A method for cleaning a material blocking of a grating discharge port of a grab bucket machine

Abstract

The present application provides a kind of grab machine grating discharge port's blockage cleaning method, by setting scanner on the side of discharge port to extract the contour line of blockage, the grating center point that meets the condition behind contour line is screened out as cleaning point, finally, cleaning point is sequentially sorted to form cleaning path, to control the cleaning of blockage on discharge port is completed;At the same time, the present application introduces time threshold T q In order to control the total time of blockage cleaning process, prevent blockage cleaning when grab unloading, affect the problem of grab unloading.The cleaning method of the present application can solve the problem that manual cleaning of blockage on discharge port has high labor intensity, affects the physical and mental health of operator and cannot fully utilize the time interval of grab machine.

Description

Technical Field

[0001] This invention relates to the field of material blockage removal technology, specifically to a method for removing material blockages 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 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 material handling. 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 and are prone to safety accidents.

[0004] In summary, there is an urgent need for a method to clear blockages in the unloading port of a grab bucket crane's grid to solve the problems existing in the current technology. Summary of the Invention

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

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

[0007] D1. Install a scanner on one side of the discharge port to scan for material blockage;

[0008] 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;

[0009] 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.

[0010] 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.

[0011] 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.

[0012] D6. End of cleaning;

[0013] Specifically, steps D410-D413 are as follows:

[0014] 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.

[0015] D411. Calculate the other endpoint of the minor axis of the ellipse.

[0016] 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;

[0017] D413, Set P′ z The center point of the grid located in the predicted blockage area is designated as the clearing point;

[0018] Specifically, step D420 is as follows:

[0019] 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 grille will be... b As a material clearing point:

[0020]

[0021] Where L is a distance constant.

[0022] Preferably, if n′ equals 1, 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 monotonic changes will affect set 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 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;

[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, Outputs a spiral cleaning path.

[0030] Preferably, if n′ is not equal to 1, the cleaning path is generated in step D5 in the following manner:

[0031] 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 :

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

[0033] Among them, (p l -p a ).y indicates 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;

[0034] 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.

[0035] Preferably, step D5 specifically involves:

[0036] D5.1 Connect the cleaning points in sequence to form a cleaning path;

[0037] 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 ;

[0038] D5.3 After clearing the blockage according to the current material clearing path, let n′=n′+1 and return to step D3.

[0039] Preferably, the total time T spent on cleaning after completing the cleaning according to the current cleaning path in step D5.2 is... z for:

[0040]

[0041]

[0042] 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 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 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.

[0043] Preferably, if n′ equals 1, the method for optimizing the material cleaning path in step D5.2 is as follows:

[0044] 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;

[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... sStarting 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;

[0054] 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].

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

[0056] The present invention can obtain the predicted blockage area when the outline is obtained for the first time through steps D410-D413, so as to achieve the purpose of clearing blockage in a large area for the first time and improve the efficiency of clearing all blockages. In the second and subsequent cleaning processes, the present invention adopts a step-by-step scanning and cleaning method. The entire cleaning process does not require manual intervention and can achieve the clearing of all blockages on the discharge port at a faster speed.

[0057] 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 material; the cleaning method of the present invention can realize automated material blockage cleaning, and the whole process does not require manual intervention, thus solving the problem of the impact of manual material blockage cleaning on personnel health.

[0058] This invention also provides another method for clearing blockages at the unloading port of a grab bucket excavator, aiming to solve the problems of high labor intensity, negative impact on the physical and mental health of operators, and inability to fully utilize the material handling time interval of the grab bucket excavator when manually clearing blockages at the unloading port. The specific technical solution is as follows:

[0059] A method for clearing blockages at the unloading port of a grab bucket crane's grid includes the following steps:

[0060] D1. Install a scanner on one side of the discharge port to scan for material blockage;

[0061] 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 ;

[0062] 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.

[0063] D4. Based on the obtained contour lines, select set P′ z The center point of the grid is used as the cleaning point, specifically:

[0064] 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 grille will be... b As a material clearing point:

[0065]

[0066] Where L is a distance constant;

[0067] 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.

[0068] D6. End of cleanup.

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

[0070] 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 :

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

[0072] Among them, (p l -p a ).y indicates 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;

[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 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:

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

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

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

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

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

[0088] Among them, 1. grab bucket, 2. traction rope, 3. mobile trolley, 4. laser scanner, 5. material, 6. crane, 7. longitudinal track, 8. unloading port, 9. grid center point, 10. 2D scanner. Detailed Implementation

[0089] 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.

[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 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.

[0091] Example 1:

[0092] This embodiment provides a method for controlling the material handling of a grab bucket crane, specifically including:

[0093] S1. Obtain the height map of the effective materials;

[0094] like Figure 1As 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.

[0095] 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.

[0096] 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.

[0097] 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;

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

[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] 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.

[0107] 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 material collection points for the current material collection layer can be obtained by selecting the material collection point p.

[0108]

[0109] 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.

[0110] 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).

[0111] 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.

[0112] S5. After taking n = n + 1, re-enter S3; where, the set With sets The material collection points need to be staggered.

[0113] Specifically, in this embodiment, the set The material collection point is represented as follows:

[0114]

[0115] In this embodiment, the set The material collection point is represented as follows:

[0116] And (p) ij .x∈[x1,x2]),(p ij .y=j×lr)and(p ij .y∈[y1,y2])}

[0117] 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.

[0118] S6. End material handling.

[0119] 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.

[0120] 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.

[0121] 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 :

[0122]

[0123] 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; yft represents the travel time of the grab bucket in the y-direction when it is under load; zf The 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.

[0124] 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:

[0125] q = V2 / V1

[0126] 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:

[0127]

[0128] 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. mAnd predict the total time t required to complete the material handling task. a This 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.

[0129] Example 2:

[0130] See Figure 4 This embodiment provides a method for clearing blockages at the unloading port of a grab bucket crane's grid, including the following steps:

[0131] D1. Install a scanner on one side of the discharge port to scan for material blockage;

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

[0133] 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;

[0134] Specifically, in this embodiment, the coordinates of the center point of each grid on the discharge port are obtained by on-site measurement, thereby obtaining the set of grid center points P′. z .

[0135] 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.

[0136] Specifically, because the 2D scanner is installed at a height higher than the discharge port H1, any blockage above H1 on the discharge port will be scanned. That is, if no target is scanned, it is considered that there is no blockage; if a target is scanned, it is considered that there is a blockage. At the same time, since there is only one scanner on one side of the discharge port, the scanner can only capture the outline of the blockage closest to the scanner.

[0137] 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.

[0138] Specifically, since the projection of the blockage on the discharge port (i.e., the XY plane) in actual engineering tends to be circular, 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 as to achieve the purpose of clearing a large amount of blockage during the first cleaning. In order to reduce the difference between the predicted blockage shape and the actual blockage shape (i.e., to reduce the possibility that the predicted blockage area does not actually contain blockage), this embodiment assumes that the blockage area behind the contour line obtained for the first time is elliptical. Steps D410-D413 in this embodiment are specifically as follows:

[0139] 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.

[0140] Furthermore, since the contour obtained by scanning is a continuous line segment in the XY plane, the endpoints of the contour... and These can be the two points on the contour line with the maximum and minimum x-coordinates, or the two points on the contour line with the maximum and minimum y-coordinates. In some cases, endpoints may appear. and The line connecting the two points (i.e., the major axis of the ellipse) is parallel to the X-axis or Y-axis, and when the endpoints appear... and When the line connecting the points is parallel to the X-axis, the two points with the largest and smallest x-coordinates on the contour line should be taken as endpoints. and When the line connecting the two points is parallel to the Y-axis, the two points with the largest and smallest y-coordinates on the contour line should be used as endpoints.

[0141] Furthermore, make endpoints and The perpendicular bisector of the connecting line and the intersection of the perpendicular bisector with the contour line are common knowledge in the art, and will not be described in detail in this embodiment.

[0142] D411. Calculate the other endpoint of the minor axis of the ellipse.

[0143] Preferably, the other endpoint of the minor axis of the ellipse is calculated. Specifically:

[0144]

[0145]

[0146] Where, 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 grille 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. 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.

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

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

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

[0160]

[0161] Where, p l represents the l-th clearing point in the predicted blockage area, and b represents the total number of clearing points in the predicted blockage area.

[0162] 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 ;

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

[0164]

[0165] Among them, (p l -p c ).y represents the middle position p c With cleaning point p l The difference in y-coordinates between them, (p l -p c ).x represents the middle position p c With cleaning point p l The difference in x-coordinates between them.

[0166] D512, Select a distance p from the center. c The furthest cleaning point p s and take k = 1;

[0167] Specifically, in practice, there may be multiple material clearing points leading to the center p simultaneously. c The distances are equal and maximum, so any one of the cleaning points 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 -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] Among them, (p l -p a ).y indicates 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.

[0177] 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.

[0178] Furthermore, in this embodiment, according to the included angle θ l The order of monotonic change refers to: according to the included angle θ l The order of monotonically increasing or decreasing changes.

[0179] Preferably, in some embodiments, set P′ may also be deleted after the cleanup is complete. z The center of the grating is used as the center point for this cleaning point, so that the staff can clearly see which gratings have been cleaned.

[0180] D6. End of cleanup.

[0181] In this embodiment, steps D410-D413 can obtain the predicted blockage area when the outline is obtained for the first time, so as to achieve the purpose of clearing blockage in a large area for the first time, which can improve the efficiency of clearing all blockages. In this embodiment, the second and subsequent cleaning processes adopt a sequential scanning and sequential cleaning method. The entire cleaning process does not require manual intervention and can achieve the clearing of all blockages on the discharge port at a faster speed.

[0182] Example 3:

[0183] This embodiment further optimizes upon embodiment 2. In this embodiment, the time interval T between clearing the blockage at the discharge port and the grab bucket machine's material collection is adjusted. q This is interconnected to ensure that material removal from the discharge port is strictly limited to the grab bucket's material removal interval, preventing material removal from occurring while the grab bucket is unloading above the discharge port. The material removal interval T... q It can be set to time t in Example 1. m Alternatively, a threshold can be set manually. The difference between this embodiment and embodiment 2 lies only in that step D5 in this 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 fFor 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 At the corresponding blockage height, the scanner in this embodiment cannot directly obtain the clearing point p. w The corresponding blockage height is considered, taking into account that the difference between the vertical no-load running speed and the vertical loaded running speed of the cleaning rod will not be too large, therefore, P can be adjusted accordingly. w .z can be preset, for example, assuming the maximum blockage height is 1 meter, then P w The default value for .z is 1 meter.

[0191] This allows us to calculate the time required for each material clearing point to complete the blockage clearing, and then calculate the total time required to complete the blockage clearing along the material clearing path. Represented as:

[0192]

[0193] 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.

[0194] Among them, the reset time t after the cleaning rod completes cleaning. h Represented as:

[0195]

[0196] 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.

[0197] The time required for each material cleaning path The total time T for cleaning after completing the cleaning process according to the current cleaning path can be obtained by summing the time required for each scan. z Represented as:

[0198]

[0199] Among them, t s The time required to clear blockages at the discharge port can be considered a fixed value.

[0200] Furthermore, the remaining cleanup time. in The total time already spent on performing the material clearing task.

[0201] Preferably, the method of forming the cleaning path in step D5.1 of this embodiment is the same as that in embodiment 2. If the cleaning path is generated using the method of steps D510-D516, then the method of optimizing the cleaning path in step D5.2 is as follows:

[0202] A1. Obtain the k value when outputting the material clearing path in step D516, and set the sampling interval m′ for each blockage sub-interval; preferably, in this embodiment, the initial value of the sampling interval m′ for each blockage sub-interval is set to 1;

[0203] Specifically, the value of k when outputting the material clearing path in step D516 indicates how many annular material blockage sub-intervals the blockage area is ultimately divided into. That is, k represents the total number of blockage sub-intervals, and the blockage sub-intervals are numbered sequentially from the outside to the inside as 1, 2, 3, ..., k.

[0204] 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;

[0205] A3. Normalize the weights of each blockage sub-interval to obtain q. c_1 ,in

[0206] A4. Update the weight q of each blockage sub-range. c , where q c =q c_1 ×k;

[0207] 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, where c represents the number of the blockage sub-interval;

[0208] 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;

[0209] 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, and the value of Δt can be an integer or a decimal.

[0210] Furthermore, the method for optimizing the material cleaning path in step D5.2 of this embodiment can also be:

[0211] B1. Take m′=1;

[0212] 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;

[0213] 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].

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

[0215] Preferably, the threshold T o You can follow To obtain a value, specifically: when T first appears... z Greater than the time threshold T qRecord the total time required to clear the blockage according to the current material clearing path. Let threshold Where N∈[0.3, 0.5]; that is, in step D5.2, only the current remaining cleanup time T is considered. s Path optimization will only be performed when at least a portion of the cleaning points on the cleaning path have been completed. This is to make full use of the remaining cleaning time and to prevent situations where the grab bucket is unloading material while the unloading port is still being cleaned.

[0216] 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.

[0217] 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.

[0218] Example 4:

[0219] See Figure 5 This embodiment provides a method for clearing blockages at the unloading port of a grab bucket crane's grid, including the following steps:

[0220] D1. Install a scanner on one side of the discharge port to scan for material blockage;

[0221] like Figure 5 As shown, in this embodiment, the scanner is set on one side of the discharge port, wherein the scanner is H1 higher than the grid surface of the discharge port, and the minimum distance from the scanner to the discharge port is D1; ​​wherein, those skilled in the art can flexibly set the values ​​of H1 and D1 according to the actual situation, and the scanner in this embodiment is a 2D scanner.

[0222] 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 ;

[0223] Specifically, in this embodiment, the coordinates of the center point of each grid on the discharge port are obtained by on-site measurement, thereby obtaining the set of grid center points P′. z .

[0224] 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.

[0225] Specifically, because the 2D scanner is installed at a height higher than the discharge port H1, any blockage above H1 on the discharge port will be scanned. That is, if no target is scanned, it is considered that there is no blockage; if a target is scanned, it is considered that there is a blockage. At the same time, since there is only one scanner on one side of the discharge port, the scanner can only capture the outline of the blockage closest to the scanner.

[0226] D4. Based on the obtained contour lines, select set P′ z The center point of the grid is used as the cleaning point;

[0227] Preferably, in this embodiment, the set P′ is filtered based on the contour line. z The center point of the grid in the image is specifically designated as the cleaning point:

[0228] 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:

[0229]

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

[0231] 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.

[0232] 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.

[0233] Preferably, the cleaning points are connected in series to form a cleaning path, specifically as follows:

[0234] 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 :

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

[0236] Among them, (p l -p a ).y indicates 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.

[0237] Each cleaning point is arranged according to the included angle θ l The monotonically changing sequence is arranged sequentially to form the cleaning path. Furthermore, in this embodiment, it is arranged according to the included angle θ. l The order of monotonic change refers to: according to the included angle θ l The order of monotonically increasing or decreasing changes.

[0238] Preferably, in some embodiments, set P′ may also be deleted after the cleanup is complete. z The center of the grating is used as the center point for this cleaning point, so that the staff can clearly see which gratings have been cleaned.

[0239] D6. End the cleanup.

[0240] The blockage removal method in this embodiment uses a scanner to identify the outline of the blockage, and then selects the center point of the grid 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 goal of finally removing all the blockage on the discharge port is achieved. The blockage removal method in this embodiment does not require manual intervention, thus solving the problem of adverse effects on personnel health caused by manual removal of blockages.

[0241] Example 5:

[0242] This embodiment further optimizes upon embodiment 4. In this embodiment, the time interval T between clearing the blockage at the discharge port and the grab bucket machine's material collection is adjusted. q This is linked to ensure that the material removal work at the discharge port is strictly limited to the time interval between grab bucket retrieving materials, preventing the situation where material removal is performed while the grab bucket is unloading material above the discharge port. The retrieving time interval T... q It can be set to time t in Example 1. m Alternatively, a threshold can be set manually. The difference between this embodiment and embodiment 4 lies only in that step D5 in this 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 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. At the same time, take ; 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. Filter the set based on the obtained contour lines. The center point of the grid is used as the cleaning point, specifically: if If the value is 1, then execute steps D410-D413. If the value is not equal to 1, proceed to step D420; D5. Connect the material clearing points in sequence to form a material clearing path, and then clear the blockage according to the material clearing path. 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, draw 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 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 With sets any center point of the grid If the connecting line intersects with the outline, then... And if the following conditions are met, the center point of the grille will be... As a material clearing point: in, It 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, like If the value is 1, then in step D5, the cleaning path is generated in the following way: D510, Confirm the center of the predicted blockage area. ; D511. Calculate each cleaning point. To the center distance and each cleaning point With the center The connection and Angle between the positive axes ; D512, Select a distance from the center The furthest clearing point and take ; D513, with To select the blockage sub-range as the center ( All cleaning points within the area are collected. To clear the material point Starting from the angle The order of monotonic change will set The material clearing points are sorted sequentially to obtain the clearing sub-path within the current blocked sub-section; where, For material clearing point To the center The distance; D514, if Then take Then proceed to step D515, if Then proceed to D516; D515, with To select the blockage sub-range as the center ( All cleaning points within the area are collected. The cleaning point at the end of the cleaning sub-path of the previous blockage sub-section. Starting from the angle The order of monotonic change will set 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, like If the value is not equal to 1, the cleaning path is generated in step D5 using the following method: D520, Calculate the material clearing point relative to scanner installation location The angle between the line connecting them and the positive X-axis : in, Indicates the scanner installation location With cleaning point Between Coordinate difference, Indicates the scanner installation location With cleaning point Between Coordinate difference; D521. Arrange each cleaning point according to the included angle 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 required for cleaning after following the current cleaning path. ;like Less than or equal to the time threshold Then proceed to step D5.3, if Greater than the time threshold Then calculate the remaining cleanup time. If the remaining cleanup time Less than or equal to the threshold Then proceed to step D6, if the remaining cleanup time... Greater than the threshold The total time is then recalculated after optimizing the material clearing path. ; D5.3, After completing the material blockage clearing according to the current material clearing path, order 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 spent cleaning up after completing the cleaning according to the current cleaning path. for: in, The time required to clear the blockage at the discharge port. The total time required to clear the blockage according to the clearing path. 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 a single cleaning point in the cleaning path. The time required to clear the blockage, 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. 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 under no-load conditions 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.

6. The method for clearing blockages at the grid discharge port of a grab bucket crane according to claim 4, characterized in that, like If the value is 1, then the method for optimizing the material cleaning path in step D5.2 is as follows: A1. Number each blockage section sequentially from the outside in. Set the sampling interval for each blockage sub-section. ; A2. Assign weights to each blockage sub-interval. ;in, , , All are weighting coefficients. Indicates the number of the blockage section; A3. The weights of each blockage sub-interval are normalized to obtain... ,in ; A4. Update the weight of each blockage sub-range. ,in ; A5. Calculate the sampling interval of the material clearing points in each blockage sub-section. ;in , 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, proceed according to... 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; among them, For the sampled first The cumulative step size of the cleaning point will be the first step in the current cleaning path. Each cleaning point was selected as the cleaning point to be sampled. , For the sampled first Each material clearing point The sampling interval of the blockage sub-section. Indicates rounding up; A7. Recalculate the total time ,like Less than or equal to the time threshold Then proceed to step D5.3, if Greater than the time threshold Then let Then re-enter step A5, where This represents the increment 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 ; B2. Starting from the first cleaning point in the current cleaning path. Starting from this point and setting its cumulative step size to 1, according to... 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; among them, For the sampled first Each material clearing point The cumulative step size will be the first step in the current material clearing path. Each cleaning point was selected as the cleaning point to be sampled. , Indicates rounding up; B3. Recalculate the total time ,like Less than or equal to the time threshold Then proceed to step D5.3, if Greater than the time threshold Then take Then re-enter step B2, where, This is the sampling interval increment. .

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. ; 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. Filter the set based on the obtained contour lines. The center point of the grid is used as the cleaning point, specifically: Design the scanner installation location With sets any center point of the grid If the connecting line intersects with the outline, then... And if the following conditions are met, the center point of the grille will be... As a material clearing point: in, It is a constant distance; 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 relative to scanner installation location The angle between the line connecting them and the positive X-axis : in, Indicates the scanner installation location With cleaning point Between Coordinate difference, Indicates the scanner installation location With cleaning point Between Coordinate difference; Arrange each cleaning point according to the included angle 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 required for cleaning after following the current cleaning path. ;like Less than or equal to the time threshold Then proceed to step D5.3, if Greater than the time threshold Then calculate the remaining cleanup time. If the remaining cleanup time Less than or equal to the threshold Then proceed to step D6, if the remaining cleanup time... Greater than the threshold The total time is then recalculated after optimizing the material clearing path. ; D5.3 After clearing the blockage according to the material clearing path, return to step D3.

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