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

Abstract

This invention provides a method, system, and storage medium for layered cleaning of material blockage at the unloading port of a grab bucket crane. The method involves scanning the blockage area at the unloading port to obtain the blockage region; and identifying the highest point p of the blockage. max Set the initial value of n' to z'; divide the blockage into n' clearing layers along the height direction, and optimize the layer height of each clearing layer; select the center point of the grid in each clearing layer as the clearing point to form a clearing path; 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, let n' = n' + 1, and then redistribute the blockage into n' clearing layers. If T z Greater than T q The output shows the material clearing path when n' = n'-1. This invention can automatically clear blockages and achieve optimal clearing results within a limited time.

Description

Technical Field

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

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

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

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

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

[0006] A method for layered cleaning of material blockage at the unloading port of a grab bucket crane's bar screen includes:

[0007] B1. Scan the blockage area on the discharge port to obtain the blockage area, and filter out the center points of all grids located in the blockage area;

[0008] B2. Confirm the highest material point p of the blockage. max .z' and set the initial value of n';

[0009] B3. Divide the blockage into n' equal cleaning layers along the height direction. The initial layer height of each cleaning layer is g = p. max ·z′ / n′;

[0010] B4. Optimize the height of each cleaning layer;

[0011] B5. Select the center point of the grid in each optimized cleaning layer as the cleaning point, and connect the selected cleaning points in sequence to form a spiral cleaning path.

[0012] B6. 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 let n' = n' + 1 and re-enter step B3; if T z Greater than the time threshold T q Then, output the material clearing path when n' = n'-1 and proceed to step B7;

[0013] B7. Clean the blockage at the discharge port according to the output cleaning path.

[0014] Preferably, the method for optimizing the layer height of each cleaning layer in step B4 is as follows:

[0015] B4.1 Calculate the average height h of each cleaning layer. c ;

[0016] B4.2 Assign a weight q to each cleaning layer. c ; where q c =a / (b+h) c ), where a and b are both weighting coefficients, and c represents the number of the cleaning layer;

[0017] B4.3. Normalize the weight of each cleaning layer to obtain q. c_1 ;in,

[0018] B4.4 Calculate the optimized layer height g for each cleaning layer. c Among them, g c =g×q c_1 ×n'.

[0019] Preferably, in step B5, the center point of the grid is selected as the cleaning point in each optimized cleaning layer, specifically:

[0020] The method for selecting cleaning points for the first to n'-1 cleaning layers is as follows: confirm the inner and outer boundary lines of the cleaning layer projected onto the XY plane, draw a center line between the inner and outer boundary lines, and select the grid center points whose distance to the center line is less than L from the set of grid center points contained in the cleaning layer as cleaning points, where L is a distance constant.

[0021] The n'th cleaning layer first determines its center point in the XY plane projection. Distance from the center point The nearest grid center point is used as the clearing point; or, the highest point p in the n'th clearing layer is used as the clearing point. max Projecting .z' onto the XY plane yields the projection point p. n′ , the distance from the projection point p n′ The nearest center point of the grille is used as the cleaning point.

[0022] Preferably, the center point of the n'th cleaning layer in the XY plane projection Represented as:

[0023]

[0024] Where b represents the total number of cleaning points in the n′-th cleaning layer, p l This represents the l-th cleaning point in the n′-th cleaning layer.

[0025] Preferably, in step B5, the selected cleaning points are connected in series to form a spiral cleaning path, specifically:

[0026] Choose any one of the cleaning points in the first cleaning layer as the starting point, and then connect the remaining cleaning points in sequence along the circumference to form the cleaning sub-path of the first cleaning layer.

[0027] In the v-th cleaning layer, the cleaning point at the end of the cleaning sub-path of the previous cleaning layer is used as the starting point, and the cleaning points in the v-th cleaning layer are connected in sequence along the same circumferential direction to form the cleaning sub-path of the v-th cleaning layer; where v is an integer and v∈[2,n'-1].

[0028] The cleaning points in the n'th cleaning layer are connected in series after the cleaning point at the end of the cleaning sub-path of the n'-1th cleaning layer to form a complete spiral cleaning path.

[0029] Preferably, in step B6, the total time T required to complete the blockage clearing according to the current clearing path is calculated. z Specifically:

[0030]

[0031] Where d is the total number of cleaning points in the cleaning path, and th t is the reset time after the cleaning rod completes cleaning. w To complete a single cleaning point p in the cleaning path w The time required to clear the blockage;

[0032] Among them, the reset time t after the cleaning rod completes cleaning. h Represented as:

[0033]

[0034] Among them, v h p represents the reset speed at which the cleaning rod returns to its initial position after completing the cleaning process. s p represents the initial position of the cleaning rod. d This indicates the last cleaning point in the cleaning path.

[0035] Preferably, a single cleaning point p is completed in the cleaning path. w Time required for clearing blockages (t) w for:

[0036]

[0037] Among them, t p To clean the rod from the current position p o Move to cleaning point p w Time; v p To clean the rod from the current position p o Move to cleaning point p w speed; t k For cleaning rods at cleaning point p w Vertical running time under no-load conditions; v k For cleaning rods at cleaning point p w Vertical running speed when unloaded; t f For cleaning rods at cleaning point p w Vertical travel time during material blockage clearing; v f For cleaning rods at cleaning point p w Vertical running speed during material blockage clearing; H o Indicates the initial height of the cleaning rod; P w .z represents the cleaning point p w The corresponding blockage height.

[0038] Preferably, the time threshold T q Set the time interval t between each material grab by the grab bucket machine m , t m Represented as:

[0039]

[0040] Among them, t xk t represents the travel time of the grab bucket in the x-direction when it is unloaded; yk t represents the travel time of the grab bucket in the y-direction when it is unloaded; zk t represents the travel time of the grab bucket in the z-direction when it is unloaded; xf t represents the travel time of the grab bucket in the x-direction when it is under load; yf t represents the travel time of the grab bucket in the y-direction when it is under load; zf X represents the travel time of the grab bucket under load in the z-direction; T represents the time correction constant; X represents the travel time of the grab bucket under load in the z-direction. x This represents the x-coordinate value of the discharge port, X. y p represents the y-coordinate value of the discharge port. max .z represents the z-coordinate of the highest material point within the material handling area P, and G represents the position of the grab bucket at point P. max The elevation above .z This represents the x-coordinate value of the m-th material picking point. This represents the y-coordinate value of the m-th material picking point. v represents the z-coordinate value of the m-th material picking point. xk v represents the speed of the grab bucket in the x-direction when it is unloaded. yk v represents the y-speed of the grab bucket when it is unloaded. zk v represents the speed of the grab bucket in the z-direction when it is unloaded. xf v represents the speed of the grab bucket in the x-direction when it is under load. yf v represents the speed of the grab bucket in the y-direction when it is under load. zf This indicates the speed of the grab bucket in the z-direction when it is under load.

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

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

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

[0044] The method of this invention, through continuous iterative judgment, ensures that the total time T... z Gradually approaching the time threshold T q To obtain T z Less than or equal to the time threshold T qThe maximum value of n' under the given conditions is determined by the number of cleaning layers. A larger value of n' means more cleaning points in the cleaning path, resulting in optimal cleaning performance. In other words, the method of this invention can output the optimal cleaning path without affecting the grab bucket's material handling, ensuring the time threshold T is met. q The optimal material cleaning effect can be achieved internally.

[0045] The cleaning method of the present invention can automatically clean the blockage on the unloading port without human intervention, thus solving the problems of high labor intensity and adverse effects on personnel health caused by manual cleaning of blockages in the prior art.

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

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

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

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

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

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

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

[0053] Among them, 1. grab bucket, 2. traction rope, 3. mobile trolley, 4. laser scanner, 5. material, 6. crane, 7. longitudinal track, 8. unloading port, and 9. center point of the grid. Detailed Implementation

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

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

[0056] Example 1:

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

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

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

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

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

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

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

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

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

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

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

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

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

[0070]

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

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

[0073]

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

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

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

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

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

[0079]

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

[0081]

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

[0083] S6. End material handling.

[0084] If the current total material taking amount is greater than or equal to the required material taking amount, it means that the material taking task at the current unloading port has been completed, and the material taking at the current unloading port should end. The grab bucket should stop or enter the next material taking process.

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

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

[0087]

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

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

[0090] q = V2 / V1

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

[0092]

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

[0094] Example 2:

[0095] like Figure 4 As shown, this embodiment provides a layered cleaning method for clogging the unloading port of a grab bucket crane's grid, including the following steps:

[0096] B1. Scan the blockage area at the discharge port to obtain the blockage region, acquire the center point coordinates of each grid at the discharge port, and filter out all grid center points located in the blockage region to obtain set P. q ;

[0097] In this embodiment, a scanner with a pan-tilt unit is fixedly installed above the unloading port, or a 2D scanner is installed on the crane. After each unloading operation, the unloading port is scanned and converted into a 3D point cloud. Based on the installation position of the scanner, the data can be converted into a world coordinate system with the unloading port grid plane as the XY plane. Furthermore, the length and width directions of the unloading port grid (i.e., the grid formed by the grid) are used as the length and width directions of the image, and the height data of the material points on the blockage pile is used as the height data of the corresponding points in the image. That is, the point cloud is converted into a height map. Typically, one pixel represents an actual space size of 5mm × 5mm. The specific size can be adjusted according to the refinement requirements. This height map data can be directly used to calculate the amount of blockage.

[0098] Furthermore, when the unloading port is empty, it is scanned to establish an empty pile model (i.e., a height map of the empty pile, indicating that there is no material blockage at the unloading port). After each unloading operation, the grab bucket is scanned again to establish a real-time model (i.e., a real-time height map of the unloading port). The blockage model (i.e., a blockage height map) is obtained by subtracting the empty pile model from the real-time model. The real-time volume of the blockage can be obtained by summing all pixel values ​​on the blockage height map and multiplying it by the area represented by the pixel value.

[0099] Furthermore, after obtaining the blockage model, the blockage point set P1 on the blockage model can be obtained. The area projected onto the XY plane by the blockage point set P1 is the blockage area, such as... Figure 5 As shown. The blockage point set P1 is represented as:

[0100]

[0101] Where: p i .z represents the material feeding point p of the blockage model. i z-coordinate value, This is a height threshold, for example, it can be set to 0.1m. The specific threshold can be set according to the site conditions.

[0102] Furthermore, in this embodiment, the coordinates of the center point of each grid on the discharge port can be obtained through on-site measurement, thereby obtaining the set P of grid center points. z If set P z If both the x-coordinate and y-coordinate of the center point of a certain grid are within the material blockage area, then the center point of the grid is considered to be located within the material blockage area. From this, we can obtain set P. q .

[0103] B2. Confirm the highest material point p of the blockage. max .z' and set the initial value of n';

[0104] Preferably, the highest material point p of the blockage max .z′ can be directly extracted from the blockage model. In this embodiment, the initial value of n′ is set to 2.

[0105] B3. Divide the blockage into n′ clearing layers along the height direction. The initial layer height of each clearing layer is g = p. max .z′ / n′

[0106] Furthermore, after dividing the cleaning layers, each cleaning layer is numbered sequentially from bottom to top as 1, 2, ..., n′, and the range of each cleaning layer is represented as follows:

[0107] P c ={p i |(c-1)×g <p i.z ≤c×g}

[0108] Where c represents the number of the cleaning layer, c∈{1,2,…,n′}, p i .z represents the material feeding point p of the blockage model. i The z-coordinate value.

[0109] B4. Optimize the height of each cleaning layer;

[0110] Specifically, in this embodiment, the layer height of each cleaning layer is optimized as follows:

[0111] B4.1 Calculate the average height h of each cleaning layer. c ;

[0112] Preferably, in step B4.1, the average height is calculated based on the height data of the material points in each cleaning layer. Since the height data of the material points in each cleaning layer increases from bottom to top, the average height of each cleaning layer from bottom to top will also increase.

[0113] B4.2 Assign a weight q to each cleaning layer.c ; where q c =a / (b+h) c ), where a and b are both weighting coefficients, and c represents the number of the cleaning layer;

[0114] B4.3. Normalize the weight of each cleaning layer to obtain q. c_1 ;in,

[0115] B4.4 Calculate the optimized layer height g for each cleaning layer. c Among them, g c =g×q c_1 ×n'.

[0116] In this embodiment, the height of each cleaning layer is optimized to make the distribution of the height of each cleaning layer more reasonable. The higher the cleaning layer, the smaller the optimized height. That is, the higher the layer, the denser the cleaning point sampling, which is beneficial to the cleaning of high-level blockages. At the same time, it can also prevent the highest cleaning layer from being too high, which would cause the problem that the cleaning effect cannot be achieved by taking only one grid center point as the cleaning point for the highest cleaning layer in subsequent steps.

[0117] B5. Select the center point of the grid in each optimized cleaning layer as the cleaning point, and connect the selected cleaning points in sequence to form a spiral cleaning path.

[0118] Specifically, based on the layer height g of each cleaning layer c The height range of each material clearing layer is obtained, based on the height data p of each material point on the blockage model. i.z The height range of each cleaning layer is used to filter out the material point data contained in each cleaning layer, and the projection of each cleaning layer on the XY plane and the set P are then filtered. q The intersection of these points yields the set of grid center points contained in each cleaning layer.

[0119] Preferably, in this embodiment, the center point of the grid is selected as the cleaning point in each optimized cleaning layer, specifically:

[0120] The method for selecting cleaning points for the first to n'-1 cleaning layers is as follows: Identify the inner and outer boundary lines of the cleaning layer projected onto the XY plane. Draw a center line between the inner and outer boundary lines. Select the grid center points from the set of grid center points contained in the cleaning layer whose distance to the center line is less than L as cleaning points; where L is a constant distance, generally the side length of a single grid, and the grid is square in shape. This method can filter out redundant grid center points in the cleaning layer, improving cleaning efficiency.

[0121] The m'th clearing layer first determines its center point in the XY plane projection. Distance from the center point The nearest center point of the grille is used as the cleaning point.

[0122] In addition, the n'th clearing layer can also be the layer with the highest material point p. max Projecting .z' onto the XY plane yields the projection point p. n′ , the distance from the projection point p n′ The nearest center point of the grille is used as the cleaning point.

[0123] Further, filter by distance from the center point The nearest grid center point is used as the cleaning point. Specifically, the distance from the center point of each grid in the n'th cleaning layer to the center point is calculated. The calculated distances are sorted in ascending order, and the center point of the grid corresponding to the smallest distance is selected as the cleaning point.

[0124] Furthermore, the center point of the n'th cleaning layer projected onto the XY plane Represented as:

[0125]

[0126] Where b represents the total number of cleaning points in the n'th cleaning layer, p l This represents the l-th cleaning point in the n'-th cleaning layer.

[0127] Preferably, in this embodiment, the selected cleaning points are connected in series to form a spiral cleaning path, specifically:

[0128] Choose any one of the cleaning points in the first cleaning layer as the starting point, and then connect the remaining cleaning points in sequence along the circumference to form the cleaning sub-path of the first cleaning layer.

[0129] In the v-th cleaning layer, the cleaning point at the end of the cleaning sub-path of the previous cleaning layer (i.e., the v-1-th cleaning layer) is used as the starting point, and the cleaning points in the v-th cleaning layer are connected in sequence along the same circumferential direction to form the cleaning sub-path of the v-th cleaning layer; where v is an integer and v∈[2,n'-1].

[0130] The cleaning points in the n'th cleaning layer are connected in series after the cleaning point at the end of the cleaning sub-path of the n'-1th cleaning layer to form a complete spiral cleaning path.

[0131] Furthermore, in this embodiment, the circumferential direction can be clockwise or counterclockwise. Furthermore, the cleaning points in the cleaning path are sequentially numbered 1, 2, 3, ..., d.

[0132] B6. 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 let n' = n' + 1 and re-enter step B3; if T z Greater than the time threshold T q Then, after outputting the material clearing path when n′=n′-1, proceed to step B7;

[0133] Furthermore, after the material clearing path is confirmed, the total time T required to complete the material clearing according to the clearing path can be calculated by summing. z Specifically:

[0134] In this embodiment, a robotic arm controls a pointed cleaning rod to insert into the grid mesh at the cleaning point to clear the blockage. The cleaning path completes the cleaning of the w-th cleaning point p. w The time required to clear the blockage is:

[0135]

[0136] Among them, T p To clean the rod from the current position p o Move to cleaning point p w Time, p o This indicates the initial position of the cleaning rod or the cleaning point p in the cleaning path. w Previous cleaning point p w-1 Position; v p To clean the rod from the current position p o Move to cleaning point p w speed; t k For cleaning rods at cleaning point p w The vertical running time under no-load conditions includes both vertical descent and vertical ascent under no-load conditions. "No-load" refers to the time before the cleaning rod has been cleared of blockages. k For cleaning rods at cleaning point p w Vertical running speed when unloaded; t f For cleaning rods at cleaning point p w Vertical travel time during material blockage clearing; v f For cleaning rods at cleaning point p w Vertical running speed during material blockage clearing; H o This indicates the initial height of the cleaning rod, i.e., the height of the cleaning rod from the grid when it moves horizontally; P w .z represents the cleaning point p w The corresponding blockage height, i.e., the cleaning point p. w The corresponding material point height, P w .z can be obtained directly from the blockage model.

[0137] Therefore, the time required for each material clearing point to complete the material blockage clearance can be calculated. The total time T required to complete the material blockage clearance along the material clearing path is then calculated. z Represented as:

[0138]

[0139] Where d is the total number of cleaning points in the cleaning path, and t h This refers to the reset time after the cleaning rod completes its cleaning process.

[0140] Among them, the reset time t after the cleaning rod completes cleaning. h Represented as:

[0141]

[0142] Among them, v h p represents the reset speed at which the cleaning rod returns to its initial position after completing the cleaning process. s p represents the initial position of the cleaning rod. d This indicates the last cleaning point in the cleaning path.

[0143] Furthermore, the time threshold T q This refers to the maximum time limit for clearing the blockage at the discharge port, ensuring that the clearing of the blockage does not affect the subsequent material handling operation of the grab bucket. The time threshold T is... q The time interval t can be set as the grab bucket machine's material collection time in Example 1. m That is, the time threshold T q The material handling time interval t of each grab can be used as a reference. m Dynamic settings are implemented, along with a time threshold T. q Alternatively, those skilled in the art can configure settings based on the actual situation to restrict the clearing of blockages.

[0144] B7. Clean the blockage at the discharge port according to the output cleaning path.

[0145] This embodiment uses continuous iterative judgments to ensure that the total time T is... z Gradually approaching the time threshold T q To obtain T z Less than or equal to the time threshold T q The maximum value of n′ under the given conditions is determined by the number of cleaning layers. A larger value of n′ means more cleaning points in the cleaning path, resulting in the optimal cleaning effect. In other words, the method in this embodiment can output the optimal cleaning path without affecting the grab bucket's material handling, ensuring the time threshold T is met. q The optimal material cleaning effect can be achieved internally.

[0146] It should be noted that, although a time threshold T is introduced... q Later, when the grab bucket is unloading, there may be a situation where the blockage on the discharge port has not been completely cleared. However, this will not affect the normal operation of the grab bucket and the discharge port. Since the amount of material unloaded by the grab bucket each time is not too large, the remaining blockage on the discharge port can fall below the discharge port along with the unloading of the grab bucket, or it can be cleared in the next cleaning process.

[0147] Example 3:

[0148] This embodiment provides a layered cleaning system for material blockage at the unloading port of a grab bucket crane, including a memory and a processor. The memory stores a computer program, and the processor executes the method in Embodiment 2 when running the computer program.

[0149] Example 4:

[0150] This embodiment provides a storage medium storing a computer program, which, when run, executes the method in embodiment 2.

[0151] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for layered cleaning of material blockage at the unloading port of a grab bucket crane's grid, characterized in that, include: B1. Scan the blockage area on the discharge port to obtain the blockage area, and filter out the center points of all grids located in the blockage area; B2. Confirm the highest material point of the blockage. and set The initial value; B3. Divide the blockage material evenly along the height direction. There are several cleaning layers, and the initial layer height of each cleaning layer is... ; B4. Optimize the height of each cleaning layer; B5. Select the center point of the grid in each optimized cleaning layer as the cleaning point, and connect the selected cleaning points in sequence to form a spiral cleaning path. B6. Calculate the total time required to complete the blockage clearing according to the current material clearing path. ,like Less than or equal to the time threshold Then let Then re-enter step B3; if Greater than the time threshold Then output After the material cleaning path is completed, proceed to step B7; B7. Clean the blockage at the discharge port according to the output cleaning path; The method for optimizing the layer height of each cleaning layer in step B4 is as follows: B4.1 Calculate the average height of each cleaning layer. ; B4.2 Assign weights to each cleaning layer ;in, , , All are weighting coefficients. Indicates the number of the cleaning layer; B4.3, The weights of each cleaning layer are normalized to obtain... ;in, ; B4.4 Calculate the optimized layer height for each cleaning layer. ;in, .

2. The layered cleaning method for clogging the unloading port of a grab bucket crane's grid according to claim 1, characterized in that, In step B5, the center point of the grid is selected as the cleaning point in each optimized cleaning layer. Specifically: The first to The method for selecting cleaning points for each cleaning layer is as follows: Identify the inner and outer boundary lines of the cleaning layer projected onto the XY plane. Draw a center line between the inner and outer boundary lines. From the set of grid center points contained in the cleaning layer, select those points whose distance to the center line is less than... The center point of the grating is used as the cleaning point, where It is a constant distance; No. For each cleaning layer, first determine its center point in the XY plane projection. , distance from the center point The nearest center point of the grille is used as the cleaning point; or, the first... The highest material point in each clearing layer Projecting onto the XY plane yields the projection point. , distance from the projection point The nearest center point of the grille is used as the cleaning point.

3. The layered cleaning method for clogging the unloading port of a grab bucket crane's grid according to claim 2, characterized in that, No. The center point of the material layer projected onto the XY plane Represented as: in, Indicates the first The total number of cleaning points in each cleaning layer Indicates the first The first of the cleaning layers One material cleaning point.

4. The layered cleaning method for clogging the unloading port of a grab bucket crane's grid according to claim 1, characterized in that, In step B5, the selected cleaning points are connected in series to form a spiral cleaning path, specifically: Choose any one of the cleaning points in the first cleaning layer as the starting point, and then connect the remaining cleaning points in sequence along the circumference to form the cleaning sub-path of the first cleaning layer. In the In each cleaning layer, the cleaning point at the end of the cleaning sub-path of the previous cleaning layer is taken as the starting point, and the cleaning is carried out along the same circumferential direction. The cleaning points in each cleaning layer are connected in series to form the first cleaning layer. Each cleaning layer has a cleaning sub-path; among which... Integer and ; No. The cleaning points in the cleaning layer are connected in series with the first cleaning layer. Behind the cleaning point at the end of the cleaning sub-path of each cleaning layer, to form a complete spiral cleaning path.

5. The layered cleaning method for clogging the unloading port of a grab bucket crane's grid according to claim 1, characterized in that, Step B6 calculates the total time required to clear the blockage according to the current material clearing path. Specifically: in, This represents the total number of cleaning points along the cleaning path. This refers to the reset time after the cleaning rod completes cleaning. To complete the first step in the material clearing path Each material clearing point The time required to clear the blockage; Among them, the reset time after the cleaning rod completes cleaning. Represented as: in, This indicates the reset speed at which the cleaning rod returns to its initial position after completing the cleaning process. This indicates the initial position of the cleaning rod. This indicates the last cleaning point in the cleaning path.

6. The layered cleaning method for clogging the unloading port of a grab bucket crane's grid according to claim 5, characterized in that, Complete a single cleaning point in the cleaning path Time required to clear blockage for: in, To clean the rod from its current position Move to the cleaning point Time; To clean the rod from its current position Move to the cleaning point speed; For cleaning rods at the cleaning point Vertical running time when unloaded; For cleaning rods at the cleaning point Vertical running speed when unloaded; For cleaning rods at the cleaning point Vertical travel time during material blockage removal; For cleaning rods at the cleaning point Vertical running speed during material blockage clearing; Indicates the initial height of the cleaning rod; Indicates the material cleaning point The corresponding blockage height.

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

8. A layered cleaning system for material blockage at the unloading port of a grab bucket crane's bar screen, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the layered cleaning method for clogging the grid discharge port of a grab bucket machine as described in any one of claims 1-7 when running the computer program.

9. A storage medium, characterized in that, The storage medium stores a computer program, which, when run, executes the layered cleaning method for clogging the grid discharge port of the grab bucket machine as described in any one of claims 1-7.

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