Blockage cleaning method for discharge port of grab machine grating

Abstract

The invention provides a blocking material cleaning method for a grab machine grating discharge port, which comprises the following steps: arranging a scanner on one side of the discharge port to extract a contour line of blocking materials, screening out grating center points meeting conditions behind the contour line as material cleaning points, and finally, sequentially sequencing the material cleaning points to form a material cleaning path. The blockage on the discharge port is controlled to be cleaned; and meanwhile, the time threshold value Tq is introduced in the cleaning process to control the total time of the blocking material cleaning procedure, and the problem that blocking material cleaning is still conducted during grab bucket discharging, and grab bucket discharging is affected is solved. The cleaning method provided by the invention can solve the problems that the labor intensity is high, the physical and psychological health of operators is influenced and the material taking time interval of the grab machine cannot be fully utilized when the blocked materials on the discharge port are manually cleaned.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of blockage cleaning, in particular to a blockage cleaning method for a grab bucket machine grating discharge port. BACKGROUND

[0002] The raw material yard is a site for accepting, storing, processing and mixing steel and iron metallurgical raw materials and fuels. The storage yard (a site for storing raw materials) of a modern large-scale raw material yard includes an ore yard, a coal yard and an auxiliary raw material yard. It not only stores external iron ore, iron concentrate, pellet ore, manganese ore, limestone, dolomite, serpentine, silica, coking coal and power coal, but also stores a part of sintered ore, pellet ore and recycled materials in a steel plant, such as iron oxide scale, blast furnace dust, crushed coke, sintered powder and uniform ore end material. The bulk material yard stores materials in the yard by means of a trolley and a truck, and when needed, the materials are taken out by a grab bucket machine. After the grab bucket machine takes out the materials, the materials are discharged through a circular discharge port. The steel strip grating of the discharge port can prevent large and fast materials from falling and blocking the lower discharge port. However, the grating is usually blocked.

[0003] At present, the blockage of the circular discharge port is generally cleaned by manual digging, which is labor-intensive, time-consuming and has a great impact on the physical and mental health of the operators due to dust pollution. The blockage cleaning of the discharge port is associated with the material taking work of the grab bucket machine, and the blockage cleaning of the discharge port cannot affect the material taking of the grab bucket machine, that is, the blockage cleaning of the discharge port cannot be performed when the grab bucket machine discharges materials. The traditional manual cleaning method cannot fully utilize the time interval of the material taking of the grab bucket machine, and is prone to safety accidents.

[0004] In view of the above, there is an urgent need for a blockage cleaning method for a grab bucket machine grating discharge port to solve the problems in the prior art. SUMMARY

[0005] The present application aims to provide a blockage cleaning method for a grab bucket machine grating discharge port, which aims to solve the problems of labor-intensive manual cleaning of the blockage on the discharge port, affecting the physical and mental health of the operators and being unable to fully utilize the time interval of the material taking of the grab bucket machine. The specific technical solution is as follows:

[0006] A blockage cleaning method for a grab bucket machine grating discharge port, comprising the following steps:

[0007] D1, a scanner for scanning the blockage is arranged on one side of the discharge port;

[0008] D2, the center point coordinates of each grating of the discharge port are obtained to obtain a grating center point set P' z At the same time, n' = 1 is taken;

[0009] D3, scanning the blockage on the discharge port, if no blockage is scanned, entering step D6, if the blockage is scanned, extracting the contour line of the blockage;

[0010] D4, screening the grid center points in the set P' as the cleaning points based on the obtained contour line, specifically, if n' is equal to 1, executing steps D410-D413, if n' is not equal to 1, executing step D420; z

[0011] D5, sequentially concatenating the cleaning points to form a cleaning path, and after the blockage cleaning according to the cleaning path, setting n' = n' + 1 and returning to step D3;

[0012] D6, ending the cleaning;

[0013] Wherein, steps D410-D413 are specifically:

[0014] D410, extracting two end points of the contour line and as two end points of the major axis of the ellipse, drawing the midline of the line segment between the two end points and , and taking the intersection point of the midline and the contour line as one end point of the minor axis of the ellipse

[0015] D411, calculating the other end point of the minor axis of the ellipse

[0016] D412, constructing an ellipse based on and , and taking the area surrounded by the curve segments on the ellipse and and the contour line as the predicted blockage area;

[0017] D413, taking the grid center points in the set P' z located in the predicted blockage area as the cleaning points;

[0018] Wherein, step D420 is specifically:

[0019] D420, drawing a line between the installation position p a of the scanner and any grid center point p z in the set P' b , if the line and the contour line have an intersection point p g and meet the following conditions, taking the grid center point p b as the cleaning point:

[0020]

[0021] Wherein, L is a distance constant.​

[0022] Preferably, if n′ equals 1, then the cleaning path is generated in step D5 in the following manner:

[0023] D510, Confirm the center p of the predicted blockage area. c ;

[0024] D511. Calculate p for each cleaning point. l To the center p c distance d l and each cleaning point p l With center p c The angle θ between the line connecting the two points and the positive X-axis l ;

[0025] D512, Select a distance p from the center. c The furthest cleaning point p s and take k = 1;

[0026] D513, with p c To select the blockage sub-range (d) as the center s -L×k,d s The set P is obtained by collecting all cleaning points within the range of -L×(k-1)]. k To clean up the material at point p s Starting from the included angle θ l The order of monotonically changing sets P k The material clearing points are sorted sequentially to obtain the clearing sub-path within the current blocked sub-section; where d s For cleaning point p s To the center p c The distance, L is a distance constant;

[0027] D514, if d s -L×k≥0, then take k=k+1 and proceed to step D515, if d s If -L×k<0, then proceed to D516;

[0028] D515, with p c To select the blockage sub-range (d) as the center s -L×k,d s The set P is obtained by collecting all cleaning points within the range of -L×(k-1)]. k The clearing point p at the end of the clearing sub-path of the previous blockage sub-section e Starting from the included angle θ l The order of monotonically changing sets P k The material clearing points are sorted sequentially, and after obtaining the clearing sub-path within the current blocked material sub-section, the process re-enters step D514.

[0029] D516, outputting the spiral cleaning path.

[0030] Preferably, if n' is not equal to 1, the following method is used in step D5 to generate the cleaning path:

[0031] D520, calculating the cleaning point p l and the angle θ between the line connecting the scanner installation position p a and the X-axis positive direction l :

[0032] θ l = atan((p l -p a ).y,(p l -p a ).x)

[0033] where (p l -p a ).y represents the y coordinate difference between the scanner installation position p a and the cleaning point p l , and (p l -p a ).x represents the x coordinate difference between the scanner installation position p a and the cleaning point p l ;

[0034] D521, arranging the cleaning points in order according to the monotonically changing angle θ l to form the cleaning path.

[0035] Preferably, step D5 is specifically:

[0036] D5.1, connecting the cleaning points in order to form the cleaning path;

[0037] D5.2, predicting the total time T z spent on cleaning after the current cleaning path is completed; if T z is less than or equal to the time threshold T q , then step D5.3 is entered, and if T z is greater than the time threshold T q , then the current remaining cleaning time T s is calculated, and if the current remaining cleaning time T s is less than or equal to the threshold T o , then step D6 is entered, and if the current remaining cleaning time T s is greater than the threshold T o , then the total time T z is recalculated after optimizing the cleaning path;

[0038] D5.3, after the current cleaning path is completed, let n' = n' + 1 and return to step D3.

[0039] Preferably, the total time T spent in accumulating the cleaning of the material in step D5.2 after the current cleaning path is completed is: z

[0040]

[0041]

[0042] where t s is the time required for the cleaning rod to scan the blockage on the discharge port, is the total time required for the cleaning rod to complete the cleaning of the blockage according to the cleaning path, d is the total number of cleaning points in the cleaning path, t h is the time required for the cleaning rod to return to the initial position after completing the cleaning, t w is the time required for the cleaning rod to complete the cleaning of a single cleaning point p w in the cleaning path, v h is the return speed of the cleaning rod to the initial position after completing the cleaning, p s is the initial position of the cleaning rod, p d is the last cleaning point in the cleaning path, t p is the time required for the cleaning rod to move from the current position p o to the cleaning point p w , v p is the speed of the cleaning rod to move from the current position p o to the cleaning point p w , t k is the vertical running time of the cleaning rod when it is idle at the cleaning point p w , v k is the vertical running speed of the cleaning rod when it is idle at the cleaning point p w , t f is the vertical running time of the cleaning rod when it is cleaning the blockage at the cleaning point p w , v f is the vertical running speed of the cleaning rod when it is cleaning the blockage at the cleaning point p w , H o is the initial height of the cleaning rod, P w is the blockage height corresponding to the cleaning point p w .

[0043] Preferably, if n' is equal to 1, the optimization of the cleaning path in step D5.2 is as follows:

[0044] A1, number the blockage sub-intervals from outside to inside as 1, 2, 3, …, k, and set the sampling interval m' of each blockage sub-interval; ​

[0045] A2. Assign a weight q to each blockage sub-interval. c ; where q c = a / (b+c), where a and b are both weighting coefficients, and c represents the number of the blockage sub-interval;

[0046] A3. Normalize the weights of each blockage sub-interval to obtain q. c_1 ,in

[0047] A4. Update the weight q of each blockage sub-range. c , where q c =q c_1 ×k;

[0048] A5. Calculate the sampling interval m′ of the material clearing points in each blockage sub-section. c ;where m′ c =q c ×m′,m′ c This represents the sampling interval of the c-th blockage sub-interval;

[0049] A6. Starting from the first cleaning point of the current cleaning path and setting its cumulative step size to 1, according to s g =s g-1 +m′ c(g-1) The remaining cleaning points are sampled according to a certain pattern to construct a new cleaning path, which is then used as the current cleaning path; where s g The cumulative step size of the g-th cleaning point being sampled is the number of steps in the current cleaning path. One cleaning point is selected as the cleaning point p to be sampled. g ,m′ c(g-1) For the (g-1)th cleaning point p being sampled g-1 The sampling interval of the blockage sub-section. Indicates rounding up;

[0050] A7. Recalculate the total time T z If T z Less than or equal to the time threshold T q Then proceed to step D5.3, if T z Greater than the time threshold T q Then let m′=m′+Δt and re-enter step A5, where Δt is the incremental value of the sampling interval.

[0051] Preferably, the method for optimizing the material cleaning path in step D5.2 is as follows:

[0052] B1. Take m′=1;

[0053] B2. Using the first cleaning point p in the current cleaning path... sTake the starting point and set its cumulative step to 1, and complete the sampling of the remaining cleaning points according to the rule of s g = s g-1 +m' to construct a new cleaning path, and take the new cleaning path as the current cleaning path; wherein, s g is the cumulative step of the gth cleaned point p g , take the first cleaned point in the current cleaning path as the cleaned point p g , represents rounding up;

[0054] B3, recalculate the total time T z , if T z is less than or equal to the time threshold T q , go to step D5.3, if T z is greater than the time threshold T q , take m'=m'+Δm' and then re-enter step B2, wherein, Δm' is the sampling interval increment, Δm'∈[0.5,1].

[0055] The technical scheme of the present application has the following beneficial effects:

[0056] The present application can obtain the predicted blocked area when the contour line is obtained for the first time through steps D410-D413, realize the purpose of completing the blocked cleaning of a large area for the first time, and improve the efficiency of completing the whole blocked cleaning; in the present application, the way of scanning and cleaning one by one is adopted in the cleaning process for the second time and later, the whole cleaning process does not need manual participation, and the cleaning of all the blocked materials on the discharge port can be completed at a faster speed.

[0057] The cleaning method of the present application can strictly control the blocked cleaning time within the grab bucket material taking time interval, prevent the situation that the blocked cleaning is still in progress when the grab bucket is discharging; the cleaning method of the present application can realize the automatic blocked cleaning, the whole process does not need manual participation, and solves the problem that the manual blocked cleaning affects the health of the personnel.

[0058] The present application also provides another blocked cleaning method for the grid discharge port of the grab bucket machine, which aims to solve the problems that the manual cleaning of the blocked materials on the discharge port has high labor intensity, affects the physical and mental health of the operators, and cannot fully utilize the material taking time interval of the grab bucket machine, and the specific technical scheme is as follows:

[0059] A blocked cleaning method for the grid discharge port of the grab bucket machine, comprising the following steps:

[0060] D1, a scanner for scanning the blocked materials is arranged on one side of the discharge port;

[0061] D2, obtain the center point coordinates of each grid of the discharge port to obtain a grid center point set P' z ;

[0062] D3, scan the blocked material on the discharge port, if no blocked material is scanned, go to step D6, if the blocked material is scanned, extract the profile line of the blocked material close to the scanner side;

[0063] D4, filter the grid center point in the obtained set P' z as a cleaning point, specifically:

[0064] the line between the scanner installation position p a and any grid center point p z in the set P' b , if the line has an intersection point p g with the profile line and meets the following conditions, the grid center point p b is taken as a cleaning point:

[0065]

[0066] wherein L is a distance constant;

[0067] D5, sequentially connect the cleaning points to form a cleaning path, and return to step D3 after completing the blocked material cleaning according to the cleaning path;

[0068] D6, end the cleaning.

[0069] Preferably, in step D5, the cleaning points are sequentially connected to form a cleaning path, specifically:

[0070] calculate the angle θ l between the line between the cleaning point p l and the scanner installation position p a and the X-axis positive direction:

[0071] θ l =atan((p l -p a ).y,(p l -p a ).x)

[0072] wherein (p l -p a ).y represents the y coordinate difference between the scanner installation position p a and the cleaning point p l , and (p l -p a ).x represents the x coordinate difference between the scanner installation position p a and the cleaning point p l .

[0073] Each cleaning point is arranged according to the included angle θ l The monotonously changing sequence is arranged sequentially to form the material clearing path.

[0074] Preferably, step D5 specifically involves:

[0075] D5.1 Connect the cleaning points in sequence to form a cleaning path;

[0076] D5.2 Predict the total time T to be spent on cleaning up after completing the cleaning according to the current cleaning path. z If T z Less than or equal to the time threshold T q Then proceed to step D5.3, if T z Greater than the time threshold T q Then calculate the remaining cleanup time T. s If the remaining cleanup time T s Less than or equal to threshold T o Then proceed to step D6, if the remaining cleanup time T s Greater than threshold T o Then, after optimizing the material clearing path, the total time T is recalculated. z ;

[0077] D5.3 After clearing the blockage according to the material clearing path, return to step D3.

[0078] The application of the technical solution of the present invention has the following beneficial effects:

[0079] The blockage removal method of the present invention uses a scanner to identify the outline of the blockage, and then selects the grid center point located on the side of the outline away from the scanner and closest to the outline as the removal point, thereby realizing automated removal of the blockage; by scanning and confirming the removal point one by one, the purpose of finally removing all the blockage on the discharge port is achieved. The blockage removal method of the present invention does not require manual intervention, thus solving the problem of adverse effects on personnel health caused by manual removal of blockages.

[0080] Meanwhile, the cleaning method of the present invention can strictly control the material blockage cleaning time within the grab bucket material removal time interval, preventing the material blockage cleaning from continuing while the grab bucket is unloading.

[0081] 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

[0082] The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application, illustrate the preferred embodiments of the application and assist in

[0083] Figure 1 is a schematic diagram of the front structure of the grab bucket machine in Example 1;

[0084] Figure 2 is a top view of the grab bucket machine in Example 1;

[0085] Figure 3 is a schematic diagram of the current material taking layer in Example 1;

[0086] Figure 4 is a schematic diagram of the predicted material blocking area in Example 2;

[0087] Figure 5 is a schematic diagram of the material cleaning path in Example 4;

[0088] wherein 1, grab bucket, 2, traction rope, 3, moving trolley, 4, laser scanner, 5, material, 6, travelling crane, 7, longitudinal track, 8, discharge port, 9, grid center point, 10, 2D scanner. DETAILED DESCRIPTION

[0089] In order to facilitate the understanding of the present application, the present application will be described more fully below, and preferred embodiments of the present application will be given. However, the present application can be realized in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided so that the disclosure of the present application can be more thorough and comprehensive.

[0090] 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 the present application belongs. The terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application.

[0091] Example 1

[0092] The present embodiment provides a material taking control method of a grab bucket machine, specifically comprising:

[0093] S1, obtaining a height map of the effective material;

[0094] As Figure 1As shown, the movement of the trolley 6 along the length direction of the material 5 can be achieved through the longitudinal rails 7 at both ends. The mobile trolley 3 is connected to the grab bucket 1 through the traction rope 2, and drives the grab bucket 1 to move vertically. The mobile trolley 3 can move transversely along the length direction of the trolley 6. The grab bucket 1 moves to the discharge port to discharge the material, and the material enters the next process. The laser scanner 4 is fixedly installed at the center of the trolley, which can scan the cross section of the entire material 5 when the trolley 6 is running. According to the positioning information of the trolley, the three-dimensional point cloud data is converted to the world coordinate system with the ground as the horizontal plane. The length and width directions of the ground are converted to the length and width directions of the image, and the height of the material is converted to the data of the corresponding points of the image, that is, the point cloud is converted to the height map. Usually, one image point represents a real space size of 5mmx5mm, and the specific size can be adjusted according to the refinement requirement.

[0095] The height map is updated in real time when the trolley is running. After updating the height map once, the material inventory can be carried out. The sum of all pixel values in the height map is calculated, and then multiplied by the area size represented by the pixel value, so that the real-time volume of the material can be obtained. Since the invalid material in the material pile will affect the grabbing of the grab bucket machine, in order to accurately obtain the effective material that can be grabbed by the grab bucket machine, it is necessary to establish invalid material height map and to-be-taken material height map respectively. The height map of the effective material can be obtained by subtracting the two height maps. Based on the height map of the effective material, the volume of the effective material can be calculated.

[0096] Among them, the invalid material height map is scanned by the laser scanner after the material is taken out, at this time the remaining material is invalid material (i.e. material that cannot be grabbed by the grab bucket); The to-be-taken material height map is scanned by the laser scanner before taking the material.

[0097] S2, according to the process requirement, determine the current discharge port, determine the taking area P corresponding to the discharge port in the height map of the effective material, and take n=1; Wherein, the volume of the effective material in the taking area P needs to be greater than or equal to the required taking amount;

[0098] As Figure 2As shown, the material collection area P can be selected based on the nearest location to the unloading port. A preliminary material collection area can be identified initially, generally requiring its width to cover the width of the material. After initially determining the collection area, the effective material volume within that area can be calculated. If the effective material volume is greater than or equal to the required material collection volume, it indicates that the effective material volume within the collection area can meet the material collection task. If not, the collection area needs to be further expanded until the requirement is met. Furthermore, in this embodiment, the collection area is expanded by increasing its length, preferably symmetrically expanding both ends of the length direction. The required material collection volume refers to the total material collection volume that the task needs to complete.

[0099] 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).

[0100] 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.

[0101] 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:

[0102] P n ={p|p z >p max .zH}

[0103] 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.

[0104] 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:

[0105]

[0106] wherein, i = 1, 2, 3,...; j = 1, 2, 3,...; p ij x represents the x coordinate value of the taking point p ij p ij y represents the y coordinate value of the taking point p ij l is the interval between taking points and l = 2r.

[0107] Further, since the taking point set of the current taking layer is P n , the taking point p belonging to the set P n is found in the set , and the taking point set of the current taking layer P

[0108]

[0109] After obtaining the taking point set P , the taking operation of the current taking layer can be performed according to the taking points in P .

[0110] S4, control the grab bucket to take materials according to the taking points in the set P and update the height map of the effective materials in real time; during the taking process, the relationship between the current total taking amount and the required taking amount is determined in real time, if the current total taking amount is greater than or equal to the required taking amount, S6 is entered, if the current total taking amount is less than the required taking amount, the taking continues until the taking of the current taking layer is completed and S5 is entered (if the current total taking amount is less than the required taking amount, the taking continues, if the current taking layer is completed and the current total taking amount is still less than the required taking amount, S5 is entered);

[0111] Further, after obtaining the taking point set P of the current taking layer, the taking points can be taken in order, in the embodiment, the taking order of the taking points is: the taking points are taken in order of the y coordinate from small to large, and the taking points with the same y coordinate are taken in order of the x coordinate from small to large. Of course, in the case where the discharge port and the positions of the taking points are determined, the taking points can also be taken in other orders in some embodiments.

[0112] S5, after n = n + 1, re-enter S3; wherein, the taking points in the set P and the set P are arranged staggeredly;

[0113] Specifically, in the embodiment, the set P The taking points in the collection are represented as:

[0114]

[0115] The taking points in the collection of this embodiment are represented as:

[0116] and (p ij .x∈[x1,x2]), (p ij .y=j×l-r) and (p ij .y∈[y1,y2])

[0117] The taking points between the adjacent two taking layers are staggered by the distance r in the y-axis direction and the x-axis direction, which is to avoid the problem that the surrounding material is accumulated higher due to continuous digging of the same point, which is not conducive to taking material; the staggered distance r between the taking points between the adjacent two taking layers can ensure that the grab bucket can take the material completely, avoid increasing the taking frequency due to the too small staggered distance between the taking points between the adjacent two taking layers, and avoid missing material due to the too large staggered distance.

[0118] S6, ending taking material.

[0119] If the current total taking amount is greater than or equal to the required taking amount, it means that the taking task of the current discharge port has been completed, and the taking of the current discharge port should be ended, and the grab bucket machine should be stopped or enter the next taking process.

[0120] Preferably, in order to save taking time, the lifting height of the grab bucket after each taking can be set as the z coordinate value of the current highest material point in the taking area P plus a constant G, and the lifting height of the grab bucket is as small as possible to shorten the taking time under the condition of ensuring safety; wherein the value of G can be set according to the actual situation, which generally depends on the structure of the grab bucket machine, and the motion impact should be avoided.

[0121] Preferably, the position X of the discharge port and the position p m of each taking point are determined, m is the serial number of the taking point, and the taking time t m of each taking can be calculated.

[0122]

[0123] Wherein, t xk represents the running time of the grab bucket in the x direction when it is empty; t yk represents the running time of the grab bucket in the y direction when it is empty; t zk represents the running time of the grab bucket in the z direction when it is empty; t xf represents the running time of the grab bucket in the x direction when it is loaded; t yf ​represents the running time in the y direction when the grab bucket is loaded; t zf represents the running time in the z direction when the grab bucket is loaded; T represents a time correction constant, representing the influence of the time t m on the time t x represents the x coordinate value of the discharge port, X y represents the y coordinate value of the discharge port, p max .z represents the z coordinate value of the current highest material point in the material taking area P, G represents the lifting height of the grab bucket above p max .z, represents the x coordinate value of the mth material taking point, represents the y coordinate value of the mth material taking point, represents the z coordinate value of the mth material taking point, v xk represents the running speed in the x direction when the grab bucket is empty, v yk represents the running speed in the y direction when the grab bucket is empty, v zk represents the running speed in the z direction when the grab bucket is empty, v xf represents the running speed in the x direction when the grab bucket is loaded, v yf represents the running speed in the y direction when the grab bucket is loaded, v zf represents the running speed in the z direction when the grab bucket is loaded.

[0124] Preferably, the average material taking amount V1 of each material taking of the grab bucket machine can be obtained through the inventory, and in the case that the required material taking amount V2 is known, the number of material takings required to complete the material taking task can be calculated as:

[0125] q = V2 / V1

[0126] On the basis of obtaining the number of material takings q required to complete the material taking task and the time t m of each material taking, the total time t a required to complete the material taking task can be calculated as:

[0127]

[0128] The material taking control method of the embodiment can realize automatic material taking of the grab bucket machine, and by adopting the layered material taking manner and setting the staggered distance r between the material taking points between adjacent two material taking layers, it can ensure that there is no material missing in the material taking process, avoid the problem that the surrounding material is accumulated too high to be not conducive to material taking due to continuous digging at the same point, and also avoid the adverse effects caused by too large or too small staggered distance between the material taking points between adjacent two material taking layers. Meanwhile, the material taking control method of the embodiment can also clearly determine the time t mand the total time t required to complete the material taking task a , thereby achieving guidance of the work planning; similarly, in obtaining the time t of each material taking m and the total time t required to complete the material taking task a After that, the guidance can be fed back to adjust the material taking area P to achieve the total time required to complete the material taking task as short as possible.

[0129] Embodiment 2:

[0130] Referring to Figure 4 , the embodiment provides a method for blocking material cleaning of a grab bucket machine grid discharge port, comprising the following steps:

[0131] D1, a scanner for scanning the blocking material is arranged on one side of the discharge port;

[0132] As shown in Figure 4 , the embodiment arranges the scanner on one side of the discharge port, wherein the scanner is higher than the grid surface of the discharge port by H1, and the minimum distance from the scanner to the discharge port is D1; wherein the values of H1 and D1 can be flexibly set by persons skilled in the art according to actual conditions, and the scanner in the embodiment is a 2D scanner.

[0133] D2, obtaining the center point coordinates of each grid of the discharge port to obtain a grid center point set P' z , and n' = 1 is taken at the same time;

[0134] Specifically, in the embodiment, the center point coordinates of each grid on the discharge port are obtained by field measurement, thereby obtaining the grid center point set P' z .

[0135] D3, scanning the blocking material on the discharge port, if no blocking material is scanned, step D6 is entered, if the blocking material is scanned, the contour line of the blocking material close to the scanner side is extracted;

[0136] Specifically, since the installation height of the 2D scanner is higher than H1 of the discharge port, the blocking material higher than H1 on the discharge port will be scanned, that is, if no target is scanned, it is considered that there is no blocking material, if a target is scanned, it is considered that there is blocking material. At the same time, since the scanner is only arranged on one side of the discharge port, the scanner can only obtain the contour line of the blocking material close to the scanner side.

[0137] D4, screening the grid center points in the set P' z as cleaning points based on the obtained contour line, specifically: if n' is equal to 1, steps D410-D413 are executed, if n' is not equal to 1, step D420 is executed;

[0138] Specifically, since the projection of the actual blockage on the discharge port (i.e. XY plane) tends to be circular in actual engineering, in order to improve the cleaning efficiency, the shape of the blockage behind the contour line can be predicted when the contour line is obtained for the first time, so that a large amount of blockage can be cleaned at the first time. In order to reduce the difference between the predicted blockage shape and the actual blockage shape (i.e. reduce the possibility that the predicted blockage area actually does not contain blockage), it is assumed in this embodiment that the blockage area behind the contour line obtained for the first time is elliptical, and steps D410-D413 in this embodiment are specifically:

[0139] D410, extracting two end points of the contour line and making the midline of the line segment between the two end points as an end point of the long axis of the ellipse and taking the intersection point of the midline and the contour line as an end point of the short axis of the ellipse

[0140] Further, since the contour line obtained by scanning is a continuous line segment in the XY plane, the two end points and may be the two points with the maximum and minimum x coordinates on the contour line, or the two points with the maximum and minimum y coordinates on the contour line. In some cases, the line segment between the two end points and may be parallel to the X axis or the Y axis. When the line segment between the two end points and is parallel to the X axis, the two points with the maximum and minimum x coordinates on the contour line should be taken as the end points. When the line segment between the two end points and is parallel to the Y axis, the two points with the maximum and minimum y coordinates on the contour line should be taken as the end points.

[0141] Further, making the midline of the line segment between the two end points and and calculating the intersection point of the midline and the contour line are well-known in the art, and will not be described in detail in this embodiment.

[0142] D411, calculating the other end point of the short axis of the ellipse

[0143] Preferably, calculating the other end point of the short axis of the ellipse is specifically:

[0144]

[0145]

[0146] wherein po express and The midpoint of the line connecting the two points.

[0147] D412, based on and Construct an ellipse, and place the ellipse on... and The area enclosed by the curve segment and the outline is used as the predicted blockage area;

[0148] In this embodiment, and The area enclosed by the curve segment and the contour line is used as the predicted blockage area. The contour line is the actual boundary obtained by scanning the blockage, which avoids elliptical curves. and The problem of inaccurate prediction of the blockage area is caused by the curve segment not coinciding with the contour line.

[0149] D413, Set P′ z The center point of the grid located in the predicted blockage area is designated as the clearing point;

[0150] Furthermore, after obtaining the predicted blockage area, based on set P′ z The x and y coordinates of the center point of the grid can be used to determine whether the center point of the grid is located in the predicted blockage area. Specifically: if set P′ z The x and y coordinates of any grid center point are within the predicted blockage area, and the grid center point is taken as the clearing point.

[0151] Furthermore, when n′ is not equal to 1, the cleaning point is confirmed in the following way:

[0152] D420, Mark the scanner installation location p a With set P′ z any grid center point p b If the connecting line intersects the outline at point p... g And if the following conditions are met, then the center point p of the grid will be... b As a material clearing point:

[0153]

[0154] Where L is a distance constant, and L is generally the side length of a single grid, and the grid is square in shape.

[0155] Furthermore, it determines whether the connecting line intersects with the contour line and calculates the intersection point p. g The method is common knowledge in the field and will not be described in detail in this embodiment. For example, the relevant calculation method is disclosed in Chinese Patent Application No. CN202510276762.2.

[0156] D5, sequentially connecting the cleaning points to form a cleaning path, and returning n' = n' + 1 to step D3 after completing the cleaning of the cleaning path;

[0157] Preferably, if the cleaning points are obtained based on step D410-step D413, the cleaning path is generated in the following manner:

[0158] D510, confirming the center p of the predicted blockage area c ;

[0159] Preferably, the center of the predicted blockage area is represented as:

[0160]

[0161] Wherein, p l represents the lth cleaning point in the predicted blockage area, and b represents the total number of cleaning points in the predicted blockage area.

[0162] D511, calculating the distance d l of each cleaning point p c to the center p l and the included angle θ l between the line connecting each cleaning point p c and the center p l and the positive direction of the X axis;

[0163] Preferably, the distance d l and the included angle θ l are respectively represented as:

[0164]

[0165] Wherein, (p l -p c ).y represents the y coordinate difference between the intermediate position p c and the cleaning point p l , and (p l -p c ).x represents the x coordinate difference between the intermediate position p c and the cleaning point p l .

[0166] D512, selecting a cleaning point p c farthest from the center p s , and taking k = 1;

[0167] Specifically, in actual cases, there can be multiple cleaning points with equal and maximum distances to the center p c , in which case any one of them can be selected.

[0168] D513, with p c To select the blockage sub-range (d) as the center s -L×k,d s The set P is obtained by collecting all cleaning points within the range of -L×(k-1)]. k To clean up the material at point p s Starting from the included angle θ l The order of monotonically changing sets P k The material clearing points are sorted sequentially to obtain the clearing sub-path within the current blocked sub-section; where d s For cleaning point p s To the center p c The distance, L, is a constant distance. In order to ensure that there is a clearing point in each blockage sub-section, L is generally the side length of a single grid, and the grid is square in shape.

[0169] D514, if d s If -L×k≥0, then take k=k+1 and proceed to step D515. If d s If -L×k<0, then proceed to D516;

[0170] D515, with p c To select the blockage sub-range (d) as the center s -L×k,d s The set P is obtained by collecting all cleaning points within the range of -L×(k-1)]. k The clearing point p at the end of the clearing sub-path of the previous blockage sub-section e Starting from the included angle θ l The order of monotonically changing sets P k The material clearing points are sorted sequentially, and after obtaining the clearing sub-path within the current blocked material sub-section, the process re-enters step D514.

[0171] D516, Outputs a spiral cleaning path.

[0172] Furthermore, the cleaning points in the cleaning path are numbered sequentially as 1, 2, 3, ..., d.

[0173] Preferably, if the cleaning point is obtained based on step D420, the cleaning path is generated in the following manner:

[0174] D520, Calculate the material clearing point p l With the scanner installation location p a The angle θ between the line connecting them and the positive X-axis l :

[0175] θ l =atan((p l -p a ).y,(pl -p a ).x)

[0176] wherein, (p l -p a ).y represents the y coordinate difference between the scanner installation position p a and the cleaning material point p l , (p l -p a ).x represents the x coordinate difference between the scanner installation position p a and the cleaning material point p l .

[0177] D5, arrange the cleaning material points in sequence according to the angle θ l monotonically changing, to form a cleaning material path.

[0178] Further, the sequence according to the angle θ l monotonically changing in the embodiment refers to the sequence according to the angle θ l monotonically increasing or decreasing.

[0179] Preferably, in some embodiments, the grid center points in the set P' z as the cleaning material points of this time can be deleted after cleaning, so that the staff can clearly know which grid has been cleaned.

[0180] D6, end cleaning.

[0181] The embodiment can obtain the predicted blocked material area when the contour line is obtained for the first time through steps D410-D413, achieve the purpose of completing the cleaning of the blocked material in a large area for the first time, and improve the efficiency of completing the cleaning of the blocked material.

[0182] Embodiment 3:

[0183] The embodiment is further optimized on the basis of embodiment 2. In the embodiment, the cleaning of the blocked material of the discharge port is associated with the material taking time interval T q of the grab bucket machine to ensure that the cleaning of the blocked material of the discharge port is strictly limited within the material taking time interval, and prevent the cleaning of the blocked material when the grab bucket is unloading above the discharge port. The material taking time interval T q may be set as the time t m in embodiment 1, or a threshold value can be set artificially. The difference between the embodiment and embodiment 2 is that step D5 in the embodiment is set as follows:

[0184] D5.1 Connect the cleaning points in sequence to form a cleaning path;

[0185] D5.2 Predict the total time T to be spent on cleaning up after completing the cleaning according to the current cleaning path. z If T z Less than or equal to the time threshold T q Then proceed to step D5.3, if T z Greater than the time threshold T q Then calculate the remaining cleanup time T. s If the remaining cleanup time T s Less than or equal to threshold T o Then proceed to step D6, if the remaining cleanup time T s Greater than threshold T o Then, after optimizing the material clearing path, the total time T is recalculated. z ;

[0186] D5.3 After completing the material blockage removal according to the material removal path, set n′=n′+1 and return to step D3.

[0187] Preferably, after obtaining the cleaning path, the total time required to complete the cleaning according to the cleaning path can be calculated by summing. Specifically:

[0188] 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. This cleaning path completes the cleaning of a single cleaning point p. w The time required to clear the blockage is:

[0189]

[0190] 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 fThe vertical running time of the cleaning rod at the cleaning point p w The vertical running speed of the cleaning rod at the cleaning point p f The vertical running time of the cleaning rod at the cleaning point p w The vertical running speed of the cleaning rod at the cleaning point p o P represents the initial height of the cleaning rod, that is, the height of the cleaning rod from the grid when it is translated. w .z represents the corresponding blockage height at the cleaning point p w The scanner in the embodiment cannot directly obtain the corresponding blockage height at the cleaning point p w Considering that the vertical running speed of the cleaning rod under no load is not too different from the vertical running speed under load, P w .z can be preset, for example, assuming that the highest blockage height is 1 meter, P w .z is preset to 1 meter.

[0191] The time required for each cleaning point to complete the blockage cleaning can be calculated, and the total time required for the cleaning path to complete the blockage cleaning is represented as:

[0192]

[0193] Where d is the total number of cleaning points in the cleaning path, t h is the resetting time of the cleaning rod after completing the cleaning.

[0194] Where the resetting time t h of the cleaning rod after completing the cleaning is represented as:

[0195]

[0196] Where v h represents the resetting speed of the cleaning rod returning to the initial position after completing the cleaning, p s represents the initial position of the cleaning rod, and p d represents the last cleaning point in the cleaning path.

[0197] The time required for each cleaning path is summed with the time required for each scan to obtain the total time T z spent by the cleaning path after completing the cleaning this time, which is represented as:

[0198]

[0199] Where t s is the time required for the blockage scan on the discharge port, which can be considered as a constant value.

[0200] Further, the remaining cleaning time wherein is the total time spent for performing the cleaning task.

[0201] Preferably, the way of forming the cleaning path in step D5.1 of the embodiment is the same as that of embodiment 2, if the cleaning path is generated by using the way of steps D510-step D516, the way of optimizing the cleaning path in step D5.2 is:

[0202] A1, obtaining the k value when the cleaning path is output in step D516, setting the sampling interval m' of each blockage sub-interval; preferably, the initial value of the sampling interval m' of each blockage sub-interval in the embodiment is set to 1;

[0203] Specifically, the size of the k value when the cleaning path is output in step D516 indicates how many annular blockage sub-intervals the blockage region is finally divided into, that is, k represents the total number of blockage sub-intervals, and each blockage sub-interval is numbered from outside to inside as 1, 2, 3, …, k.

[0204] A2, assigning a weight q to each blockage sub-interval c ; wherein q c =a / (b+c), a, b are weight coefficients;

[0205] A3, normalizing the weight of each blockage sub-interval to obtain q c_1 , wherein

[0206] A4, updating the weight q of each blockage sub-interval c , wherein q c =q c_1 x k;

[0207] A5, calculating the sampling interval m' of the cleaning point in each blockage sub-interval c ; wherein m' c =q c x m', m' c represents the sampling interval of the cth blockage sub-interval, and c represents the number of the blockage sub-interval;

[0208] A6, taking the first cleaning point of the current cleaning path as the starting point and setting its cumulative step length to 1, sampling the remaining cleaning points according to the rule s g =s g-1 +m' c(g-1) to construct a new cleaning path, and taking the new cleaning path as the current cleaning path; wherein s g is the cumulative step length of the gth sampled cleaning point, and the th cleaning point in the current cleaning path is taken as the sampled cleaning point p g , m'c(g-1) the g-1th sampled purge point p g-1 the sampling interval of the sub-interval where the purge point p represents rounding up;

[0209] A7, recalculating the total time T z if T z is less than or equal to the time threshold T q entering step D5.3, if T z is greater than the time threshold T q let m' = m' + Δt and re-entering step A5, wherein Δt is the increment value of the sampling interval, and Δt can be an integer or a decimal.

[0210] Further, the way of optimizing the purge path in step D5.2 of the embodiment can also be:

[0211] B1, let m' = 1;

[0212] B2, taking the first purge point p s in the current purge path as the starting point and setting its cumulative step length to 1, and completing the sampling of the remaining purge points according to s g = s g-1 + m' to construct a new purge path, and taking the new purge path as the current purge path; wherein s g is the cumulative step length of the gth sampled purge point p g , and taking the first purge point in the current purge path as the sampled purge point p , g represents rounding up;

[0213] B3, recalculating the total time T z , if T z is less than or equal to the time threshold T q entering step D5.3, if T z is greater than the time threshold T q let m' = m' + Δm' and re-entering step B2, wherein Δm' is the increment of the sampling interval, and Δm' ∈ [0.5, 1].

[0214] It should be noted that if the purge path is formed by steps D520 to D521 in step D5.1, then the path optimization can only be performed by steps B1 to B3.

[0215] Preferably, the threshold T o can be valued according to , specifically: when T z is greater than the time threshold T q ​At this time, record the total time required to complete the blockage cleaning according to the current cleaning path Let threshold value Where N∈[0.3, 0.5]; that is, only the remaining cleaning time T s The path optimization is performed only when at least enough cleaning time is left to complete the cleaning of a part of the cleaning points on the cleaning path, on the one hand, the remaining cleaning time is fully utilized, and on the other hand, the situation that the grab unloads but the discharge port is still being cleaned is prevented.

[0216] The cleaning method of the embodiment can strictly control the blockage cleaning time within the grab material taking time interval, prevent the situation that the grab unloads while the blockage cleaning is still being performed, and automatically perform the blockage cleaning, so that the entire process does not require manual intervention and solves the problem that manual blockage cleaning affects personnel health.

[0217] It should be noted that although the time threshold T q The blockage on the discharge port may not be cleaned when the grab unloads, but this will not affect the normal operation of the grab and the discharge port. Since the unloading amount of the grab is not too large each time, the remaining blockage on the discharge port can fall to the lower side of the discharge port along with the grab unloading, or can be cleaned in the next cleaning process.

[0218] Embodiment 4:

[0219] Referring to Figure 5 , the embodiment provides a blockage cleaning method for a grid discharge port of a grab machine, including the following steps:

[0220] D1, a scanner for scanning the blockage is arranged on one side of the discharge port;

[0221] As shown in Figure 5 , the embodiment arranges the scanner on one side of the discharge port, wherein the scanner is higher than the grid surface of the discharge port by H1, and the minimum distance between the scanner and the discharge port is D1; wherein the values of H1 and D1 can be flexibly set by persons skilled in the art according to actual conditions, and the scanner in the embodiment is a 2D scanner.

[0222] D2, the center point coordinates of each grid of the discharge port are obtained to obtain a grid center point set P' z ;

[0223] Specifically, in the embodiment, the center point coordinates of each grid of the discharge port are obtained by field measurement, thereby obtaining the grid center point set P' z .

[0224] D3, scanning the blockage on the discharge port, if no blockage is scanned, entering step D6, if the blockage is scanned, extracting the profile line of the blockage close to the scanner side;

[0225] Specifically, since the installation height of the 2D scanner is higher than the distance H1 of the discharge port, the blockage higher than H1 on the discharge port will be scanned, that is, if no target is scanned, it is considered that there is no blockage, if the target is scanned, it is considered that there is blockage. At the same time, since the scanner is only provided on one side of the discharge port, the scanner can only obtain the profile line of the blockage close to the scanner side.

[0226] D4, screening the grid center point in set P' based on the obtained profile line as the cleaning point; z

[0227] Preferably, in the embodiment, the grid center point in set P' is screened based on the profile line as the cleaning point, specifically: z

[0228] the line between the scanner installation position p a and any one grid center point p z in set P' b If the line intersects the profile line at intersection point p g and meets the following conditions, the grid center point p b is taken as the cleaning point:

[0229]

[0230] Wherein, L is a distance constant, L is generally the side length of a single grid, and the shape of the grid is a square.

[0231] Further, the way to determine whether the line intersects the profile line and calculate the intersection point p g is the common knowledge in the art, which will not be described in detail in the embodiment. The related calculation method is disclosed in the Chinese patent with application number CN202510276762.2.

[0232] D5, sequentially connecting the cleaning points to form a cleaning path, and returning to step D3 after completing the blockage cleaning according to the cleaning path;

[0233] Preferably, the cleaning points are sequentially connected to form a cleaning path, specifically:

[0234] Calculate the angle θ l between the line between the cleaning point p l and the scanner installation position p a and the X-axis positive direction:

[0235] θ l =atan((p​​l -p a ).y,(p l -p a ).x)

[0236] wherein, (p l -p a ).y represents the y coordinate difference between the scanner installation position p a and the cleaning material point p l , (p l -p a ).x represents the x coordinate difference between the scanner installation position p a and the cleaning material point p l .

[0237] The cleaning material points are arranged in order according to the angle θ l monotonically changing, forming a cleaning material path. Further, the order according to the angle θ l monotonically changing in the embodiment refers to the order according to the angle θ l monotonically increasing or decreasing.

[0238] Preferably, in some embodiments, the grid center points serving as the cleaning material points in this time after cleaning can also be deleted in the set P' z , so that the staff can clearly understand which grid has been cleaned.

[0239] D6, ending cleaning.

[0240] The clogging cleaning method of the embodiment uses a scanner to identify the profile line of the clogging, and then selects the grid center point located on the side of the profile line far away from the scanner and closest to the profile line as the cleaning material point, thereby realizing automatic cleaning of the clogging; the cleaning material point is confirmed by successive scanning, so as to achieve the purpose of completely cleaning the clogging on the discharge port. The clogging cleaning method of the embodiment does not require manual participation, and solves the problem of adverse effects of manual cleaning of clogging on personnel health.

[0241] Embodiment 5:

[0242] The embodiment is further optimized on the basis of embodiment 4. In the embodiment, the clogging cleaning work of the discharge port is associated with the material taking time interval T q of the grab bucket machine, so as to strictly limit the clogging cleaning work of the discharge port within the material taking time interval, and prevent the situation that the clogging is cleaned when the grab bucket is discharging above the discharge port. The material taking time interval T q may be set as the time t m in embodiment 1, or a threshold value can be set artificially. The difference between the embodiment and embodiment 4 is only that the step D5 in the embodiment is set as follows:

[0243] D5.1 Connect the cleaning points in sequence to form a cleaning path;

[0244] D5.2 Predict the total time T to be spent on cleaning up after completing the cleaning according to the current cleaning path. z If T z Less than or equal to the time threshold T q Then proceed to step D5.3, if T z Greater than the time threshold T q Then calculate the remaining cleanup time T. s If the remaining cleanup time T s Less than or equal to threshold T o Then proceed to step D6, if the remaining cleanup time T s Greater than threshold T o Then, after optimizing the material clearing path, the total time T is recalculated. z ;

[0245] D5.3 After clearing the blockage according to the material clearing path, return to step D3.

[0246] In this embodiment, the total time T spent on cleaning is calculated. z Threshold T q The setup method and path optimization method are the same as in Example 4, wherein the path optimization method in this example is steps B1 to B3 in Example 4.

[0247] The cleaning method of this embodiment can strictly control the material blockage cleaning time within the grab bucket material removal time interval, preventing the material blockage cleaning from continuing while the grab bucket is unloading material; the cleaning method of this embodiment can realize automated material blockage cleaning, and the whole process does not require manual intervention, solving the problem of manual material blockage cleaning affecting personnel health.

[0248] 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.

[0249] 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 clearing blockages at the discharge port of a grab bucket crane's grid, characterized in that, Includes the following steps: D1. Install a scanner on one side of the discharge port to scan for material blockage; D2. Obtain the coordinates of the center point of each grid at the discharge port to obtain the set of grid center points P′. z Meanwhile, n′=1; D3. Scan the blockage at the discharge port. If no blockage is detected, proceed to step D6. If a blockage is detected, extract the outline of the blockage. D4. Based on the obtained contour lines, select set P′ z The center point of the grid is used as the cleaning point. Specifically, if n′ equals 1, then execute steps D410-D413; if n′ does not equal 1, then execute step D420. D5. Connect the material clearing points in sequence to form a material clearing path. After clearing the blockage according to the material clearing path, let n′=n′+1 and return to step D3. D6. End of cleaning; Specifically, steps D410-D413 are as follows: D410, Extract the two endpoints of the contour line. and As the two endpoints of the major axis of the ellipse, make the endpoints and The perpendicular bisector of the line connecting the two sides is used as the point where the intersection of the perpendicular bisector and the contour line is taken as one endpoint of the minor axis of the ellipse. D411. Calculate the other endpoint of the minor axis of the ellipse. D412, based on and Construct an ellipse, and place the ellipse on... and The area enclosed by the curve segment and the outline is used as the predicted blockage area; D413, Set P′ z The center point of the grid located in the predicted blockage area is designated as the clearing point; Specifically, step D420 is as follows: D420, Mark the scanner installation location p a With set P′ z any grid center point p b If the connecting line intersects the outline at point p... g And if the following conditions are met, then the center point p of the grid will be... b As a material clearing point: Where L is a distance constant.

2. The method for clearing blockages at the grid discharge port of a grab bucket crane according to claim 1, characterized in that, If n′ equals 1, then the material cleaning path is generated in step D5 using the following method: D510, Confirm the center p of the predicted blockage area. c ; D511. Calculate p for each cleaning point. l To the center p c distance d l and each cleaning point p l With center p c The angle θ between the line connecting the two points and the positive X-axis l ; D512, Select a distance p from the center. c The furthest cleaning point p s and take k = 1; D513, with p c To select the blockage sub-range (d) as the center s -L×k,d s The set P is obtained by collecting all cleaning points within the range of -L×(k-1)]. k To clean up the material at point p s Starting from the included angle θ l The order of monotonically changing sets P k The material clearing points are sorted sequentially to obtain the clearing sub-path within the current blocked sub-section; where d s For cleaning point p s To the center p c The distance, L is a distance constant; D514, if d s -L×k≥0, then take k=k+1 and proceed to step D515, if d s If -L×k<0, then proceed to D516; D515, with p c To select the blockage sub-range (d) as the center s -L×k,d s The set P is obtained by collecting all cleaning points within the range of -L×(k-1)]. k The clearing point p at the end of the clearing sub-path of the previous blockage sub-section e Starting from the included angle θ l The order of monotonically changing sets P k The material clearing points are sorted sequentially, and after obtaining the clearing sub-path within the current blocked material sub-section, the process re-enters step D514. D516, Outputs a spiral cleaning path.

3. The method for clearing blockages at the grid discharge port of a grab bucket crane according to claim 2, characterized in that, If n′ is not equal to 1, then the material cleaning path is generated in step D5 in the following way: D520, Calculate the material clearing point p l With the scanner installation location p a The angle θ between the line connecting them and the positive X-axis l : θ l =here((p l -p a ).y,( p l -p a ).x) Among them, (p l -p a ).y represents the scanner installation location p a With cleaning point p l The difference in y-coordinates between them, (p l -p a ).x represents the scanner installation location p a With cleaning point p l The difference in x-coordinates between them; D521. Arrange each cleaning point according to the included angle θ l The monotonously changing sequence is arranged sequentially to form the material clearing path.

4. The method for clearing blockages at the grid discharge port of a grab bucket crane according to claim 3, characterized in that, Step D5 specifically involves: D5.1 Connect the cleaning points in sequence to form a cleaning path; D5.2 Predict the total time T to be spent on cleaning up after completing the cleaning according to the current cleaning path. z If T z Less than or equal to the time threshold T q Then proceed to step D5.3, if T z Greater than the time threshold T q Then calculate the remaining cleanup time T. s If the remaining cleanup time T s Less than or equal to threshold T o Then proceed to step D6, if the remaining cleanup time T s Greater than threshold T o Then, after optimizing the material clearing path, the total time T is recalculated. z ; D5.3 After clearing the blockage according to the current material clearing path, let n′=n′+1 and return to step D3.

5. The method for clearing blockages at the grid discharge port of a grab bucket crane according to claim 4, characterized in that, In step D5.2, the total time T spent on cleaning after completing the cleaning according to the current cleaning path is calculated. z for: Among them, t s The time required to clear the blockage at the discharge port. The total time required to clear the blockage according to the clearing path, where d is the total number of clearing points in the clearing path, and t is the total time required. h 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, v n 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 t represents the last cleaning point in the cleaning path. 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 blockage clearing, v f For cleaning rods at cleaning point p w The vertical running speed H during material blockage clearing o P represents the initial height of the cleaning rod. w .z represents the cleaning point p w The corresponding blockage height.

6. The method for clearing blockages at the grid discharge port of a grab bucket crane according to claim 4, characterized in that, If n′ equals 1, then the method for optimizing the material cleaning path in step D5.2 is as follows: A1. Number each blockage sub-interval sequentially from the outside to the inside as 1, 2, 3, ..., k, and set the sampling interval m′ for each blockage sub-interval; A2. Assign a weight q to each blockage sub-interval. c ; where q c = a / (b+c), where a and b are both weighting coefficients, and c represents the number of the blockage sub-interval; A3. Normalize the weights of each blockage sub-interval to obtain q. c_1 ,in A4. Update the weight q of each blockage sub-range. c , where q c =q c_1 ×k; A5. Calculate the sampling interval m′ of the material clearing points in each blockage sub-section. c ;where m′ c =q c ×m′,m′ c This represents the sampling interval of the c-th blockage sub-interval; A6. Starting from the first cleaning point of the current cleaning path and setting its cumulative step size to 1, according to s g =s g-1 +m′ c(g-1) The remaining cleaning points are sampled according to a certain pattern to construct a new cleaning path, which is then used as the current cleaning path; where s g The cumulative step size of the g-th cleaning point being sampled is the number of steps in the current cleaning path. One cleaning point is selected as the cleaning point p to be sampled. g ,m′ c(g-1) For the (g-1)th cleaning point p being sampled g-1 The sampling interval of the blockage sub-section. Indicates rounding up; A7. Recalculate the total time T z If T z Less than or equal to the time threshold T q Then proceed to step D5.3, if T z Greater than the time threshold T q Then let m′=m′+Δt and re-enter step A5, where Δt is the incremental value of the sampling interval.

7. The method for clearing blockages at the unloading port of a grab bucket crane's grid according to claim 4, characterized in that, The method for optimizing the material cleaning path in step D5.2 is as follows: B1. Take m′=1; B2. Using the first cleaning point p in the current cleaning path... s Starting from s and setting its cumulative step size to 1, according to s g =s g-1 The sampling of remaining cleaning points is completed according to the pattern +m′ to construct a new cleaning path, which is then used as the current cleaning path; where s g For the g-th cleaning point p that was sampled g The cumulative step size will be the first step in the current material clearing path. One cleaning point is selected as the cleaning point p to be sampled. g , Indicates rounding up; B3. Recalculate the total time T z If T z Less than or equal to the time threshold T q Then proceed to step D5.3, if T z Greater than the time threshold T q Then, take m′=m′+Δm′ and re-enter step B2, where Δm′ is the sampling interval increment, Δm′∈[0.5,1].

8. A method for clearing blockages at the unloading port of a grab bucket crane's grid, characterized in that, Includes the following steps: D1. Install a scanner on one side of the discharge port to scan for material blockage; D2. Obtain the coordinates of the center point of each grid at the discharge port to obtain the set of grid center points P′. z ; D3. Scan the blockage on the discharge port. If no blockage is detected, proceed to step D6. If a blockage is detected, extract the outline of the blockage on the side closest to the scanner. D4. Based on the obtained contour lines, select set P′ z The center point of the grid is used as the cleaning point, specifically: Make the scanner installation location p a With set P′ z any grid center point p b If the connecting line intersects the outline at point p... g And if the following conditions are met, then the center point p of the grid will be... b As a material clearing point: Where L is a distance constant; D5. Connect the material clearing points in sequence to form a material clearing path. After clearing the blockage according to the material clearing path, return to step D3. D6. End of cleanup.

9. The method for clearing blockages at the grid discharge port of a grab bucket crane according to claim 8, characterized in that, In step D5, the cleaning points are connected in series to form the cleaning path. Specifically, this is as follows: Calculate the cleaning point p l With the scanner installation location p a The angle θ between the line connecting them and the positive X-axis l : θ l =here((p l -p a ).y,( p l -p a ).x) Among them, (p l -p a ).y represents the scanner installation location p a With cleaning point p l The difference in y-coordinates between them, (p l -p a ).x represents the scanner installation location p a With cleaning point p l The difference in x-coordinates between them; Each cleaning point is arranged according to the included angle θ l The monotonously changing sequence is arranged sequentially to form the material clearing path.

10. The method for clearing blockages at the grid discharge port of a grab bucket crane according to claim 8, characterized in that, Step D5 specifically involves: D5.1 Connect the cleaning points in sequence to form a cleaning path; D5.2 Predict the total time T to be spent on cleaning up after completing the cleaning according to the current cleaning path. z If T z Less than or equal to the time threshold T q Then proceed to step D5.3, if T z Greater than the time threshold T q Then calculate the remaining cleanup time T. s If the remaining cleanup time T s Less than or equal to threshold T o Then proceed to step D6, if the remaining cleanup time T s Greater than threshold T o Then, after optimizing the material clearing path, the total time T is recalculated. z ; D5.3 After clearing the blockage according to the material clearing path, return to step D3.

Images