necessary to ensure that the data update frequency matches the unloading rhythm.

[0046] Step 3: Execution of bubble sort algorithm

[0047] Sorting logic:

[0048] 1. Outer loop (FOR instruction): control the number of sorting rounds, the number of times is the number of silos minus 1.

[0049] 2. Inner loop (nested FOR instruction): compare the material level data of adjacent silos in pairs (CMP instruction).

[0050] 3. Exchange logic: if the material level of the previous silo is lower than that of the next one, exchange their order through the MOV instruction.

[0051] 4. Target: Each round of circulation will "bubble" the bin with the lowest level to the end of the queue, eventually forming a high-to-low priority order.

[0052] The outer loop controls the number of sorting rounds (the number of bins minus one), and the inner loop compares adjacent bin data in pairs. If the height of the previous bin is lower than the subsequent one, they are swapped. This double-loop structure ensures that each round of sorting "bubbles" the lowest bin to the end of the queue, eventually generating a high-to-low priority order, improving sorting efficiency and accuracy, and avoiding the priority confusion caused by static logic in traditional manual operations.

[0053] Step 4: Unloading priority allocation

[0054] According to the sorting results, determine the current bin that needs to be prioritized (the bin with the lowest level). For example, if the sorting result is Bin A > Bin B > Bin C, then prioritize unloading to Bin C. By dynamically determining the lowest bin as the target for replenishment, it ensures balanced distribution of materials in each bin, solves the problem of material waste and secondary transportation caused by fixed order, reduces the risk of bin overflow, reduces the delay of replenishment, and improves the overall production line continuity.

[0055] Step 5: Positioning and moving of unloading trolley

[0056] The photoelectric switch detects the current position of the trolley, and the PLC calculates the coordinates of the target bin. The trolley moves along the guide rail to the middle position of the target bin (calibrated dynamically by the photoelectric switch), ensuring that the unloading port is aligned with the bin, improving the positioning accuracy of the trolley and shortening the single unloading cycle. The travel switch serves as a double protection to prevent the trolley from derailing.

[0057] Step 6: Automatic unloading and cycle control

[0058] After the unloading trolley reaches the target position, the PLC controls the belt to start, and the materials are unloaded into the specified bin through the trolley. After unloading is completed, the system re-detects the level, starts a new round of sorting and unloading process.

[0059] Step 7: Abnormal monitoring and alarm

[0060] Touch screen real-time display: bin level, trolley position, equipment status, etc. Alarm mechanism: level overrun (such as overflow or empty bin) triggers sound and light alarm. Equipment failure (such as sensor failure, trolley jam) automatically stops and prompts the operator.

[0061] This control method uses each high-frequency radar level meter to detect the level of each bin, uses bubble logic control to achieve polling replenishment control of each bin, displays the data change value in real time through the touch screen, and can set the alarm value. When the level exceeds the limit, an alarm is triggered, and when a device failure occurs, an alarm is triggered, prompting the operator.

[0062] The control logic of bubble sort is mainly achieved through nested loops and adjacent element comparison and exchange, and the core goal is to gradually "bubble" the maximum value of the unsorted part to the correct position. The bubble logic is used to realize the real-time sorting of the height of each stockyard, improve the sorting of the height of each stockyard, and facilitate the allocation of priority discharge power.

[0063] Bubble sort is implemented in ladder diagram language. The FOR loop instruction is used to control the number of sorting rounds, and the number of loops is the number of data minus 1. Each outer loop can move the maximum (or minimum) value in the current unsorted data to the appropriate position. Another FOR loop is nested inside the FOR loop to implement comparison and exchange of adjacent data. The CMP (compare) instruction is used to compare the size of adjacent data. If it does not meet the sorting requirement (such as the previous data is greater than the next data in ascending order), the MOV (move) instruction is used to exchange the positions of the two data.

[0064] Embodiment 2

[0065] In the multi-point discharge scene of the mine, the materials of different stockyards may have differences in the urgency of the subsequent process (such as A stockyard material needs to be directly supplied to the crusher, and B stockyard material is used for buffer storage). If the discharge order is only determined according to the height of the stockyard, the high-priority stockyard may be delayed due to the slightly lower stockyard, which may cause process blockage or shutdown.

[0066] This embodiment solves the following technical problems: ① Lack of multi-dimensional consideration of production priority, unable to realize the coordinated optimization of production demand and stockyard state. ② Static sorting logic cannot adapt to dynamic production scheduling requirements (such as emergency insertion and priority changes caused by equipment failure). The discharge control method also includes dynamically adjusting the priority order according to the preset stockyard basic priority coefficient and real-time process urgency coefficient.

[0067] The discharge control method of this embodiment dynamically adjusts the priority order according to the preset stockyard basic priority coefficient and real-time process urgency coefficient. This way takes into account the importance and urgency of different stockyards in the production process, and no longer determines the discharge order solely on the basis of stockyard height, so that the discharge process can better adapt to complex production requirements and dynamic changes in production plans, improving production efficiency and production flexibility, and enhancing the coordination and adaptability of the system to the production process.

[0068] Dynamic adjustment of priority order includes:

[0069] The comprehensive priority S of each stockyard is calculated by the following formula i :

[0070] S i =α·H i +β·(W i，base ·Wi,emergency );

[0071] Wherein, α: material level weight coefficient, adjust the material level influence proportion; β: production priority weight coefficient, adjust the production demand influence proportion; H i : real-time material level height of silo; W i,base : preset priority coefficient, W i,emergency : process urgency coefficient;

[0072] Based on the comprehensive priority, re-execute bubble sort to generate dynamic unloading queue.

[0073] The comprehensive priority of each silo is calculated by the given formula, which integrates material level weight coefficient, production priority weight coefficient, real-time material level height of silo, preset priority coefficient, and process urgency coefficient, etc. Based on the comprehensive priority, re-execute bubble sort to generate dynamic unloading queue. This process fully considers the comprehensive influence of material level state and production demand, realizes the fine and dynamic adjustment of unloading sequence, makes the unloading process more in line with the emergency degree and importance requirements of actual production, and further improves the production efficiency and stability of production.

[0074] Specifically:

[0075] I. Detection elements and data sources

[0076] Existing detection elements:

[0077] High-frequency radar material level meter: installed directly above the discharge port of each silo, real-time monitoring of material level height H i (i is the silo number, unit: meter). Photoelectric switch: installed in the middle position of each silo on the guide rail, detecting the current position P current of the unloading trolley (unit: meter).

[0078] New parameters:

[0079] Preset priority coefficient W i,base : set by the operator through the touch screen (range: 1-5, default value 3), reflecting the basic importance of the silo (such as setting the crusher feed silo to 5 and the buffer silo to 1). Process urgency coefficient W i,emergency : obtained through the interface between PLC and production management system (MES), dynamically updated (range: 0-2, default value 1), 0 represents process suspension, and 2 represents emergency feeding.

[0080] II. Processing process

[0081] Step 1: Calculate the comprehensive priority

[0082] Comprehensive priority S i is generated by the integration of material level height and dynamic weight, and the formula is:

[0083] S i = a H i + b (W i,base W i,emergency );

[0084] Wherein, a: material level weight coefficient (default 0.6), adjust the material level influence proportion. b: production priority weight coefficient (default 0.4), adjust the production demand influence proportion. H i : silo real-time material level height (unit: meters).

[0085] Through the formula, the system considers the material level state and production urgency in bubble sorting, for example, high urgency silo can be processed preferentially even if the material level is slightly high, realizing the collaborative optimization of production demand and material level state and avoiding high priority silo being delayed.

[0086] Step 2: Dynamic bubble sorting logic

[0087] 1. Data initialization: store S i of each silo in PLC data storage area (array form).

[0088] 2. Outer loop: FOR loop controls sorting rounds (number = silo number 1).

[0089] 3. Inner loop: FOR loop traverses adjacent unsorted silos, compares S j and S j+1 .

[0090] If S j < S j+1 , exchange the positions of the two silos in the sorting list.

[0091] 4. Early termination optimization: if there is no exchange operation in a single round of loop, terminate the sorting.

[0092] Step 3: Execute unloading sequence

[0093] PLC generates unloading queue according to the sorting result and calculates the trolley moving path (optimizes nearby unloading by combining greedy algorithm).

[0094] When executing unloading, real-time monitor W i,emergency changes, if the urgency of a silo rises to 2, immediately interrupt the current task and process the silo preferentially.

[0095] Three, control and feedback mechanism

[0096] Data processing: PLC updates S i every 10 seconds and reorders. Touch screen displays comprehensive priority list, current unloading queue and emergency alarm information.

[0097] Abnormality handling: if a bin W i,emergency = 0 (process pause), the PLC automatically removes it from the sorting list.

[0098] When the radar level gauge fails, the last valid Hi data is used, and an alarm is triggered.

[0099] The control method has the following technical effects: ① Production synergy optimization: the replenishment response time of high emergency bins is shortened by 40%, avoiding process blockage. ② Dynamic adaptability: supports emergency order insertion and production plan changes, with system adjustment time < 5 seconds. ③ Energy efficiency improvement: through comprehensive priority and path optimization, the empty moving distance of the trolley is reduced by 15%.

[0100] Example 3

[0101] This embodiment proposes a system for the unloading control method of the multi-point unloading trolley 2 as described in Example 1 or 2, as shown in Figure 1 The high-frequency radar level gauge 4 is installed above the discharge port of each bin 3 for real-time detection of the material height of the bin 3; the photoelectric switch 5 is fixed on the guide rail corresponding to the middle position of each bin 3 for dynamic calibration of the real-time position of the unloading trolley 2; the travel switch 6 is installed at both ends of the guide rail to limit the movement range of the unloading trolley 2; the PLC control system 7 is connected with the signals of the above-mentioned components, responsible for receiving and storing material height data, executing the bubble sort algorithm to generate priority order, controlling the movement and unloading operation of the unloading trolley 2, and monitoring the equipment state and material level abnormalities and triggering alarms. The system integrates various sensors and control systems, realizes automatic monitoring, control and management of the unloading process, and the components work cooperatively to ensure precise, efficient and stable operation of the unloading process, effectively solving many problems existing in manual operation and traditional automatic systems, and meeting the requirements of high precision, high efficiency and high safety of mine multi-point unloading operations.

[0102] The unloading trolley 2 is installed on the guide rail of the conveying belt 1 support, and the trolley wheels can move back and forth in the guide rail. The discharge port of the unloading trolley 2 is located on both sides of the conveying belt 1, facing the bin 3, and can be connected with the discharge port of the bin 3. By moving the position of the unloading trolley 2, unloading can be realized for multiple bins 3.

[0103] The radar level gauge is installed at a position where the material level of each bin 3 changes significantly or obviously (the bottom of the bin 3 has a discharge port, and the radar level gauge is usually located directly above the discharge port). The high-frequency radar level gauge 4 is fixed by making a mounting bracket to monitor the material level of each bin 3 in real time and ensure the accuracy of the material level.

[0104] The positioning mode of the unloading trolley 2 adopts an optical switch 5 for long-distance measurement and dynamic calibration of the position to avoid collision of the unloading trolley 2 during movement. The optical switch 5 is installed on an L-shaped support of the conveying belt 1 to avoid impact of the unloading trolley 2 and ensure accurate measurement and positioning. The optical switch 5 is located at the middle position of the discharge port of each bin 3 to achieve precise positioning of the unloading trolley 2 and determine the parking position of the unloading trolley 2 for unloading, thereby ensuring that the unloading trolley 2 is parked at the middle position of the bin 3.

[0105] The anti-derailing mode of the unloading trolley 2 adopts a mechanical travel switch 6 for impact prevention. The travel switch 6 is installed at both ends of the guide rail of the unloading trolley 2 to prevent the trolley from derailing and running out of the track. The travel switch 6 is used to achieve travel protection of the unloading trolley 2 and ensure that the unloading trolley 2 runs without derailing.

[0106] The PLC control box is provided with a CPU, a touch screen, and switching devices. The CPU stores control programs, and the touch screen stores control screens. The PLC control box integrates the control and status of the conveying belt and the unloading trolley 2, measures the height of each material level by the high-frequency radar level meter 4, measures the signal of the optical switch 5, and measures the signal of the travel switch 6. These signals are integrated in the PLC control system 7. The PLC is used to write control programs to achieve automatic control of the conveying belt 1 and the unloading trolley 2.

[0107] The PLC control system 7 is configured to update the comprehensive priority and reorder every interval at a preset period. In response to changes in the urgency of the process, the unloading queue is adjusted in real time. This enables the control system to respond quickly to dynamic information in the production process in a timely manner, ensuring that the unloading sequence always matches the current production demand and urgency, further improving production efficiency and flexibility, and making the system more dynamically adaptable and real-time, better meeting the complex and variable actual needs of multi-point unloading operations in mines.

[0108] The high-frequency radar level meter 4 also includes a transparent dust cover and a blowing assembly. The transparent dust cover, such as a hemispherical smooth curved cover, covers the radar probe, effectively blocking dust and water mist in the mine environment, preventing them from adhering to the probe and affecting the transmission and reception of radar waves. The blowing assembly further ensures the penetration ability of radar waves through high-speed airflow, ensuring the accuracy and reliability of material level detection. These improvements enable the high-frequency radar level meter 4 to better adapt to the harsh working environment of mines, improving its stability and durability in high-dust and high-humidity conditions, thereby providing more accurate and stable material level data support for the entire unloading control system, enhancing the overall performance and reliability of the system.

[0109] The above describes the specific embodiments of the present application in combination with the drawings, but is not a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications or changes made by those skilled in the art on the basis of the technical solutions of the present application without creative labor are still within the protection scope of the present application.

Claims

1. A method for controlling the unloading of a multi-point unloading vehicle, characterized in that: include: Monitor the material height of each silo in real time and store the monitored silo material height data as a sequence to be sorted; Executing a bubble sort algorithm based on the sequence to be sorted, comparing the material heights of adjacent silos in turn and exchanging their order, to generate a priority order from high to low; Determine the silo that needs to be unloaded first according to the priority order, control the unloading trolley to move to the preset position of the target silo, and start the unloading operation; After unloading is complete, the silo material level is re-monitored and the sorting and unloading process is repeated.

2. The unloading control method for a multi-point unloading trolley according to claim 1, characterized in that: The bubble sort algorithm controls the number of sorting rounds through an outer loop, where the number of rounds is the number of bins minus one. In each sorting round, the material heights of adjacent bins are compared pairwise through an inner loop. If the material height of the previous bin is lower than that of the next bin, the sorting positions of the two bins are swapped.

3. The unloading control method for a multi-point unloading trolley according to claim 1, characterized in that: The determining of the silo that currently needs to be unloaded with priority includes: selecting the silo with the lowest material height in the priority order as the priority unloading target.

4. The unloading control method for a multi-point unloading trolley according to claim 1, characterized in that: The control of the movement of the unloading trolley includes: dynamically calibrating the real-time position of the unloading trolley through a photoelectric switch; and calculating the movement path in combination with the preset silo coordinates.

5. The unloading control method for a multi-point unloading trolley according to claim 1, characterized in that: Also includes: Monitor equipment status and material level in real time, trigger alarms and adjust the unloading process when abnormalities occur.

6. The unloading control method for a multi-point unloading vehicle according to claim 1, characterized in that: Also includes: The priority order is dynamically adjusted according to the preset silo basic priority coefficient and the real-time process urgency coefficient.

7. The unloading control method for a multi-point unloading vehicle according to claim 6, characterized in that: Dynamically adjust the priority order including: The comprehensive priority S of each silo is calculated by the following formula: i : S i =α·H i +β·(W i,base ·W i,emergency ); Among them, α: material level weight coefficient, which adjusts the proportion of material level influence; β: production priority weight coefficient, which adjusts the proportion of production demand influence; H i : Real-time material level height of the silo; W i,base : Preset priority coefficient, W i,emergency : process urgency coefficient; Re-execute bubble sort based on comprehensive priority to generate a dynamic unloading queue.

8. A system for controlling the unloading of a multi-point unloading vehicle according to any one of claims 1 to 7, characterized in that: include: High-frequency radar level meter, installed above the discharge port of each silo, is used to detect the material height of the silo in real time; Photoelectric switches, fixed on the guide rails and corresponding to the middle position of each silo, are used to dynamically calibrate the real-time position of the unloading trolley; Travel switches are installed at both ends of the guide rail to limit the movement range of the unloading trolley; A PLC control system is connected to the high-frequency radar level meter, photoelectric switch and travel switch signals; The PLC control system is configured to: receive and store material height data of each silo; execute a bubble sort algorithm to generate a discharge priority order; control the discharge trolley to move to the target silo and start discharge; monitor the equipment status and material level anomalies and trigger an alarm.

9. The system according to claim 8, wherein The high-frequency radar level meter also includes a transparent dust cover and a purge assembly. The transparent dust cover covers the radar probe to block dust and water mist; the purge assembly maintains the radar wave penetration capability through high-speed airflow.

10. The system according to claim 8, wherein The PLC control system is configured to update the comprehensive priority and re-order at every preset period; respond to changes in the urgency of the process and adjust the unloading queue in real time.

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