Method, device, equipment and medium for controlling material handling equipment

Abstract

This invention discloses a control method, apparatus, equipment, and medium for material handling equipment, relating to the field of industrial automation technology. The method includes: acquiring the current material height in the material handling equipment; determining the current operating condition of the material handling equipment based on the current material height; determining the current bottom belt speed of the material handling equipment based on the current operating condition and bottom belt discharge conveyor parameters; and controlling the material handling equipment based on the current bottom belt speed. The technical solution of this invention can improve the discharge control accuracy of the equipment and alleviate problems such as material head blockage and insufficient discharge flow at the tail.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of industrial automation technology, and in particular to a control method, apparatus, equipment and medium for material handling equipment. Background Technology

[0002] In the tobacco processing industry, material handling equipment such as storage cabinets are widely used for the storage, buffering, and quantitative output of materials such as tobacco leaves and shredded tobacco. Whether the discharge flow rate of the material handling equipment is continuous and stable, and whether the output volume is precise and controllable, directly determines the stability of subsequent tobacco processing.

[0003] Currently, most material handling equipment uses a constant-speed belt control method. While this method is simple to implement, it lacks an adaptive speed adjustment mechanism based on real-time material conditions. It cannot dynamically match the operating rate according to the internal material conditions, resulting in low control accuracy and problems such as material head blockage and insufficient material flow at the tail.

[0004] Therefore, there is an urgent need to propose a new method to solve the above problems. Summary of the Invention

[0005] This invention provides a control method, device, equipment, and medium for material handling equipment, which can improve the accuracy of material discharge control and alleviate problems such as material head blockage and insufficient material tail discharge flow.

[0006] In a first aspect, embodiments of the present invention provide a control method for a material handling device, the method comprising: Get the current material height in the material handling equipment; The current operating condition of the material handling equipment is determined based on the current material height. Determine the current speed of the bottom belt of the material handling equipment based on the current operating conditions of the material handling equipment and the bottom belt discharge and conveying parameters. The material handling equipment is controlled based on the current bottom belt speed.

[0007] The technical solution of this invention first obtains the current material height in the material handling equipment, providing a data foundation for subsequently determining the current operating condition of the equipment. Next, based on the current material height, the current operating condition of the material handling equipment is determined, achieving automatic condition assessment and avoiding the subjectivity and lag of manual judgment. This provides accurate and reliable operating condition data for subsequent adaptive control of the conveyor belt speed, ensuring that the equipment can adopt appropriate control strategies under different operating conditions, improving the stability and safety of the discharge process. Then, based on the current operating condition of the material handling equipment and the conveyor belt discharge parameters, the current conveyor belt speed is determined. This allows for dynamic matching of the conveyor belt speed to the operating condition corresponding to the real-time material inventory in the storage bin, achieving automated adjustment of the conveyor belt speed and ensuring continuous and uniform material discharge. Finally, controlling the material handling equipment based on the current conveyor belt speed converts the obtained current conveyor belt speed into actual conveyor belt operation, forming a closed-loop discharge control, ensuring a smooth and safe discharge process, and effectively improving the stability of material conveying and the level of automated equipment management. Therefore, the technical solution of the present invention solves the problem in the prior art that the operating rate cannot be dynamically matched according to the internal material conditions of the equipment, resulting in low control accuracy, material head blockage, and insufficient material tail discharge flow.

[0008] Secondly, embodiments of the present invention also provide a control device for a material handling equipment, the device comprising: The acquisition module is used to acquire the current material height in the material handling equipment; The first determining module is used to determine the current operating condition of the material handling equipment based on the current material height. The second determining module is used to determine the current speed of the bottom belt of the material handling equipment based on the current operating conditions of the material handling equipment and the bottom belt discharge and conveying parameters. The control module is used to control the material handling equipment based on the current bottom belt speed.

[0009] Thirdly, embodiments of the present invention also provide an electronic device, the electronic device comprising: At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform a control method for the material handling equipment described in any of the first aspects.

[0010] Fourthly, embodiments of the present invention also provide a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform the control method of any of the material handling equipment described in the embodiments of the present invention.

[0011] It should be noted that the aforementioned computer instructions may be stored, in whole or in part, on a computer-readable storage medium. This computer-readable storage medium may be packaged together with the processor of the control device of the material handling equipment, or it may be packaged separately from the processor of the control device of the material handling equipment; this application does not impose any limitations on this.

[0012] The descriptions of the second, third, and fourth aspects in this application can be referenced to the detailed description of the first aspect; and the beneficial effects described in the second, third, and fourth aspects can be referenced to the analysis of the beneficial effects of the first aspect, which will not be repeated here.

[0013] In this application, the name of the control device of the aforementioned material handling equipment does not limit the equipment or functional module itself. In actual implementation, these devices or functional modules may appear under other names. As long as the function of each device or functional module is similar to that of this application, it falls within the scope of the claims of this application and its equivalents.

[0014] These or other aspects of this application will become more readily apparent in the following description. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 A schematic flowchart illustrating a control method for a material handling equipment provided in an embodiment of the present invention; Figure 2 A schematic flowchart illustrating another control method for a material handling device provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of a control device for a material handling equipment provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0017] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0018] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0019] The terms “current” and “previous” in the specification and drawings of this application are used to distinguish different objects or to distinguish different processing of the same object, rather than to describe a specific order of objects.

[0020] Furthermore, the terms "comprising" and "having," and any variations thereof, used in the description 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 steps or units listed, but may optionally include other steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus.

[0021] Before discussing the exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the operations (or steps) as sequential processes, many of these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but may also have additional steps not included in the figures. The process can correspond to a method, function, procedure, subroutine, subroutine, etc. Moreover, without conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0022] It should be noted that in the embodiments of this application, the words "exemplary" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the words "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0023] In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0024] Figure 1 This is a flowchart illustrating a control method for a material handling equipment according to an embodiment of the present invention. This embodiment is applicable to scenarios requiring adaptive control of the material handling equipment based on actual operating conditions. The method is executed by a control device for the material handling equipment, which can be implemented in software and / or hardware. For example, the device can be integrated into an electronic device. The control method for the material handling equipment in this embodiment specifically includes the following steps: Step 110: Obtain the current material height in the material handling equipment.

[0025] Specifically, material handling equipment refers to industrial machinery used for conveying, storing, feeding, crushing, and screening bulk or lumpy materials (such as tobacco, ore, coal, grain, and chemical raw materials). In this embodiment, the material handling equipment is a discharge device equipped with a bottom belt conveyor mechanism and capable of real-time monitoring of the material stacking height inside the silo, such as tobacco storage bins, batching silos, and belt-driven discharge and storage equipment. The current material height is the real-time vertical height value between the top surface of the material accumulation and the equipment's reference surface (such as the silo bottom or the upper surface of the bottom belt) within the silo cavity of the material handling equipment.

[0026] In practice, the current material height in the material handling equipment can be obtained through level sensors (such as grating sensors, radar level gauges, laser level gauges, etc.) mounted on the silo of the material handling equipment.

[0027] For example, when the material handling equipment is a storage tank, a Keyence LK-H052 laser displacement sensor array can be used to collect the current material height by deploying it on the walls of both sides of the storage tank's discharge port.

[0028] In this embodiment, the above steps provide a data foundation for subsequently determining the current operating condition of the material handling equipment.

[0029] Step 120: Determine the current operating condition of the material handling equipment based on the current material height.

[0030] Specifically, the current operating condition is the equipment discharge stage operation status divided according to the real-time material height. For example, the current operating condition can be steady-state discharge condition (i.e., medium material level condition), material shortage end-of-life condition (i.e., low material level condition), or full material discharge condition (i.e., high material level condition).

[0031] In practice, after obtaining the current material height, the current operating condition can be determined according to the following rules: If the current material height > the first material level threshold, the current operating condition is determined to be a full-material discharge condition; if the second material level threshold ≤ the current material height ≤ the first material level threshold, the current operating condition is determined to be a steady-state discharge condition; if the current material height < the second material level threshold, the current operating condition is determined to be a material shortage termination condition. The first material level threshold is a pre-set critical height value for high material levels based on actual conditions (such as storage tank dimensions, tobacco material type, etc.) or requirements, used to distinguish between full-material discharge and steady-state discharge conditions. When the current material height exceeds this threshold, it indicates that the material storage in the silo is sufficient and the material pressure is too high, and the equipment enters the full-material discharge condition. The second material level threshold is a pre-set critical height value for low material levels based on actual conditions (such as storage tank dimensions, tobacco material type, etc.) or requirements, used to distinguish between steady-state discharge and material shortage termination conditions. When the current material height is below this threshold, it indicates that there is insufficient material remaining in the silo and the material pressure is inadequate, causing the equipment to enter a material shortage termination state. The first material level threshold is greater than the second material level threshold. For example, the first material level threshold is 0.6 meters, and the second material level threshold is 0.1 meters.

[0032] In this embodiment, the above steps enable automatic determination of operating conditions, avoiding the subjectivity and lag of manual judgment. This provides accurate and reliable operating condition data for the subsequent adaptive control of the bottom belt speed, thereby ensuring that the equipment can adopt appropriate control strategies under different operating conditions and improving the stability and safety of the discharge process.

[0033] Step 130: Determine the current bottom belt speed of the material handling equipment based on the current operating conditions of the material handling equipment and the bottom belt discharge and conveying parameters.

[0034] Specifically, the bottom belt is a ring-shaped conveyor belt mechanism located at the bottom of the material handling equipment's hopper. It serves as the discharge carrier for materials within the hopper, continuously conveying the material from the bottom outwards by rotating forward. It is the core component for the equipment's discharge execution. The bottom belt speed is the linear velocity of the bottom discharge belt of the material handling equipment, typically measured in meters per second (m / s). The current bottom belt speed is the real-time target linear velocity of the bottom belt, determined based on real-time operating conditions and bottom belt discharge transport parameters. The bottom belt discharge transport parameters describe the transport characteristics (such as motion characteristics and flow characteristics) of the bottom discharge belt (bottom belt) of the material handling equipment, such as current discharge flow rate, target discharge flow rate, historical bottom belt speed, and bottom belt acceleration.

[0035] In practice, the current operating conditions of the material handling equipment and the bottom belt conveyor parameters can be input into a pre-trained bottom belt speed determination model to obtain the current bottom belt speed of the material handling equipment. The bottom belt speed determination model is a model constructed by iteratively training a deep learning model using various historical operating condition data of the material handling equipment, historical bottom belt conveyor parameters corresponding to each operating condition, and actually labeled bottom belt speed data as training samples.

[0036] In this embodiment, through the above steps, the bottom belt running speed can be dynamically matched according to the working condition corresponding to the real-time material inventory in the warehouse, so as to realize the automatic adjustment of the bottom belt speed and thus ensure continuous and uniform material discharge.

[0037] Step 140: Control the material handling equipment based on the current bottom belt speed.

[0038] In practice, the current belt speed is converted into the corresponding motor speed by a controller (such as an industrial computer or an embedded motion controller) based on the diameter of the drive roller of the material handling equipment and the reduction ratio of the transmission mechanism. Then, the speed is converted into a corresponding drive signal (such as an electrical signal) and sent to the drive actuator of the belt (such as a frequency converter and the drive motor connected to it). The drive actuator runs according to the drive signal so that the belt of the material handling equipment runs at the current belt speed.

[0039] In this embodiment, the above steps can convert the current bottom belt speed into the actual operation of the bottom belt, forming a closed-loop discharge control, ensuring a stable and safe discharge process, and effectively improving the stability of material conveying and the level of equipment automation control.

[0040] The control method for the material handling equipment provided in this invention first acquires the current material height in the material handling equipment, providing a data foundation for subsequently determining the current operating condition of the equipment. Next, based on the current material height, the current operating condition of the material handling equipment is determined, achieving automatic determination of the operating condition and avoiding the subjectivity and lag of manual judgment. This provides accurate and reliable operating condition data for subsequent adaptive control of the conveyor belt speed, ensuring that the equipment can adopt appropriate control strategies under different operating conditions, improving the stability and safety of the discharge process. Then, based on the current operating condition of the material handling equipment and the conveyor belt discharge parameters, the current conveyor belt speed is determined. This allows for dynamic matching of the conveyor belt speed to the operating condition corresponding to the real-time material inventory in the storage bin, achieving automated adjustment of the conveyor belt speed and ensuring continuous and uniform material discharge. Finally, controlling the material handling equipment based on the current conveyor belt speed converts the obtained current conveyor belt speed into actual conveyor belt operation, forming a closed-loop discharge control, ensuring a smooth and safe discharge process, and effectively improving the stability of material conveying and the level of automated equipment management. Therefore, the technical solution of the present invention solves the problem in the prior art that the operating rate cannot be dynamically matched according to the internal material conditions of the equipment, resulting in low control accuracy, material head blockage, and insufficient material tail discharge flow.

[0041] Figure 2 This is a flowchart illustrating another control method for a material handling device provided in an embodiment of the present invention. This embodiment is a specific implementation based on the above embodiments. In this embodiment, the method may further include: Step 210: Obtain the current material height in the material handling equipment.

[0042] Step 211: Determine the current operating condition of the material handling equipment based on the current material height.

[0043] Optionally, the bottom belt discharge and conveying parameters include the current discharge flow rate, the target discharge flow rate, and the speed of the previous bottom belt.

[0044] Step 212: Under the current working condition of material shortage and finishing condition, determine the initial speed increment based on the material characteristic parameters and the correspondence table between material parameters and speed increment.

[0045] Specifically, the material shortage closure condition refers to the operational stage where the remaining material storage in the material handling equipment's bin is lower than a preset material level limit (such as the second material level threshold), also known as the low material level condition. Material characteristic parameters are quantifiable indicators describing the material's physical and flow properties, such as bulk density, particle size distribution, internal friction angle, external friction angle, moisture content, and flowability index. The correspondence table between material parameters and speed increments is a pre-established mapping lookup table based on actual conditions or requirements. This table establishes a one-to-one mapping relationship between different material characteristic parameters (including single parameters, multi-parameter combinations, and intervals of continuous parameters) and suitable preset speed adjustment amounts. This table is typically pre-built through multiple sets of material condition experiments, fitting historical equipment operating data, or combining industry control experience formulas. It is specifically used in the material shortage closure condition, allowing for quick retrieval of the appropriate speed adjustment amount for the current material through table lookup, eliminating the need for complex online property calculations and significantly improving speed response efficiency during the material shortage phase. The speed adjustment amount is a compensation correction value pre-stored in the material parameter and speed increment correspondence table and matched with the real-time material characteristic parameters. For example: assuming the material characteristic parameter is material density, when the material density is 0.54 grams per cubic centimeter (g / cm³)... 3 When the material shortage is at the end of the process, the speed adjustment is +0.02 m / s. The initial speed increment is the speed change benchmark value obtained by summing the speed adjustment obtained from the table and the preset benchmark speed increment under the material shortage end-of-process condition.

[0046] In practice, when the current working condition is a material shortage and finalization condition, the speed adjustment amount is obtained by querying the correspondence table between material parameters and speed increments based on the material characteristic parameters. Then, the sum of this speed adjustment amount and the preset benchmark speed increment is calculated to obtain the initial speed increment. The preset benchmark speed increment is a fixed basic speed adjustment value pre-calibrated based on the normal material pressure change law under the material shortage and finalization condition, and is not affected by real-time changes in material characteristic parameters. For example, the preset benchmark speed increment is 0.5 m / min.

[0047] In this embodiment, the above steps provide a data foundation for obtaining the target velocity increment in the subsequent process.

[0048] Furthermore, before determining the initial speed increment based on material characteristic parameters and the correspondence table between material parameters and speed increments, the process also includes: determining whether the material level change characteristic parameters meet the discharge instability condition; if the material level change characteristic parameters meet the discharge instability condition, then the process of determining the initial speed increment based on material characteristic parameters and the correspondence table between material parameters and speed increments is triggered; if the material level change characteristic parameters do not meet the discharge instability condition, then the process of determining the theoretical discharge flow rate of the material handling equipment is triggered.

[0049] Specifically, the material level change characteristic parameters are quantitative indicators describing the dynamic changes in material height within the material handling equipment over time, such as the material height descent rate, fluctuation amplitude per unit time, and duration of continuous low material levels. Discharge instability conditions are pre-set judgment criteria based on actual conditions or requirements, used to assess whether the current discharge process is in an abnormal or unstable state. For example, when the material level change characteristic parameters are the material level descent rate and the duration of abnormal material drop, the corresponding discharge instability condition can be that the material level descent rate is greater than a preset critical rate (e.g., 3 mm / s), and the continuous duration of this abnormal material drop condition (i.e., the continuous duration of the material level descent rate being greater than the preset critical rate) ≥ 0.5 s. The theoretical discharge flow rate is the standard discharge benchmark determined based on the material's conventional physical properties and the rated operating speed of the bottom belt, under stable discharge conditions.

[0050] In the specific implementation, before determining the initial speed increment based on the material characteristic parameters and the correspondence table between material parameters and speed increments, it is first determined whether the material level change characteristic parameters meet the discharge instability condition. If they meet the condition, it indicates that the material level dynamics in the silo are abnormal, the material tail discharge stability is deteriorating, and there is a risk of intermittent discharge, sudden drop in flow rate, or local blockage. At this time, the initial speed increment can be determined based on the material characteristic parameters and the correspondence table between material parameters and speed increments. If the condition does not meet the condition, it indicates that the discharge condition is stable, the material level change conforms to the normal feeding pattern, and the material can be discharged evenly according to the preset state. At this time, the execution can be triggered to determine the theoretical discharge flow rate of the material processing equipment. After the calculation is completed, the process jumps to step 216.

[0051] In this embodiment, the above steps enable differentiated control, improve the pertinence and reliability of the control strategy, ensure the continuity of output and the uniformity of materials, and enhance the adaptability of the equipment.

[0052] Step 213: Calculate the product of the initial speed increment and the dynamic speed adjustment correction coefficient to obtain the target speed increment.

[0053] Specifically, the dynamic speed regulation correction coefficient is a proportional adjustment factor that changes dynamically according to the real-time operating status, used to correct the initial speed increment in real time. The target speed increment is the final speed change obtained by multiplying the initial speed increment by the dynamic speed regulation correction coefficient.

[0054] In practice, the formula for calculating the dynamic speed regulation correction coefficient K is: K = 1 - e -t1 / τWhere τ is the time constant (in seconds), such as 0.3s, used to characterize the dynamic smoothness of the speed transition process. The smaller the value of τ, the faster the dynamic speed increase rate; the larger the value of τ, the smoother the speed change process. t1 is the cumulative running time (in seconds) of the equipment continuously in the material shortage termination condition. This cumulative time starts from the beginning of entering the material shortage termination condition. During this period, if the condition remains unchanged, it is continuously accumulated. Once the condition is exited (e.g., switching to steady-state discharge or full-material discharge condition), t1 is reset to zero, and it starts accumulating from zero again when the material shortage termination condition is entered again. Based on this, the formula for calculating the target speed increment is: Target speed increment ΔV1 = Initial speed increment ΔV × Dynamic speed adjustment correction coefficient K.

[0055] In this embodiment, the above steps ensure the stability and rationality of the speed regulation process, thereby improving the stability of the discharge process and enhancing the quality of the material output.

[0056] Step 214: Calculate the sum of the target speed increment and the previous bottom band speed to obtain the current bottom band speed.

[0057] Specifically, the previous bottom band speed is the bottom band running linear speed at the previous control cycle or the previous sampling time (which can be the actual measured value or the given target value of the previous control cycle).

[0058] In practice, the previous bottom band speed V(t-1) can be obtained from the database storing the bottom band speed. Then, the sum of the target speed increment and the previous bottom band speed is calculated to obtain the current bottom band speed V(t), i.e., V(t) = V(t-1) + ΔV1, where t represents the current time.

[0059] Therefore, the calculation process in steps 213-214 can be uniformly expressed as: V(t) = V(t-1) + ΔV × (1-e -t1 / τ ).

[0060] In this embodiment, the above steps achieve continuous and smooth speed control, avoiding sudden changes in speed. This not only improves the problem of insufficient material output at the tail end and idling of the belt in the empty bin, but also reduces energy consumption and equipment wear caused by frequent start-stop. Furthermore, it prevents low-level material from being squeezed and blocked, reduces residual material in the bin, and effectively improves the material output efficiency at the tail end and the stability of material conveying.

[0061] Step 215: Under the current steady-state discharge condition, determine the theoretical discharge flow rate of the material handling equipment.

[0062] Specifically, the theoretical discharge flow rate is the standard discharge benchmark calculated based on the material's conventional physical properties and the rated operating speed of the bottom belt, under stable discharge conditions. In this embodiment, the theoretical discharge flow rate specifically refers to the instantaneous theoretical discharge flow rate, that is, the theoretical discharge flow rate corresponding to the current moment.

[0063] In practice, the theoretical discharge flow rate can be obtained by calculating the product of the material bulk density, the discharge cross-sectional area, and the rated operating speed of the bottom belt.

[0064] In this embodiment, the above steps provide a data foundation for subsequent calculation of speed correction parameters.

[0065] Further, the theoretical discharge flow rate of the material handling equipment is determined, including: determining the material characteristic coefficient of the material handling equipment based on the material characteristic parameters and the correspondence table between material parameters and characteristic coefficients; performing coupling compensation processing on the current material height according to the material characteristic coefficient to obtain the speed correction amount; calculating the sum of the speed correction amount and the reference bottom belt speed to obtain the equivalent bottom belt speed; and calculating the product of the equivalent bottom belt speed, the material width in the material handling equipment, and the material bulk density to obtain the theoretical discharge flow rate.

[0066] Specifically, bulk density is the mass per unit volume of a material in its natural stacked state, i.e., loose density. Material width in material handling equipment refers to the effective lateral (i.e., perpendicular to the running direction of the conveyor belt) coverage width of the material carried on the conveyor belt, measured in meters (m). The correspondence table between material parameters and characteristic coefficients is a pre-established mapping table based on actual conditions or needs, mapping different material characteristic parameters (or their combinations, value ranges) to material characteristic coefficients one-to-one. For example: when the material characteristic parameters include bulk density and moisture content, and the material characteristic coefficients include the material characteristic proportionality coefficient, material characteristic integral coefficient, and material characteristic differential coefficient, if the bulk density is 350 kg / m³... 3 If the moisture content is 13%, then the material property proportionality coefficient is 0.8, the material property integral coefficient is 0.05, and the material property differential coefficient is 0.2. If the bulk density is 800 kg / m³... 3If the moisture content is 7%, then the material characteristic proportional coefficient is 1.2, the material characteristic integral coefficient is 0.03, and the material characteristic differential coefficient is 0.4. The material characteristic coefficients are dimensionless coefficients obtained from the correspondence table between material parameters and characteristic coefficients. They are used to quantify the influence of the material's physical properties (such as flowability, internal friction angle, bulk density fluctuations, moisture content, etc.) on the discharge process (especially the relationship between flow rate and velocity). The velocity correction is a value obtained after coupling compensation processing, used to adjust the reference bottom belt speed. The material characteristic coefficients include the material characteristic proportional coefficient (reflecting the immediate impact of the current material height on the discharge flow rate and determining the sensitivity of the response), the material characteristic integral coefficient (used to weight the cumulative amount of historical material height deviations, compensate for long-term cumulative effects, and eliminate steady-state errors), and the material characteristic differential coefficient (predicting trends based on the rate of change of material level height, achieving advanced compensation of the discharge flow rate, and suppressing fluctuations). The reference bottom belt speed is a pre-set reference operating speed of the bottom belt under standard materials and standard operating conditions, such as the rated speed or the typical speed under steady-state conditions. The equivalent underband speed is the equivalent underband speed value used for flow calculation, obtained by adding the speed correction amount to the reference underband speed.

[0067] In the specific implementation, the material characteristic coefficients of the material handling equipment are first determined based on the material characteristic parameters and the correspondence table between material parameters and characteristic coefficients. Then, the current material height is coupled and compensated according to the material characteristic coefficients to obtain the speed correction amount. The specific calculation formula is: V2=k1×h(t)+k2×∫h(t)dt+k3×(dh(t) / dt); where V2 is the speed correction amount; k1 is the material characteristic proportional coefficient; k2 is the material characteristic integral coefficient; k3 is the material characteristic differential coefficient; h(t) is the current material height; dh(t)dt is the real-time height change rate of the material, and the sampling period is the sampling time interval of the material height; ∫h(t)dt is the cumulative value of the material height from the start time to the current time after the integral reset.

[0068] Next, the sum of the speed correction and the baseline bottom belt speed is calculated to obtain the equivalent bottom belt speed. Finally, the product of the equivalent bottom belt speed, the material width in the material handling equipment, and the material bulk density is calculated to obtain the theoretical discharge flow rate. In summary, the formula for calculating the theoretical discharge flow rate is: Qcalc(t) = ρ × W × [V0 + k1 × h(t) + k2 × ∫h(t) dt + k3 × (dh(t) / dt)]; where Qcalc(t) is the theoretical discharge flow rate; ρ is the material bulk density; W is the material width; and V0 is the baseline bottom belt speed.

[0069] In this embodiment, the above steps achieve dynamic coupling between material height and discharge flow rate, enabling accurate calculation of theoretical discharge flow rate under different conditions, improving flow rate calculation accuracy, enhancing adaptability to different materials, and suppressing interference caused by material height fluctuations. This provides a reliable benchmark for stable discharge, ensuring the continuity and efficiency of the discharge process, and providing a precise data foundation for subsequent closed-loop control, fundamentally solving the problem of lacking material height compensation (i.e., material level compensation) in traditional control schemes.

[0070] Step 216: Calculate the difference between the target discharge flow rate and the current discharge flow rate to obtain the current flow error, and calculate the flow error change rate based on the current flow error and the data sampling interval.

[0071] Specifically, the target discharge flow rate is the expected discharge flow rate value that the material handling equipment will achieve, preset according to actual conditions or needs. The current flow rate error is the difference between the target discharge flow rate and the current discharge flow rate. The current discharge flow rate is the actual discharge flow rate value of the equipment, measured in real time by sensors (such as belt scales, loss-in-weight scales, etc.), reflecting the equipment's current true discharge rate. The data sampling interval is the time interval between two consecutive data (such as material height) samples, such as 0.1 seconds. The flow error change rate is the rate at which the flow error changes over time.

[0072] In the specific implementation, the difference between the target discharge flow rate Qset and the current discharge flow rate Qreal(t) is calculated to obtain the current flow error e(t), i.e., e(t) = Qset - Qreal(t). Then, based on the current flow error e(t) and the data sampling interval Ts, the flow error change rate ec(t) is calculated. The specific calculation formula is: ec(t) = de(t) / dt = [e(t) - e(t-1)] / Ts. Where e(t-1) is the flow error at the previous time (i.e., the previous sampling time).

[0073] In this embodiment, the above steps can accurately quantify the degree of instantaneous flow deviation and capture the dynamic trend of flow deviation. Based on the two dimensions of error and error change rate, a quantitative basis is provided for subsequent speed adjustment, avoiding the speed adjustment lag and overshoot oscillation caused by relying solely on single-point error control, improving the accuracy and timeliness of speed adjustment, prompting the actual discharge flow to quickly converge to the target discharge flow, and ensuring uniform and stable steady-state discharge.

[0074] Step 217: Determine the speed correction parameters based on the theoretical discharge flow rate, the flow error change rate, and the current flow error.

[0075] Specifically, the speed correction parameters are intermediate variables used to adjust the underbelly speed control quantity. The speed correction parameters include speed integral correction parameters, speed proportional correction parameters, and speed derivative correction parameters.

[0076] In the specific implementation, the theoretical discharge flow rate is first queried in the correction mapping table to obtain the benchmark correction value, and then the division interval of the flow error and the rate of change of flow error is dynamically calibrated using the benchmark correction value. The correction mapping table is a pre-calibrated lookup table with the theoretical discharge flow rate as the lookup index, and the corresponding benchmark correction value is output. It is used to dynamically correct the interval threshold of the flow error and the rate of change of error according to the current standard discharge conditions, so as to realize the fuzzy partition adaptive adjustment according to the working conditions.

[0077] After calibration, both the flow rate error and the rate of change of flow rate error are divided into seven fuzzy intervals: negative large, negative medium, negative small, zero, positive small, positive medium, and positive large. For example, assuming the theoretical discharge flow rate is 5.0 tons / hour (t / h) and the corresponding benchmark correction value is 0.2 t / h, the uncorrected original error interval (flow rate error unit: t / h) is defined as: negative large < -0.6, -0.6 ≤ negative medium < -0.3, -0.3 ≤ negative small < -0.1, -0.1 ≤ zero ≤ 0.1, 0.1 < positive small ≤ 0.3, 0.3 < positive medium ≤ 0.6, and 0.6 < positive large. After dynamic calibration with a baseline correction value of 0.2t / h, the interval boundaries are shifted to obtain the calibrated intervals: negative large < -0.4, -0.4 ≤ negative medium < -0.1, -0.1 ≤ negative small < 0.1, -0.1 ≤ zero ≤ 0.3, 0.3 < positive small ≤ 0.5, 0.5 < positive medium ≤ 0.8, 0.8 < positive large.

[0078] Next, based on the combination of the two parameters, flow error and flow error change rate, the corresponding adjustment amount is matched in the matching rule base, including proportional adjustment amount, integral adjustment amount, and derivative adjustment amount. Then, each adjustment amount is added to the corresponding initial speed correction parameter (such as initial speed integral correction parameter, initial speed proportional correction parameter, and initial speed derivative correction parameter) to obtain the final speed correction parameter.

[0079] For example, the matching rule base contains 49 rules. For instance, when the flow error is negative and the rate of change of the flow error is negative, the proportional adjustment Δα = +0.2, the integral adjustment Δβ = -0.2, and the derivative adjustment Δγ = 0.

[0080] In this embodiment, the speed correction parameters can be determined quickly, smoothly, and adaptively through the above steps, effectively improving the dynamic response performance, steady-state control accuracy, anti-interference ability, and adaptability of the discharge flow control.

[0081] Step 218: Calculate the current underband speed based on the speed correction parameter, the current flow error, and the previous underband speed.

[0082] In the specific implementation, the current bottom band speed is calculated based on the speed correction parameter, the current flow error, and the previous bottom band speed. The specific calculation formula is as follows: V(t) = V(t-1) + α × e(t) + β × ∫e(t)dt + γ × (de(t) / dt). Where β is the speed integral correction parameter; α is the speed proportional correction parameter; and γ is the speed differential correction parameter.

[0083] In this embodiment, the above steps achieve gradual fine-tuning of the bottom belt speed, which can avoid sudden changes in flow and overshoot oscillation caused by excessive speed adjustment in a single operation, and can also dynamically compensate for speed deviation based on real-time flow error, so as to stabilize the actual discharge flow rate close to the set value, improve the discharge disturbance caused by material level fluctuations and material looseness, realize constant flow and accurate discharge of material processing equipment, and ensure stable feed flow rate of downstream processes.

[0084] Optionally, the bottom belt discharge conveying parameters also include the minimum bottom belt speed.

[0085] Step 219: Under the current working condition of full material discharge, determine the current bottom belt speed as the minimum bottom belt speed.

[0086] Specifically, the full-material discharge condition refers to the operating state corresponding to when the current material height inside the material handling equipment exceeds a preset high-level threshold (such as the first material level threshold), i.e., the high-level condition. At this time, the material storage in the bin is sufficient and the material pressure is relatively high, and the equipment faces the risk of overflow or excessive material pressure. The minimum bottom belt speed is the minimum linear speed value that the bottom belt can operate at in order to prevent material from accumulating and clogging at the discharge port due to excessively low discharge speed, while also meeting the minimum stable operating requirements of the drive motor and transmission mechanism.

[0087] In practice, when the current working condition is full material discharge, the current bottom belt speed is directly set as the minimum bottom belt speed.

[0088] In this embodiment, the above steps can reduce the initial flow rate of the material head and reduce the impact force of the material on the feeding roller, thereby effectively preventing the material head from clogging.

[0089] It should be noted that one of steps 212, 215, and 219 may be performed.

[0090] Furthermore, after obtaining the current bottom belt speed (e.g., steps 130, 214, 218, or 219), the method further includes: performing deviation integration processing on the current discharge flow rate and the target discharge flow rate to obtain the cumulative discharge deviation compensation amount; determining whether the cumulative discharge deviation compensation amount is greater than the replenishment threshold; if the cumulative discharge deviation compensation amount is greater than the replenishment threshold, triggering the execution of material handling equipment control based on the current bottom belt speed; if the cumulative discharge deviation compensation amount is not greater than the replenishment threshold, setting the current bottom belt speed to zero.

[0091] Specifically, the deviation integration process involves accumulating (integrating) the difference between the current discharge flow rate and the target discharge flow rate (i.e., the flow error). The cumulative discharge deviation compensation is the total amount obtained by continuously accumulating the difference between the target discharge flow rate and the actual discharge flow rate within each sampling period (i.e., from the previous moment to the current moment). This amount is used to statistically analyze the total deviation of over-discharge or under-discharge over a long period. The replenishment threshold is a pre-set cumulative deviation critical value, which serves as a threshold for determining whether further replenishment is needed.

[0092] In practice, the current discharge flow rate Qreal(t) and the target discharge flow rate can be integrated to obtain the cumulative discharge deviation compensation amount ΔMneed. The specific calculation formula is: ΔMneed=∫(Qset-Qreal(t))dt. Then, it is determined whether the cumulative discharge deviation compensation amount is greater than the replenishment threshold (e.g., 0). If it is greater, it means that the cumulative actual discharge amount is lower than the target discharge amount, and there is a material shortage. The conveyor belt needs to continue running to replenish the discharge. At this time, the material handling equipment can be controlled based on the current conveyor belt speed. If it is not greater, it means that the cumulative actual discharge amount has reached or exceeded the target discharge amount, and no additional replenishment is needed. At this time, the material handling equipment is stopped and the current conveyor belt speed is set to zero.

[0093] In this embodiment, the above steps can achieve precise shutdown, eliminate material tailing and material residue in the bin; at the same time, relying on integral correction can effectively eliminate long-term cumulative control errors, ensure the accuracy of the total output of a single batch, avoid excessive output causing material waste, reduce the energy consumption and mechanical wear of the bottom belt idling, improve the consistency of multiple batch outputs and the robustness of the control system, and the calculation is simple and easy to implement in real time.

[0094] Optionally, to achieve precise shutdown of the material handling equipment, minimize the amount of residual material in the cabinet, eliminate the safety hazards caused by manual cabinet cleaning, and improve the control stability and anti-interference capability under the material shortage termination condition, the following control logic can be added after step 214 (i.e., the current working condition is the material shortage termination condition and the current bottom belt speed is calculated): Perform deviation integration processing on the current discharge flow rate and the target discharge flow rate to obtain the cumulative discharge deviation compensation amount; determine whether the cumulative discharge deviation compensation amount is greater than the shutdown pre-approval threshold (e.g., 0.5 kg); if it is greater, it means that the cumulative discharge is still insufficient to the target amount and discharge needs to continue, at which point the execution of the material handling equipment control based on the current bottom belt speed can be triggered; if it is not greater, it means that the remaining material to be discharged is too small, at which point further judgment is required: retrieve historical working condition records and count the consecutive preset sampling from the current moment. The working condition identification results after a number of sampling times (e.g., 10 times): If the working condition judgment results for a consecutive preset number of sampling times are all material shortage ending conditions, it means that the material inside the material handling equipment is basically emptied and there is no remaining material that can be continuously discharged, thus meeting the shutdown conditions. At this time, the current belt speed can be set to zero and a shutdown command can be issued. If the working condition judgment results for a consecutive preset number of sampling times are not all material shortage ending conditions, it means that there is still material inside the material handling equipment that can be stably discharged, and the shutdown conditions are not yet met. At this time, it can be triggered to control the material handling equipment to continue discharging based on the current belt speed, or jump to execute the comparison judgment of the cumulative discharge deviation compensation amount and the replenishment threshold. Among them, the shutdown pre-judgment threshold is a pre-set shutdown pre-judgment critical value specifically for the material shortage ending stage, which is set according to the actual situation or needs, and its value is greater than the replenishment threshold.

[0095] Step 220: Control the material handling equipment based on the current bottom belt speed.

[0096] The control method for the material handling equipment provided in this invention first obtains the current material height in the material handling equipment, providing a data basis for subsequently determining the current operating condition of the material handling equipment. Next, based on the current material height, the current operating condition of the material handling equipment is determined, realizing automatic determination of the operating condition and avoiding the subjectivity and lag of manual judgment. This provides accurate and reliable operating condition basis for subsequent adaptive control of the belt speed, thereby ensuring that the equipment can adopt appropriate control strategies under different operating conditions, improving the stability and safety of the discharge process. In the case of a material shortage and finalization condition, the initial speed increment is determined based on material characteristic parameters and a table showing the correspondence between material parameters and speed increments, providing a data basis for subsequently obtaining the target speed increment. The target speed increment is obtained by calculating the product of the initial speed increment and the dynamic speed adjustment correction coefficient, ensuring the smoothness and reasonableness of the speed adjustment process, thereby improving the smoothness of the discharge process and enhancing the quality of the material tail discharge. The current bottom belt speed is obtained by calculating the sum of the target speed increment and the previous bottom belt speed, achieving continuous and smooth speed control and avoiding sudden rate changes. This improves the problems of insufficient material output at the tail end and idling of the belt in an empty bin, reduces energy consumption and equipment wear caused by frequent start-stop cycles, and prevents low-level material from being squeezed and blocked, reducing residual material retention in the bin, effectively improving the material output efficiency and material conveying stability. Under the current steady-state output condition, the theoretical output flow rate of the material handling equipment is determined, providing a data basis for subsequent calculation of speed correction parameters. The difference between the target output flow rate and the current output flow rate is calculated to obtain the current flow error. Based on the current flow error and the data sampling interval, the flow error change rate is calculated, which can accurately quantify the instantaneous flow deviation and capture the dynamic trend of flow deviation. Relying on the error and the error change rate data, a quantitative basis is provided for subsequent speed adjustment, avoiding speed adjustment lag and overshoot oscillation caused by relying solely on single-point error control, improving the accuracy and timeliness of speed adjustment, and prompting the actual output flow rate to quickly converge to the target output flow rate, ensuring uniform and stable steady-state output. Based on the theoretical discharge flow rate, the rate of change of flow error, and the current flow error, speed correction parameters are determined. This allows for rapid, stable, and adaptive determination of speed correction parameters, effectively improving the dynamic response performance, steady-state control accuracy, anti-interference capability, and adaptability of discharge flow control. The current bottom belt speed is calculated based on the speed correction parameters, the current flow error, and the previous bottom belt speed, enabling gradual fine-tuning of the bottom belt speed. This avoids sudden flow changes and overshoot oscillations caused by excessive single speed adjustments, and dynamically compensates for speed deviations based on real-time flow errors, stabilizing the actual discharge flow rate close to the set value. This mitigates discharge disturbances caused by material level fluctuations and material agility, achieving constant flow and precise discharge from the material handling equipment, and ensuring stable feed flow to downstream processes. Under full-material discharge conditions, determining the current bottom belt speed as the minimum bottom belt speed reduces the initial flow rate at the material head, decreasing the impact force of the material on the feed rollers and effectively preventing material head blockage.Finally, by controlling the material handling equipment based on the current belt speed, the obtained current belt speed can be converted into the actual operating action of the belt, forming a closed-loop discharge control, ensuring a stable and safe discharge process, and effectively improving the stability of material conveying and the level of equipment automation control. Therefore, the technical solution of this invention solves the problems in the prior art where the operating rate cannot be dynamically matched according to the internal material conditions of the equipment, resulting in low control accuracy, material head blockage, and insufficient material tail discharge flow.

[0097] Figure 3 This is a schematic diagram of the structure of a control device for a material handling equipment provided in an embodiment of the present invention. This device belongs to the same inventive concept as the control method for the material handling equipment in the above embodiments. For details not described in detail in the embodiments of the control device for the material handling equipment, please refer to the embodiments of the control method for the material handling equipment described above.

[0098] like Figure 3 As shown, the device includes: The acquisition module 310 is used to acquire the current material height in the material handling equipment; The first determining module 320 is used to determine the current operating condition of the material handling equipment based on the current material height. The second determining module 330 is used to determine the current speed of the bottom belt of the material handling equipment based on the current operating conditions of the material handling equipment and the bottom belt discharge and conveying parameters. The control module 340 is used to control the material handling equipment based on the current bottom belt speed.

[0099] Based on the above embodiments, the bottom belt discharge and conveying parameters include the current discharge flow rate, the target discharge flow rate, and the speed of the previous bottom belt. The second determining module 330 is specifically used for: Under the condition that the current operating condition is a steady-state discharge condition, the theoretical discharge flow rate of the material handling equipment is determined; the difference between the target discharge flow rate and the current discharge flow rate is calculated to obtain the current flow error, and the flow error change rate is calculated based on the current flow error and the data sampling interval; the speed correction parameter is determined according to the theoretical discharge flow rate, the flow error change rate and the current flow error; the current bottom belt speed is calculated based on the speed correction parameter, the current flow error and the previous bottom belt speed.

[0100] Based on the above embodiments, the second determining module 330 determines the theoretical discharge flow rate of the material handling equipment, including: The material characteristic coefficients of the material handling equipment are determined based on the material characteristic parameters and the correspondence table between material parameters and characteristic coefficients; the current material height is coupled and compensated according to the material characteristic coefficients to obtain the speed correction amount; the sum of the speed correction amount and the reference bottom belt speed is calculated to obtain the equivalent bottom belt speed; the product of the equivalent bottom belt speed, the material width in the material handling equipment, and the material bulk density is calculated to obtain the theoretical discharge flow rate.

[0101] Based on the above embodiments, the second determining module 330 is specifically used for: When the current working condition is a material shortage and finalization condition, the initial speed increment is determined based on the material characteristic parameters and the correspondence table between material parameters and speed increments; the product of the initial speed increment and the dynamic speed adjustment correction coefficient is calculated to obtain the target speed increment; the sum of the target speed increment and the previous bottom belt speed is calculated to obtain the current bottom belt speed.

[0102] Based on the above embodiments, the device further includes: The first judgment module is used to determine whether the material level change characteristic parameters meet the discharge instability condition before determining the initial speed increment based on the material characteristic parameters and the correspondence table between material parameters and speed increments. If the material level change characteristic parameters meet the discharge instability condition, the module triggers the determination of the initial speed increment based on the material characteristic parameters and the correspondence table between material parameters and speed increments. If the material level change characteristic parameters do not meet the discharge instability condition, the module triggers the determination of the theoretical discharge flow rate of the material processing equipment.

[0103] Based on the above embodiments, the device further includes: The second judgment module is used to perform deviation integration processing on the current discharge flow rate and the target discharge flow rate after determining the current bottom belt speed of the material handling equipment based on the current operating conditions of the material handling equipment and the bottom belt discharge and conveying parameters, to obtain a cumulative discharge deviation compensation amount; determine whether the cumulative discharge deviation compensation amount is greater than the replenishment threshold; if the cumulative discharge deviation compensation amount is greater than the replenishment threshold, trigger the execution of controlling the material handling equipment based on the current bottom belt speed; if the cumulative discharge deviation compensation amount is not greater than the replenishment threshold, set the current bottom belt speed to zero.

[0104] Based on the above embodiments, the bottom belt discharge and conveying parameters further include a minimum bottom belt speed, and a second determining module 330, specifically used for: When the current operating condition is full material discharge, the current bottom belt speed is determined to be the minimum bottom belt speed.

[0105] The control device for the material handling equipment provided in the embodiments of the present invention can execute the control method for the material handling equipment provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing the method.

[0106] It is worth noting that in the embodiments of the control device of the above-mentioned material handling equipment, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of each functional unit are only for easy distinction between each other and are not used to limit the scope of protection of the present invention.

[0107] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Figure 4 A block diagram of an exemplary electronic device 4 suitable for implementing embodiments of the present invention is shown. Figure 4 The electronic device 4 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

[0108] like Figure 4 As shown, electronic device 4 is represented in the form of a general-purpose computing electronic device. The components of electronic device 4 may include, but are not limited to: one or more processors or processing units 16, system memory 28, and bus 18 connecting different system components (including system memory 28 and processing unit 16).

[0109] Bus 18 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. For example, these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0110] Electronic device 4 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by electronic device 4, including volatile and non-volatile media, removable and non-removable media.

[0111] System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. Electronic device 4 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be used to read and write non-removable, non-volatile magnetic media (… Figure 4 Not shown; usually referred to as a "hard drive"). Although Figure 4Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk") and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of the present invention.

[0112] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 42 typically perform the functions and / or methods described in the embodiments of the present invention.

[0113] Electronic device 4 can also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), and with one or more devices that enable a user to interact with electronic device 4, and / or with any device that enables electronic device 4 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed through input / output (I / O) interface 22. Furthermore, electronic device 4 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 20. Figure 4 As shown, network adapter 20 communicates with other modules of electronic device 4 via bus 18. It should be understood that, although... Figure 4 Not shown, it can be combined with electronic device 4 to use other hardware and / or software modules, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0114] Processing unit 16 executes various functional applications and page displays by running programs stored in system memory 28, such as implementing the control method for the material handling equipment provided in this embodiment of the invention, the method including: Get the current material height in the material handling equipment; The current operating condition of the material handling equipment is determined based on the current material height. Determine the current speed of the bottom belt of the material handling equipment based on the current operating conditions of the material handling equipment and the bottom belt discharge and conveying parameters. The material handling equipment is controlled based on the current bottom belt speed.

[0115] Of course, those skilled in the art will understand that the processor can also implement the technical solution of the control method for the material handling equipment provided in any embodiment of the present invention.

[0116] This invention provides a computer-readable storage medium storing a computer program thereon. When executed by a processor, the program implements, for example, a control method for a material handling device provided in this invention. The method includes: Get the current material height in the material handling equipment; The current operating condition of the material handling equipment is determined based on the current material height. Determine the current speed of the bottom belt of the material handling equipment based on the current operating conditions of the material handling equipment and the bottom belt discharge and conveying parameters. The material handling equipment is controlled based on the current bottom belt speed.

[0117] The computer storage medium of this invention can be any combination of one or more computer-readable media. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0118] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0119] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0120] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages—such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0121] Those skilled in the art will understand that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby allowing them to be stored in a storage device for execution by a computing device, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0122] Furthermore, the acquisition, storage, use, and processing of data in the technical solution of this invention all comply with relevant laws and regulations.

[0123] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A control method for a material handling equipment, characterized in that, The method includes: Get the current material height in the material handling equipment; The current operating condition of the material handling equipment is determined based on the current material height. Determine the current speed of the bottom belt of the material handling equipment based on the current operating conditions of the material handling equipment and the bottom belt discharge and conveying parameters. The material handling equipment is controlled based on the current bottom belt speed.

2. The method according to claim 1, characterized in that, The bottom belt discharge and conveying parameters include the current discharge flow rate, the target discharge flow rate, and the previous bottom belt speed. The current bottom belt speed of the material handling equipment is determined based on the current operating conditions of the material handling equipment and the bottom belt discharge and conveying parameters, including: Under the condition that the current operating condition is a steady-state discharge condition, determine the theoretical discharge flow rate of the material handling equipment; Calculate the difference between the target discharge flow rate and the current discharge flow rate to obtain the current flow error, and calculate the flow error change rate based on the current flow error and the data sampling interval; The speed correction parameters are determined based on the theoretical discharge flow rate, the flow rate error change rate, and the current flow rate error. The current underband speed is calculated based on the speed correction parameter, the current flow error, and the previous underband speed.

3. The method according to claim 2, characterized in that, Determine the theoretical discharge flow rate of the material handling equipment, including: The material characteristic coefficients of the material handling equipment are determined based on the material characteristic parameters and the correspondence table between material parameters and characteristic coefficients. Based on the material characteristic coefficient, the current material height is coupled and compensated to obtain the speed correction amount; Calculate the sum of the speed correction amount and the reference bottom band speed to obtain the equivalent bottom band speed; The theoretical discharge flow rate is obtained by calculating the product of the equivalent bottom belt speed, the material width in the material handling equipment, and the material bulk density.

4. The method according to claim 2, characterized in that, The current conveyor belt speed of the material handling equipment is determined based on its current operating conditions and conveyor belt discharge parameters, including: When the current working condition is a material shortage and finalization condition, the initial speed increment is determined based on the material characteristic parameters and the correspondence table between material parameters and speed increments; The target speed increment is obtained by multiplying the initial speed increment and the dynamic speed adjustment correction coefficient. The current bottom band speed is obtained by calculating the sum of the target speed increment and the previous bottom band speed.

5. The method according to claim 4, characterized in that, Before determining the initial velocity increment based on material characteristic parameters and the correspondence table between material parameters and velocity increments, the following steps are also included: Determine whether the material level change characteristic parameters meet the discharge instability conditions; If the material level change characteristic parameters meet the discharge instability condition, the execution of the initial velocity increment based on the material characteristic parameters and the correspondence table between material parameters and velocity increments will be triggered. If the material level change characteristic parameters do not meet the discharge instability conditions, the execution of determining the theoretical discharge flow rate of the material handling equipment will be triggered.

6. The method according to claim 2, characterized in that, After determining the current conveyor belt speed of the material handling equipment based on its current operating conditions and conveyor belt discharge parameters, the process also includes: The current discharge flow rate and the target discharge flow rate are subjected to deviation integration processing to obtain the cumulative discharge deviation compensation amount; Determine whether the cumulative discharge deviation compensation amount is greater than the replenishment threshold; If the cumulative discharge deviation compensation amount is greater than the replenishment threshold, then the material handling equipment is controlled based on the current bottom belt speed. If the cumulative discharge deviation compensation amount is not greater than the replenishment threshold, then the current bottom belt speed is set to zero.

7. The method according to claim 1, characterized in that, The bottom belt discharge and conveying parameters also include a minimum bottom belt speed. The current bottom belt speed of the material handling equipment is determined based on the current operating conditions of the material handling equipment and the bottom belt discharge and conveying parameters, including: When the current operating condition is full material discharge, the current bottom belt speed is determined to be the minimum bottom belt speed.

8. A control device for a material handling equipment, characterized in that, The device includes: The acquisition module is used to acquire the current material height in the material handling equipment; The first determining module is used to determine the current operating condition of the material handling equipment based on the current material height. The second determining module is used to determine the current speed of the bottom belt of the material handling equipment based on the current operating conditions of the material handling equipment and the bottom belt discharge and conveying parameters. The control module is used to control the material handling equipment based on the current bottom belt speed.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and a memory communicatively connected to said at least one processor; The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the control method of the material handling equipment according to any one of claims 1-7.

10. A storage medium containing computer-executable instructions, characterized in that, The computer-executable instructions, when executed by a computer processor, are used to perform the control method of the material handling equipment according to any one of claims 1-7.

Images