Method for collecting material after breaking of a power cable, recording medium and system

Abstract

The present application belongs to the technical field of resource recycling, and particularly relates to a method for collecting material after power cable crushing, which comprises the following steps: according to the slump parameter, the material falling plane matrix of the ton bag is partitioned; point cloud data in the ton bag is collected; the Kalman filtering algorithm is used to calculate the filling saturation of each partition in combination with the real-time weight signal of the sensor group; the filling saturation weight value is calculated according to the filling saturation, the partition and the distance between the discharge port and the bag center; the filling is performed in the order from large to small according to the weight value; and the position of the ton bag for preferential material falling is adjusted by using asymmetric throwing control and cooperative displacement compensation. The method can make the material accurately fall into the low saturation area by changing the material falling track, thereby improving the recycling efficiency and the on-site environment. The method is suitable for power cable crushing and recycling. The present application also provides a non-transient readable recording medium storing the program of the method and a system containing the medium. The program can be called by a processing circuit, and the above method can be executed.

Description

Technical Field

[0001] This invention belongs to the field of resource recycling technology and discloses a method, system and recording medium for collecting fallen material after power cable is broken. Background Technology

[0002] With the rapid pace of upgrading and replacing power infrastructure, the amount of waste power cables generated continues to rise. The green dismantling and recycling of these cables has become a crucial issue for sustainable resource development. In the recycling process of waste power cables, the crushed material (including copper, aluminum, and other metal particles, as well as insulation material fragments) needs to be temporarily stored and transported by filling hoppers into ton bags. The uniformity of this filling process directly affects the stability of subsequent storage, transportation safety, and recycling efficiency, making it a critical step in the power cable crushing and recycling process.

[0003] Currently, ton bag filling equipment in the field of power cable crushing and recycling generally adopts the traditional symmetrical blade feeding structure, in which the split blades below the hopper open and close synchronously, and the material falls freely into the ton bag along a fixed trajectory. However, these traditional devices have many significant technical shortcomings, and existing optimization technologies are still unable to meet the filling requirements of crushed power cable materials. Specific problems include: First, due to the mixed materials and uneven particle size of the crushed power cable material, it tends to form a "peak-like" accumulation in the center of the ton bag during its descent, influenced by gravity and accumulation inertia. This leads to localized overloading of the bag while leaving the edges empty, reducing the effective loading capacity of the ton bag and increasing the risk of tipping over during transportation due to the shifted center of gravity. Second, existing filling equipment lacks precise perception and scientific control capabilities regarding material distribution. Even when attempting to adjust the feeding position based on material saturation, some equipment fails to consider the filling boundary limitations at the edges of the ton bag. Forcing precise feeding into the low-saturation grid areas at the edges can easily cause material to overflow from the sides of the ton bag, resulting in material loss and on-site pollution. Third, existing technologies rely on a single method for determining filling saturation. The existing equipment relies on either visual inspection of material height or single-point weighing data. However, lightweight components such as insulation debris in crushed power cable materials tend to create a fluffy, artificially high height. Visual inspection of height data cannot accurately reflect the actual filling volume, while weight data alone cannot directly capture the material's accumulation pattern. This single judgment method can easily lead to deviations in saturation calculations, resulting in errors in adjusting the feeding strategy. Fourthly, the existing equipment as a whole lacks an integrated mechanism for multi-dimensional perception, accurate prediction, and coordinated control. Even if some technologies apply matrix algorithms and sensor detection to industrial material filling, they are mostly designed for single-material bulk materials such as coal and mineral powder, and are not adapted to the heterogeneous characteristics of crushed power cable materials. Furthermore, the traditional symmetrical blade drive method cannot change the fixed falling trajectory of the material, making it difficult to break the accumulation inertia. At the same time, a weight calculation system that combines filling area position parameters and multi-sensor fusion data has not been formed, which cannot provide accurate decision-making basis for dynamic feeding strategies.

[0004] While there are applications of matrix algorithms for optimizing loading strategies in intelligent loading systems, matrix sensor arrays for multi-point weight detection, 3D point cloud modeling for monitoring the morphology of silo materials, and Kalman filtering algorithms for estimating the state of industrial processes, these technologies are all in a fragmented state and have not been specifically integrated and adapted. Matrix algorithms have not been combined with edge loading constraints of ton bags for strategy correction, 3D point cloud modeling and weighing sensors have not achieved dynamic data fusion to correct saturation calculation deviations, and Kalman filtering algorithms have not yet been applied to predict the saturation of crushed power cable materials. Furthermore, none of the above technologies have been integrated with the asymmetric drive of the feeding blades and the displacement compensation of the ton bags for coordinated control.

[0005] In summary, existing technologies are insufficient to address issues such as off-center loading, overflow, and saturation determination deviations during the ton-packing process of crushed power cable materials. They also fail to meet the high requirements of uniformity, stability, and intelligence in this field. There is an urgent need for an integrated filling solution that can dynamically fuse multi-sensor data, consider edge boundary constraints, incorporate weighted calculations based on position parameters, and coordinate the feeding mechanism and bag displacement mechanism for joint control. This solution would overcome the technical bottlenecks of traditional filling methods and improve the overall efficiency and safety of waste power material recycling and processing. Summary of the Invention

[0006] To address the above problems, this invention provides a method for collecting debris from broken power cables, comprising the following steps: S1. Dynamic Grid Zoning: Based on the slump parameters of the crushed material, the dropping plane of the ton bag is divided into zones using a matrix algorithm to determine the initial filling area. During the filling process, the boundaries of the filling areas are dynamically adjusted based on real-time data. S2. Multimodal Data Fusion: 3D point cloud height data of the material inside the ton bag is collected using a binocular camera. Combined with real-time weight signals from a distributed weighing sensor group, a Kalman filter algorithm is used to calculate the filling saturation of each zone. Then, based on the filling saturation, the distance between the zone and the discharge port, and the distance to the center of the bag, a weight value for the filling saturation is calculated. Filling is performed in descending order of weight value. Asymmetric throwing control and collaborative displacement compensation are used to adjust the priority dropping position of the ton bag. S3. Asymmetric Throwing Control: This includes controlling dual servo motors to drive the blades to oscillate asymmetrically, changing the material's falling trajectory to break the accumulation inertia. S4. Collaborative Displacement Compensation: When the filling saturation of a certain area reaches a threshold, the linkage roller line performs micro-displacement compensation on the ton bag, ensuring the material accurately falls into the low-saturation area.

[0007] Preferably, when the driving blades oscillate asymmetrically, the difference in oscillation amplitude between the two blades is 15°-30°, and the difference in frequency is 1.2-1.5 times.

[0008] Preferably, the lower the filling saturation of a zone, the closer the zone is to the discharge port, and the closer it is to the center of the bag, the greater the filling saturation weight value is assigned to that zone.

[0009] Preferably, the specific steps of combining the real-time weight signal of the distributed weighing sensor group include: setting the filling saturation weight threshold of the priority grid material feeding grid; when the total filled weight is <30% of the rated load of the ton bag, the filling saturation weight value of the point cloud computing dominates the material feeding; when the total filled weight is ≥30% and <80% of the rated load of the ton bag, the filling saturation weight value of the point cloud computing still dominates the material feeding, but the filling saturation weight threshold of the priority grid material feeding grid is increased by 30%-40%; when the total filled weight is ≥80% of the rated load of the ton bag, the filling saturation weight value of all zones is multiplied by an attenuation coefficient for correction, and the attenuation coefficient gradually decreases as the weight approaches the rated value.

[0010] Preferably, the specific steps of combining the real-time weight signal of the distributed weighing sensor group further include: dynamically fusing visual height (H) and weight (W) data, with saturation = 0.6 × (visual height / rated maximum loading height) + 0.4 × (weight / rated maximum load).

[0011] The present invention also provides a non-transient readable recording medium for storing one or more programs containing multiple instructions, which, when executed, cause the processor to perform the above-described method for collecting fallen material after a power cable is broken.

[0012] Based on this, the present invention also provides a system for collecting fallen material after power cable breakage, including a processing circuit and a memory electrically coupled thereto. The memory is configured to store at least one program, the program containing multiple instructions. The processing circuit runs the program and can execute the above-described method for collecting fallen material after power cable breakage.

[0013] Compared to existing technologies, the method, recording medium, and system for collecting fallen material after power cable breakage provided by this invention solves the problem of material overflowing from the sides of ton bags by adjusting the priority drop position of ton bags through filling saturation weight control, Kalman filtering algorithm to calculate the filling saturation of each zone, and filling saturation weight value, asymmetric spillage control, and collaborative displacement compensation. By dynamically fusing visual height and weight data, the problem of saturation calculation deviation caused by a single judgment criterion is overcome, thereby improving filling efficiency and ton bag utilization efficiency, while also improving the working environment. Attached Figure Description

[0014] Figure 1 This is a front view of the structure of the power cable breakage and material collection system in an embodiment of the present invention; Figure 2 This is a side view of the structure of the power cable breakage and material collection system in an embodiment of the present invention; In the diagram, 1. Belt conveyor; 2. Hopper; 3. Camera; 4. Aluminum profile frame; 5. Weighing sensor; 6. Pallet; 7. Ton bag; 8. Servo motor; 9. Oscillating blade; 10. Roller conveyor. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be described below with reference to the accompanying drawings. The described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without innovative effort are within the scope of protection of the present invention.

[0016] See the instruction manual appendix Figure 1-2 The following is a detailed implementation method for collecting the fragments after power cables are broken: Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computers or available storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0017] When pallet 6 enters this station via roller conveyor 10, a hopper 2 is fixed above the station by an aluminum profile frame 4. The hopper 2 is directly above the discharge end of belt conveyor 1. The pallet ton bags 7 are divided into matrix sections. Roller conveyor 10 guides pallet 6 to the set position. A pair of swing blades 9 at the bottom of hopper 2 open to the set position according to the settings. Material begins to fall from belt conveyor 1. Weighing sensor 5 detects the weight in real time, and camera 3 identifies the stacking height image in real time. Saturation is calculated by fusing height and weight.

[0018] The lower the filling saturation of a zone, the closer the zone is to the discharge port, and the closer it is to the center of the ton bag 7, the greater the filling saturation weight value is assigned to that zone. Filling is carried out in descending order of weight value until each zone reaches the corresponding weight setting value, at which point the ton bag 7 is considered full.

[0019] When power cables are crushed into uniform blocks, a filling saturation weight threshold is set for the priority grid feeding grid. When the total filled weight is less than 30% of the rated load of the ton bag, the filling saturation weight value of the point cloud computing dominates the feeding. When the total filled weight is greater than or equal to 30% and less than 80% of the rated load of the ton bag, the filling saturation weight value of the point cloud computing still dominates the feeding, but the filling saturation weight threshold of the priority grid feeding grid is increased by 30%-40%. When the total filled weight is greater than or equal to 80% of the rated load of the ton bag, the filling saturation weight value of all zones is multiplied by an attenuation coefficient for correction. The attenuation coefficient gradually decreases as the weight approaches the rated value.

[0020] When it is difficult to achieve uniform mixing after the power cable is broken, the data fusion algorithm for calculating saturation involves visual height (H) and weight (W) data: where saturation S_i = 0.6*(H_i / H_max) + 0.4*(W_i / W_max). When the difference of S_i between adjacent areas is greater than 20%, roller displacement compensation is triggered.

[0021] Symmetrical blade design: The swing blade 9 with higher saturation has a swing amplitude of 25° and a frequency of 2.5Hz; the other swing blade 9 has a swing amplitude of 10° and a frequency of 2.0Hz. Dynamic partitioning is performed according to the following logic: If the weight of a region is greater than 80% of the threshold, reduce the area of ​​that region by 20% and expand adjacent regions. If the visual recognition slope is greater than 30°, the servo motor 8 drives the swing blade 9 to swing at a high frequency (the swing frequency increases by 15%).

[0022] This invention is described with reference to flowchart illustrations and / or block diagrams of systems, methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0023] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0024] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0025] The above-mentioned method steps are compiled into a program and stored on a hard disk or other non-transitory storage medium, which constitutes the technical solution of "a non-transitory readable recording medium" of the present invention; and the storage medium is electrically connected to a computer processor, and the process of collecting fallen materials after power cable breakage is controlled through data processing, which constitutes the technical solution of "a method for collecting fallen materials after power cable breakage" of the present invention.

[0026] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for collecting debris from broken power cables, characterized in that, Includes the following steps: S1. Dynamic Grid Zoning: Based on the slump parameters of the crushed material, the dropping plane of the ton bag is divided into zones using a matrix algorithm to determine the initial filling area. During the filling process, the boundaries of the filling areas are dynamically adjusted based on real-time data. S2. Multimodal Data Fusion: 3D point cloud height data of the material inside the ton bag is collected using a binocular camera. Combined with real-time weight signals from a distributed weighing sensor array, a Kalman filter algorithm is used to calculate the filling saturation of each zone. Then, based on the filling saturation, the distance between the zone and the discharge port, and the distance to the center of the bag, a weight value for the filling saturation is calculated. Filling is performed in descending order of weight value. Asymmetric throwing control and collaborative displacement compensation are used to adjust the priority dropping position of the ton bag. S3. Asymmetric Throwing Control: This includes controlling dual servo motors to drive the blades to oscillate asymmetrically, changing the material's falling trajectory to break the accumulation inertia. S4. Collaborative displacement compensation includes micro-displacement compensation of the ton bag by the linkage roller line when the filling saturation of a certain area reaches the threshold, so that the material falls accurately into the low saturation area.

2. The method for collecting debris from broken power cables according to claim 1, characterized in that, When the driving blades oscillate asymmetrically, the difference in oscillation amplitude between the two blades is 15°-30°, and the difference in frequency is 1.2-1.5 times.

3. The method for collecting debris from broken power cables according to claim 2, characterized in that, The lower the filling saturation of a zone, the closer the zone is to the discharge port, and the closer it is to the center of the bag, the greater the filling saturation weight value is assigned to that zone.

4. The method for collecting debris from broken power cables according to claim 3, characterized in that, The specific steps for combining the real-time weight signal of the distributed weighing sensor group include: setting the filling saturation weight threshold of the priority grid material feeding grid; when the total filled weight is less than 30% of the rated load of the ton bag, the filling saturation weight value of the point cloud computing dominates the material feeding; when the total filled weight is greater than or equal to 30% and less than 80% of the rated load of the ton bag, the filling saturation weight value of the point cloud computing still dominates the material feeding, but the filling saturation weight threshold of the priority grid material feeding grid is increased by 30%-40%; when the total filled weight is greater than or equal to 80% of the rated load of the ton bag, the filling saturation weight value of all zones is multiplied by an attenuation coefficient for correction, and the attenuation coefficient gradually decreases as the weight approaches the rated value.

5. A method for collecting debris from broken power cables according to claim 3, characterized in that, The specific steps for combining the real-time weight signal of the distributed weighing sensor group include: dynamically fusing visual height (H) and weight (W) data, with saturation = 0.6 × (visual height / rated maximum loading height) + 0.4 × (weight / rated maximum load).

6. A non-transitory readable recording medium for storing one or more programs containing multiple instructions, characterized in that, When the instruction is executed, the processor will perform the method for collecting fallen material after a power cable is broken, as described in any one of claims 1-5.

7. A system for collecting debris from broken power cables, characterized in that, The device includes a processing circuit and a memory electrically coupled thereto, the memory being configured to store at least one program containing a plurality of instructions, the processing circuit running the program being able to execute a method for collecting fallen material after a power cable is broken, as described in any one of claims 1-5.

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