A method and system for alignment control of multi-material storage bin transport

Abstract

This application relates to the field of intelligent transmission control technology, specifically to a method and system for alignment control in multi-silo transmission. The proposed solution pre-calibrates the ranging compensation parameters of each silo, establishes error model parameters for each silo, and corrects the real-time ranging distance value using the corresponding ranging compensation parameters to compensate for environmental errors and long-distance ranging errors in different silos. This proposed solution can adapt to the influence of different temperatures and dust levels in different silo areas during long-distance multi-silo transportation, and maintains high-precision positioning along the entire long-distance cross-silo track, thereby improving the accuracy of hopper alignment and unloading.

Description

Technical Field

[0001] This application relates to the field of intelligent transmission control technology, specifically to a method and system for multi-bulk transport alignment control. Background Technology

[0002] Belt conveyor systems are widely used in industrial material transportation. When the system spans multiple silos, the distribution hoppers need to be precisely moved to the target receiving port and aligned for unloading. The docking accuracy and response speed directly affect material transfer efficiency, material spillage loss, and equipment wear. Current conveyor system docking and feeding schemes often suffer from insufficient positioning accuracy, weak anti-interference capabilities, and poor dynamic adaptability, making it difficult to meet the demands of highly automated and stable production.

[0003] Traditional methods of positioning using manual operation or mechanical encoders are prone to errors, which may lead to misalignment between the unloading port and the target storage location. Manual operation relies on experience to judge the location of the target storage location across storage areas, which is subject to response lag and interference from factors such as dust in the storage area. It also has large positioning errors, low efficiency, and is prone to misjudging storage locations, resulting in misalignment of unloading. Mechanical encoders achieve positioning by accumulating belt displacement. Over long-term operation, they are prone to accumulating errors due to belt slippage and mechanical wear. Long-distance movement across storage areas will further aggravate the accumulation of errors, leading to misalignment between the distribution hopper and the receiving port, causing problems such as material spillage, equipment wear, and uneven feeding of materials into storage areas, which affects the continuity of cross-storage production.

[0004] The authorized patent document (CN117602331B) proposes a system and method for preventing material mixing in automatic belt conveyor systems used in steelmaking. The position detection of the unloading trolley employs a laser rangefinder + encoder measurement and positioning scheme, triggering an alarm and stopping the machine when the deviation between the two exceeds 0.1m. This patent document provides an alarm scheme that only performs open-loop processing when the deviation is large. However, simply triggering an alarm or stopping the machine doesn't prevent the trolley from remaining in the wrong position, requiring manual intervention to reset, interrupting the production process for recalibration and resetting, thus reducing efficiency. Furthermore, the complex environment of the construction site, the encoder's inaccurate measurement due to factors such as track slippage, and the laser rangefinder's inaccurate measurement in long-distance scenarios with multiple material storage areas are significantly affected by dust, weather, and other factors. Summary of the Invention

[0005] Based on this, this application proposes a transmission alignment and unloading control method and system to address the above problems, aiming to intelligently, efficiently and accurately transport, align and unload materials (especially for long-distance cross-warehouse material transport), thereby improving the overall automation level and work efficiency of the system.

[0006] To achieve the above objectives, this application provides a method and system for multi-bulk transport alignment control, the method comprising:

[0007] Pre-calibrate the distance compensation parameters for each material storage area;

[0008] Based on the current material being transported, determine the corresponding target material storage and target silo, and control the material distribution hopper to move towards the target silo at the first speed;

[0009] Real-time measurement of the distance between the material distribution hoppers and reading of the positioning tags;

[0010] Determine the current location of the material distribution hopper and retrieve the compensation parameters of the corresponding material hopper to compensate and correct the distance measurement.

[0011] Based on the corrected ranging distance control, the material hopper is aligned with the inlet of the target silo and unloads.

[0012] Preferably, the distance compensation parameters for each silo are predetermined, including:

[0013] Determine the set of positioning tags corresponding to each material warehouse, and mark the position distance of each corresponding positioning tag;

[0014] Control the material distribution hopper to perform low-speed full-process track tracking;

[0015] Each time a positioning tag is read, the ranging device is controlled to cyclically emit electromagnetic waves at a preset frequency to measure the distance, and the average value of each distance measurement is recorded.

[0016] Calculate the error between the distance to each label location and the corresponding average distance measurement;

[0017] An error dataset is formed based on the corresponding distance measurement mean and error, and the compensation parameters for each silo are determined by fitting the error dataset of each silo.

[0018] Furthermore, the method also includes:

[0019] If a positioning tag is detected during the movement of the distribution hopper towards the target hopper, the instantaneous error of the distance measurement corresponding to the current positioning tag is determined.

[0020] Calculate the difference between the current instantaneous error and the corresponding stored error, and update the current cumulative difference;

[0021] If the current cumulative difference is greater than the preset error value, the corresponding data in the error dataset will be updated based on the current distance and instantaneous error, and the compensation parameters of the current material library will be refitted.

[0022] Preferably, the location area of ​​the current material distribution hopper is determined, and the compensation parameters of the corresponding material silo are retrieved to compensate and correct the distance measurement, including:

[0023] Based on the read positioning tag information and / or real-time distance measurement value, determine the current location area of ​​the material distribution hopper;

[0024] Call the compensation parameters of the corresponding material library and compensate and correct the current distance measurement value:

[0025] ,

[0026] Among them, L t , These are the real-time ranging distances before and after correction, a. i b i This is the compensation parameter for the current i-th material library.

[0027] Preferably, the compensation parameter a i b i satisfy:

[0028]

[0029] Where, n i L represents the number of location tags in the i-th material warehouse. ij e ij This represents the distance measurement value and corresponding error value corresponding to the j-th tag in the i-th material library currently stored.

[0030] Furthermore, the method also includes:

[0031] If the distribution hopper moves to the target material storage area, control the distribution hopper to move towards the target material storage area at a second speed;

[0032] The current positional deviation between the distribution hopper and the inlet of the target silo is determined based on the corrected ranging distance;

[0033] If the current position deviation is less than the preset distance value, the hopper will be controlled to move towards the target hopper at a gradually decreasing third speed according to the preset time period until the current position deviation is less than the preset threshold for the duration, at which point the movement will stop.

[0034] Furthermore, the method also includes: if the current sorting hopper moves to the cross-warehouse area, the distance measurement is compensated and corrected based on the compensation parameters and corresponding weights of the two warehouses.

[0035] To achieve the above objectives, a second aspect of this application provides a multi-material storage and alignment system, the system comprising:

[0036] The multi-silo belt conveyor subsystem is used to transport materials and transfer them to the distribution hoppers;

[0037] The material distribution hopper includes a trolley that can move back and forth along a track to transport the material distribution hopper to different target locations for unloading and discharging.

[0038] Positioning tags are set at intervals on a preset track;

[0039] A distance measuring device is installed at one end of the multi-material storage conveying subsystem to measure the relative distance between the material distribution hopper and the end.

[0040] A control device is used to receive the distance measured by the ranging device and execute the method described in any of the above to control the alignment of the distributing hopper with the feed inlet of the target silo.

[0041] To achieve the above objectives, a third aspect of this application provides a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to perform the steps of the method described above.

[0042] To achieve the above objectives, a fourth aspect of this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the steps of the method described above.

[0043] The solution provided in this application pre-calibrates the ranging compensation parameters of each material silo, uses discrete positioning tags as references to establish error model parameters for each silo, and corrects the real-time ranging distance value through the corresponding ranging compensation parameters. This compensates for errors caused by the environment of different material silos (such as temperature gradients, dust scattering, structural deformation, etc.) and ranging errors caused by long distances. The solution described in this application can adapt to the influence of different temperatures and dust environments in different material silo areas in a multi-silo long-distance transportation system, achieving high-precision positioning along the entire long-distance cross-silo track and improving the accuracy of hopper alignment and unloading.

[0044] Simultaneously, during the subsequent alignment and unloading process, the system monitors the ranging error in real time and updates the model parameters promptly. This allows for rapid response to environmental changes (such as temperature changes due to hopper opening or dust changes due to operations) or any accumulated errors that may arise from slippage or drift, enabling automatic online updates and further improving the system's adaptability and control accuracy. Furthermore, alignment is performed based on the current correction distance and the positional deviation from the target hopper. Large deviations result in rapid response, while small deviations allow for smooth control, thereby improving operational efficiency and avoiding oscillations near the endpoint. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] in:

[0047] Figure 1 This is a flowchart of a multi-material storage transport alignment and unloading control method in one embodiment;

[0048] Figure 2 This is a schematic diagram of a multi-bulb silo transfer and alignment unloading system for a precooling system, as shown in one embodiment.

[0049] Figure 3 This is a schematic diagram of a computer control device in one embodiment. Detailed Implementation

[0050] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0051] The terms "comprising," "including," and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or apparatus. Terms such as "first" and "second," and other relational terms, in the claims, specification, and accompanying drawings of this application, are used merely to distinguish one entity / operation / object from another, and do not necessarily require or imply any such actual relationship or order between these entities / operations / objects.

[0052] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase at various points in the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0053] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0054] In one implementation, such as Figure 1The diagram shown is a flowchart of a multi-material storage silo transfer alignment and unloading control method according to this application. Specifically, the method includes:

[0055] S10. Pre-calibrate the distance compensation parameters for each material silo.

[0056] Specifically, if the system directly uses distance measurement for positioning or uses default values ​​(possibly zero or empirical values) for the error model parameters during operation, the distance measurement and positioning error will be large, requiring a long learning period to converge to stable accuracy. This application's solution constructs a distance measurement correction and positioning system based on "prior guidance + online dynamic optimization." By comprehensively collecting distance measurement error data corresponding to each material silo, it fits the optimal initial parameters for calibration, providing a reliable position calibration benchmark for initial and subsequent automatic control. This enables the system to achieve relatively accurate calibration and positioning from the start, improving overall operational efficiency.

[0057] Preferably, the pre-determined distance compensation parameters for each material silo described in this application include:

[0058] S101. Determine the set of positioning tags corresponding to each material storage area, and mark the position distance X of each corresponding positioning tag. ij .

[0059] Specifically, this application's solution pre-installs discrete positioning tags along the entire length of the track at predetermined intervals. Particularly near the entrance and exit of each warehouse and the material receiving port of each silo, a series of positioning tags (such as passive RFID tags or tag codes) are distributed and installed. The relative position distance X of each tag j in each warehouse i is calibrated, measured, and stored. ij Furthermore, this application also calibrates and stores the positions of the feed inlets of each silo. Preferably, the ranging device is installed at the beginning of the track, and the position of the ranging device is used as a reference point (global coordinate zero point). The relative position distance of each tag and the position of the feed inlet of the silo are characterized as the straight-line distance relative to this reference point. Further, after calibrating the above position information, this application also groups and sets the tags according to their location areas, and determines the positioning tag set corresponding to each silo.

[0060] S102, Control the material distribution hopper to perform full-process track patrol at low speed.

[0061] Specifically, the entire track is first traversed at a low and constant speed to ensure accurate reading and recording of all positioning tags. These tags are then compared and verified with the distance measurement to ensure the accuracy of the position reference, which is essential for the accurate fitting of subsequent compensation parameters.

[0062] S103. Each time a positioning tag is read, the ranging device is controlled to cyclically emit electromagnetic waves at a preset frequency to measure the distance, and the average distance L of each measurement is recorded. ij .

[0063] Specifically, when each reader successfully reads a positioning tag during the track inspection process, it sends a trigger signal to the control center (such as a PLC). After receiving the trigger signal, the PLC sends a control command to the ranging device, causing it to perform multiple ranging measurements continuously within a very short time according to a preset frequency and preset number of cycles (such as 10-20 times). During or after the cyclic ranging process, after the data is acquired, the multiple raw ranging data can be first subjected to simple filtering to remove erroneous values ​​that are obviously outside the physical range, and the arithmetic mean of the effective ranging data can be calculated.

[0064] Preferably, the ranging device of this application employs microwave radar ranging, which transmits a continuous wave at a preset frequency and receives the echo, calculating the distance by analyzing the transmitted and received signals. Its microwave wavelength is longer than that of laser, making it less sensitive to scattering by particulate matter such as dust and fog in the air, ensuring the continuity and stability of ranging in harsh industrial environments, and providing continuous and reliable distance data for cross-warehouse operations. Furthermore, its ranging error over long distances can be further compensated and corrected using the compensation parameters of this application, thereby ensuring overall control accuracy.

[0065] S104. Calculate the distance between each label position. With the corresponding average distance L ijj The error e between ij :

[0066] .

[0067] S105. Based on the mean distance measurement and error of each corresponding material silo, an error dataset is formed, and the compensation parameters of each material silo are determined by fitting the error dataset of each material silo.

[0068] In one embodiment of this application, error data pairs for each material silo are constructed based on the calculated average distance measurement values ​​and errors to form an error dataset. The data is stored, and then the compensation parameters for each material silo are determined by fitting the error dataset of each silo.

[0069] Specifically, in long-distance ranging, since the ranging error is related to the current distance L, the larger the measured distance, the larger the corresponding error e. Therefore, this application's solution fits the data by constructing a model function (such as a linear function, a multiplicative function, etc.) related to the error and the distance. In one embodiment, this application's solution constructs the correlation between error and distance based on a linear model: Then, through the error dataset Di of each material library i, n i The error data pairs are fitted to the constructed model to obtain the compensation parameter 'a' for each material silo. i b iPreferably, the solution in this application uses the least squares method for fitting, which minimizes the sum of squares of the fitting residuals within the dataset, thus achieving... Minimum. To minimize the result of this expression, we need to consider a... i and b i Taking the partial derivatives and setting them to zero, we obtain the system of equations:

[0070] ,

[0071] By substituting the relevant data and solving the system of equations, the corresponding compensation parameter a can be obtained. i b i , where n i Let be the number of location tags in the i-th material warehouse.

[0072] S11. Determine the corresponding target material storage and target silo based on the current material being transferred, and control the material distribution hopper to move towards the target silo at the first speed.

[0073] Specifically, the proposed solution first identifies the types of materials required for the current construction and establishes a corresponding relationship with the information (such as size, dimensions, and design) of each receiving hopper. This step can be achieved by inputting material information and receiving hopper information through a corresponding human-machine interface. Then, the system establishes a corresponding mapping relationship between materials and receiving hoppers based on the input information. Alternatively, this mapping relationship can be established by inputting a specified method. Specifically, the mapping relationship can be established based on the order of materials, and / or based on the quantity of each material and the volume and / or design material of each receiving hopper.

[0074] This application solution can feed materials sequentially and in an orderly manner as needed, and identify the current material type during feeding. When identifying the material type, the system can use preset signals (such as those triggered by upstream), sensors (such as visual recognition), and / or operator instructions, such as setting labels on the material carrier or feeding point and automatically identifying them after scanning, or selecting them through a human-machine interface (HMI).

[0075] Once the current material type is identified and confirmed, the controller determines the corresponding target silo number or location coordinates based on the stored material-target silo mapping table and sends a command. The controller also sends a command to the moving mechanism of the distribution hopper, instructing it to move along the track towards the target silo at a first speed.

[0076] S12. Measure the distance between the material distribution hoppers in real time and read the positioning tags.

[0077] Specifically, during the movement of the material distribution hopper, the ranging device continuously transmits waveforms at a high frequency and receives echoes for real-time ranging. Simultaneously, the tag reading device reads the tag information from the track.

[0078] S13. Determine the current location of the material distribution hopper and retrieve the compensation parameters of the corresponding material storage to compensate and correct the distance measurement.

[0079] Preferably, the present application's solution first determines the current location area of ​​the sorting hopper based on the read positioning tag information and / or real-time distance measurement value, and then calls the corresponding material storage compensation parameters to correct the current distance measurement value. Specifically, in one embodiment of the present application, after receiving the read positioning tag data, the controller first parses the location area to which the positioning tag belongs (such as a specific material storage area or cross-storage area), and after parsing out the current location information, indexes and loads the latest error compensation parameters corresponding to the material storage from the internal memory or database to compensate and correct the distance measurement. In another embodiment, the approximate location area of ​​the current sorting hopper can be determined based on or in combination with the current distance measurement value.

[0080] Preferably, in one embodiment, in the above-described solution of this application, retrieving the compensation parameters of the corresponding material warehouse to compensate and correct the ranging distance includes:

[0081] Call the compensation parameters of the corresponding material library and compensate and correct the current distance measurement value, including:

[0082] ,

[0083] Among them, L t , These are the real-time ranging distances before and after correction, a. i b i This is the compensation parameter for the current i-th material library.

[0084] If the current location area shows that the current sorting bin has moved to the cross-bin area (i.e., between two bins), the distance measurement will be corrected based on the parameters and corresponding weights of the two bins:

[0085]

[0086] Among them, (a k b k ), (a l b l ) represents the parameters of two adjacent material bins k and l, and ω1 and ω2 are the corresponding weight values. Fixed values ​​can be set (e.g., ω1=ω2=0.5), and the weights can be adjusted in real time according to the current distance between the two material bins, and ω1+ω2=1.

[0087] The proposed solution pre-calibrates the ranging compensation parameters for each material storage area, uses discrete positioning tags as references to establish error model parameters for each storage area, and corrects the real-time ranging distance value using the corresponding ranging compensation parameters. This compensates for specific environmental errors in different storage areas (such as temperature gradients, dust scattering, structural deformation, etc.) and ranging errors caused by long distances. Therefore, the proposed solution can adapt to the effects of different temperatures and dust levels in different storage areas within a multi-storage long-distance transportation system, and maintains high-precision positioning along the entire long-distance cross-storage track, improving the accuracy of unloading alignment of the distribution hoppers.

[0088] Furthermore, in one embodiment, the method described above in this application further includes:

[0089] If a positioning tag is detected during the movement of the distribution hopper toward the target hopper, the distance corresponding to the current positioning tag is determined. instantaneous error ,

[0090] Calculate the current instantaneous errors Error e corresponding to storage ij The difference And update the current cumulative difference Q. i :

[0091] ,

[0092] If the current cumulative difference Q i If the error exceeds the preset error value, then based on the current distance measured... and each instantaneous error Update the corresponding L in the error dataset ij e ij And refit the compensation parameters of the current spool.

[0093] The above-mentioned scheme in this application pre-sets discrete positioning tags to calibrate the distance measurement error corresponding to each material storage area, and then fits the compensation parameters for each material storage area. During the material conveying process of the distributing hopper, the system identifies the material storage area based on the read tags and switches the dedicated parameters accordingly, enabling the system to automatically adapt to the unique environmental conditions within different material storage areas with high compensation accuracy. Combined with dynamic compensation update and adjustment control, this ensures that the distributing hopper can quickly, smoothly, and accurately align with the target.

[0094] S14. Based on the corrected ranging distance control, the material distribution hopper is aligned with the inlet of the target silo and unloaded.

[0095] Specifically, this application utilizes an adaptive, high-precision closed-loop control system to convert the corrected distance information into intelligent motion commands for the distribution hopper, ensuring that the hopper's movement and alignment process is fast, smooth, and precise. This includes:

[0096] S141. If the distribution hopper moves to the target material storage area, control the distribution hopper to move towards the target material storage area at a second speed.

[0097] Specifically, when the distribution hopper determines that it has entered the storage area of ​​the target silo based on the corrected ranging and positioning results or the read tag results, the control system switches the moving speed of the distribution hopper from the higher first speed v1 to the second speed v2 (medium speed value). While ensuring efficiency, it leaves enough deceleration distance for the subsequent precision alignment stage to avoid mechanical impact and positioning overshoot caused by sudden stop.

[0098] S142. Determine the current positional deviation between the feed hopper and the inlet of the target silo based on the corrected distance measurement.

[0099] Specifically, after the distribution hopper moves into the target material storage area, the distance between the current position and the target material storage inlet position (X) is calculated based on the dynamically compensated distance measurement. target Position deviation E t = |X target - L t |, to monitor the current positional deviation from the target silo inlet in real time.

[0100] S143. If the current position deviation is less than the preset distance value, the material hopper is controlled to move towards the target hopper at a gradually decreasing third speed according to the preset time period until the current position deviation is less than the preset threshold for the duration, then the movement stops.

[0101] Specifically, if the current position deviation E t If the distance is less than the preset distance value (e.g., 100-200mm), the fine alignment stage begins: the control system controls the material hopper to move at a third speed v3 for a fixed preset time period △t (e.g., 100ms or 200ms). v3 is set as a sequence that gradually decreases as the period increases and the current position deviation decreases, so as to adjust the control according to the current real-time position deviation and improve the accuracy of subsequent alignment stages.

[0102] The above-mentioned solution in this application controls the stable movement and alignment of the distribution hopper through multi-stage positional relationships, ensuring the alignment accuracy of the distribution hopper with the target feed inlet and effectively solving the alignment misalignment problem caused by overshoot or undershoot. At the same time, through the step-by-step reduction of speed, especially the periodic smooth deceleration in the third stage, the movement and alignment of the distribution hopper are smooth, reducing the impact on the mechanical structure, improving equipment life and operational stability, and reducing vibration during material conveying and alignment.

[0103] S144. Control the material distribution hopper to align with the inlet of the target silo and unload the material.

[0104] Specifically, after the distributing hopper reaches above the target receiving bin, the system executes a precise alignment unloading process. Before unloading, corresponding preset photoelectric sensors and mechanical probes can be used to detect whether the distributing hopper outlet and the receiving port are aligned, or whether the distributing hopper outlet is within the corresponding receiving port area. Alternatively, visual camera scanning and / or displacement / proximity sensor detection can be used to confirm that the distributing hopper outlet and the target receiving bin outlet are aligned in three-dimensional space. After confirming alignment, the system issues a "docking ready" signal and locks the movable mechanism to prevent deviation during the feeding process. Furthermore, the system controller can issue control commands to activate pneumatic or electric push rods to open the unloading valve for unloading.

[0105] Furthermore, in one embodiment, the second aspect of this application also provides a multi-bulk transport alignment system, the system comprising:

[0106] The multi-silo belt conveyor subsystem is used to transport materials and transfer them to the distribution hoppers;

[0107] The material distribution hopper includes a trolley that can move back and forth along a track to transport the material distribution hopper to different target locations for unloading and discharging.

[0108] Positioning tags are set at intervals on a preset positioning track;

[0109] A distance measuring device is installed at one end of the multi-material storage conveying subsystem to measure the relative distance between the material distribution hopper and the end.

[0110] A control device is used to receive the distance measured by the ranging device and execute the method described in any of the above to control the alignment of the distributing hopper with the feed inlet of the target silo.

[0111] Preferably, the dispensing hopper is mounted on a movable mechanism (such as a trolley), which can be controlled by control commands to move horizontally back and forth along the track to transport the dispensing hopper to different target locations for unloading. Furthermore, a label reader or scanner is also mounted on the movable structure facing the track to read label position information as it passes through.

[0112] like Figure 2As shown, this is a multi-silo conveyor alignment and unloading system applied in a pre-cooling system according to one embodiment of the above-mentioned solution of this application. The multi-silo belt conveyor subsystem is erected above multiple aggregate pre-cooling silos. Each aggregate pre-cooling silo is internally divided into multiple aggregate bins to store and pre-cool various types of aggregates (such as sand aggregate, stone aggregate of different sizes, etc.). Each aggregate bin has a receiving port on its top, and each receiving port is funnel-shaped. Positioning tags can be discretely spaced on a preset tag track, or spaced at other easily readable locations along the path of the distribution hopper. A ranging device (such as radar ranging or a corresponding ranging sensor) can be set separately or integrated into other equipment and is set at one end of the multi-silo conveyor subsystem to measure the distance L between opposite ends of the distribution hopper. t .

[0113] Furthermore, in the above implementation scheme, the multi-silo belt conveyor subsystem includes a horizontal transport section and an inclined lifting section. Under the conveying action of the multi-silo belt conveyor subsystem, the material is lifted from a horizontal position to a higher position via the inclined lifting section and transported to the end discharge point. At the discharge point, the material naturally detaches from the conveyor belt under the action of inertia and falls in a parabolic trajectory under the action of gravity, falling into the distribution hopper cavity. After the material enters the distribution hopper, the distribution hopper has a certain volume and can temporarily store a certain amount of material. This effectively eliminates the influence of intermittent, discontinuous, or flow fluctuations that may exist in the upstream inclined conveyor, providing stable material supply conditions for subsequent processes.

[0114] The above-mentioned solution in this application is based on the parallel implementation of multiple material warehouses over long distances. Compared with the traditional solution, the above-mentioned solution in this application can precisely couple the two links of material transportation and delivery in multiple receiving warehouses, which greatly improves the continuity and automation level of the entire system and enhances the overall transportation and execution efficiency of the system.

[0115] In one embodiment, when the system described in this application executes the alignment and unloading scheme, the type of material to be fed can be confirmed first. Then, the controller determines the corresponding target hopper number or location coordinates based on the internally stored material-target hopper mapping table and sends an instruction. The controller also sends an instruction to the movable mechanism (trolley) of the distribution hopper, causing it to move along the track towards the target hopper and align the distribution hopper with the target hopper's inlet before starting material conveying to the distribution hopper. In another embodiment, the movable mechanism can be controlled to move towards the target hopper for alignment during material conveying to the distribution hopper, achieving simultaneous conveying and buffering. This provides flexible buffering for the orderly and continuous conveying of different materials within the system, ensuring that the continuity of the main conveying line is not interrupted by brief pauses in material feeding at the front end, thus improving overall work efficiency.

[0116] In one embodiment, such as Figure 3 As shown, this application also provides a computer control device, which includes a processor, a memory, and a network interface connected via a system bus. The processor of the computer device provides computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs. When the computer programs are executed by the processor, the processor performs the following steps:

[0117] Pre-calibrate the distance compensation parameters for each material storage area;

[0118] Based on the current material being transported, determine the corresponding target material storage and target silo, and control the material distribution hopper to move towards the target silo at the first speed;

[0119] Real-time measurement of the distance between the material distribution hoppers and reading of the positioning tags;

[0120] Determine the current location of the material distribution hopper and retrieve the compensation parameters of the corresponding material hopper to compensate and correct the distance measurement.

[0121] Based on the corrected ranging distance control, the material hopper is aligned with the inlet of the target silo and unloads.

[0122] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0123] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0124] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for aligning and controlling the transfer of materials from multiple material storage bins, characterized in that, The method includes: Pre-calibrate the distance compensation parameters for each material storage area; Based on the current material being transported, determine the corresponding target material storage and target silo, and control the material distribution hopper to move towards the target silo at the first speed; Real-time measurement of the distance between the material distribution hoppers and reading of the positioning tags; Determine the current location of the material distribution hopper and retrieve the compensation parameters of the corresponding material hopper to compensate and correct the distance measurement. Based on the corrected ranging distance control, the material distribution hopper is aligned with the inlet of the target silo and unloads material; The compensation and correction of the ranging distance includes: Based on the read positioning tag information and / or real-time distance measurement value, determine the current location area of ​​the material distribution hopper; Call the compensation parameters of the corresponding material library and compensate and correct the current distance measurement value: ， in, L t、 These are the real-time ranging distances before and after correction, respectively. a i、 b i This is the compensation parameter for the current i-th material library.

2. The method according to claim 1, characterized in that, Predetermine the distance compensation parameters for each material storage bin, including: Determine the set of positioning tags corresponding to each material warehouse, and mark the position distance of each corresponding positioning tag; Control the material distribution hopper to perform low-speed full-process track tracking; Each time a positioning tag is read, the ranging device is controlled to cyclically emit electromagnetic waves at a preset frequency to measure the distance, and the average value of each measured distance is recorded. Calculate the error between the distance to each label location and the corresponding average distance measurement; An error dataset is formed based on the corresponding mean and error, and the compensation parameters for each silo are determined by fitting the error dataset of each silo.

3. The method according to claim 2, characterized in that, The method further includes: If a positioning tag is read during the process of the distribution hopper moving towards the target hopper, the instantaneous error of the distance measurement corresponding to the current positioning tag is determined. Calculate the difference between the current instantaneous error and the corresponding stored error, and update the current cumulative difference; If the current cumulative difference is greater than the preset error value, update the corresponding data in the error dataset and refit the compensation parameters of the current material library.

4. The method according to claim 1, characterized in that, Compensation parameters a i、 b i satisfy: in, n i Let be the number of location tags in the i-th material warehouse. L ij , e ij This represents the distance measurement value and corresponding error value corresponding to the j-th tag in the i-th material library currently stored.

5. The method according to claim 3, characterized in that, The method further includes: If the current location of the material distribution hopper is in the cross-silo area, the distance measurement will be compensated and corrected based on the compensation parameters and corresponding weights of the two silos.

6. The method according to any one of claims 1-5, characterized in that, The method further includes: If the distribution hopper moves to the target material storage area, control the distribution hopper to move towards the target material storage area at a second speed; The positional deviation between the feed hopper and the inlet of the target silo is determined based on the corrected ranging distance; If the current position deviation is less than the preset distance value, the hopper will be controlled to move towards the target hopper at a gradually decreasing third speed according to the preset time period until the current position deviation is less than the preset threshold for the duration, at which point the movement will stop.

7. A multi-material storage and alignment system, characterized in that, The system includes: The multi-silo belt conveyor subsystem is used to transport materials and transfer them to the distribution hoppers; The material distribution hopper includes a trolley that can move back and forth along a track to transport the material distribution hopper to different target locations for unloading and discharging. Positioning tags are set at intervals on a preset track; A distance measuring device is installed at one end of the multi-silo belt conveyor subsystem to measure the relative distance between the distribution hopper and the end. A control device is used to receive the distance measured by the ranging device and to perform the method as described in any one of claims 1-6 to control the alignment of the distributing hopper with the feed inlet of the target silo.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, the processor performs the steps of the method as described in any one of claims 1 to 6.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the computer program is executed by the processor, the processor performs the steps of the method as described in any one of claims 1-6.

Images