Discharging vehicle and distributing machine synchronous operation control method and distributing system

Abstract

The application relates to a synchronous operation control method of a discharging vehicle and a distributing machine and a distributing system, wherein the synchronous operation control method of the discharging vehicle and the distributing machine comprises the following steps: acquiring a position deviation of the discharging vehicle and the distributing machine; if the absolute value of the position deviation is greater than a first deviation value, adjusting at least one of a first driving mechanism of the discharging vehicle and a second driving mechanism of the distributing machine to adjust the moving speed of at least one of the discharging vehicle and the distributing machine until the absolute value of the position deviation is less than or equal to the first deviation value. In this way, when the discharging vehicle and the distributing machine adopt independent driving mechanisms, the moving speed can still be closed-loop adjusted according to the actual positions of the two, the two can be kept synchronous for a long time, the distributing efficiency can be improved, and the operation energy consumption and equipment loss can be reduced.

Description

Technical Field

[0001] This application relates to the field of material transfer, transportation and stacking technology, specifically to a method for controlling the synchronous operation of an unloading vehicle and a placing machine, and a placing system. Background Technology

[0002] During the material placement operation in the storage pit, the unloading car moves along the extension direction of the main belt, and the placing machine moves in the pit along the first direction and places the material in the pit. After the material is conveyed to the unloading car by the main belt, the unloading car drops the material through the discharge port to the receiving part of the placing machine. When dropping the material, the discharge port of the unloading car and the receiving part of the placing machine must be aligned.

[0003] Since the unloading trolley and the placing boom are generally independent devices, their actual moving speeds may still differ, causing the positional deviation to gradually increase over time. When the positional deviation exceeds the preset deviation range, the unloading position of the unloading trolley may deviate from the receiving part of the placing boom, causing material spillage, interruption of placing, or equipment shutdown.

[0004] When a material placement point completes its work and needs to move to the next placement point, the existing operating method often stops feeding material first, and resumes feeding material only after the unloading vehicle and the material placing machine have moved and realigned. This not only reduces material placement efficiency, but may also cause frequent start-ups and shutdowns of upstream feeding equipment, increasing operating energy consumption and equipment wear and tear. Summary of the Invention

[0005] The purpose of this application is to provide a method and system for controlling the synchronous operation of a unloading vehicle and a placing machine, so that when the unloading vehicle and the placing machine use independent drive mechanisms, the moving speed can still be adjusted in a closed loop according to their actual positions, so that the two can maintain stable synchronization in the long term, improve the placing efficiency, and reduce operating energy consumption and equipment wear.

[0006] To solve the above-mentioned technical problems, this application provides a method for controlling the synchronous operation of an unloading vehicle and a concrete placing boom, comprising: Obtain the positional deviation between the unloading vehicle and the concrete placing boom; If the absolute value of the position deviation is greater than the first deviation value, then at least one of the first drive mechanism of the unloading vehicle and the second drive mechanism of the placing machine is adjusted to adjust the moving speed of at least one of the unloading vehicle and the placing machine until the absolute value of the position deviation is less than or equal to the first deviation value.

[0007] Optionally, if the absolute value of the position deviation is greater than the first deviation value, at least one of the first drive mechanism of the unloading vehicle and the second drive mechanism of the placing boom is adjusted to adjust the moving speed of at least one of the unloading vehicle and the placing boom until the absolute value of the position deviation is less than or equal to the first deviation value, including: If the absolute value of the position deviation is greater than a first deviation value and less than or equal to a second deviation value, then a first speed adjustment mode is activated, the first speed adjustment mode including: Adjust the first drive mechanism or the second drive mechanism to adjust the moving speed of the unloading vehicle or the placing machine until the absolute value of the position deviation is less than or equal to the first deviation value; The second deviation value is greater than the first deviation value.

[0008] Optionally, the first speed adjustment mode includes a first adjustment sub-mode and a second adjustment sub-mode; If the absolute value of the position deviation is greater than the first deviation value and less than or equal to the third deviation value, then the first adjustment sub-mode is performed: the first drive mechanism or the second drive mechanism is adjusted so that the moving speed V1 of the unloading vehicle or the placing machine satisfies: V1=k V0, where V0 is the current speed and k is the speed adjustment coefficient; If the absolute value of the position deviation is greater than the third deviation value and less than or equal to the fourth deviation value, then the second adjustment sub-mode is activated: the first drive mechanism or the second drive mechanism is adjusted so that the moving speed V2 of the unloading vehicle or the placing machine satisfies: V2=V0+a t, where a is the acceleration and t is the settling time.

[0009] Optionally, the first speed adjustment mode further includes a third adjustment sub-mode; If the absolute value of the position deviation is greater than the fourth deviation value and less than or equal to the second deviation value, then the third adjustment sub-mode is performed: the first drive mechanism or the second drive mechanism is adjusted so that the moving speed V3 of the unloading vehicle or the placing machine satisfies: V3=V0+ dt, where a is the acceleration and t is the settling time; The first deviation value, the third deviation value, the fourth deviation value, and the second deviation value increase sequentially.

[0010] Optionally, if the absolute value of the position deviation is greater than the second deviation value and less than or equal to the fifth deviation value, a second speed adjustment mode is activated, the second speed adjustment mode including: Adjust the first drive mechanism and the second drive mechanism to adjust the moving speed of the unloading vehicle and the placing machine until the absolute value of the position deviation is less than or equal to the first deviation value; The fifth deviation value is greater than the second deviation value.

[0011] Optionally, if the absolute value of the position deviation is greater than the fifth deviation value, a third speed adjustment mode is activated, the third speed adjustment mode including: Adjust the drive mechanism for driving the unloading car or the placing machine located at the front, so that the unloading car or the placing machine located at the front stops, and the unloading car or the placing machine located at the rear continues to move.

[0012] Optionally, obtaining the positional deviation between the unloading vehicle and the placing boom includes: Obtain the first current position of the unloading vehicle and the second current position of the concrete placing machine; The position deviation is calculated based on the difference between the first current position and the second current position.

[0013] This application also provides a fabric placement system, including an unloading trolley, a fabric placement machine, a controller, and an acquisition device, a first drive mechanism, and a second drive mechanism respectively connected to the controller via signals. The first drive mechanism is used to drive the unloading trolley to move along a first direction. The unloading trolley has a discharge port. The second drive mechanism is used to drive the fabric placement machine to move along the first direction. The fabric placement machine has a receiving section that can receive the material discharged from the discharge port. The controller can acquire the positional deviation of the unloading trolley and the fabric placement machine through the acquisition device. If the absolute value of the positional deviation is less than or equal to a first deviation value, the unloading trolley and the fabric placement machine run at their current speeds. If the absolute value of the positional deviation is greater than the first deviation value, the controller can also adjust the moving speed of the unloading trolley through the first drive mechanism and / or adjust the moving speed of the fabric placement machine through the second drive mechanism, so that the absolute value of the positional deviation is less than or equal to the first deviation value.

[0014] Optionally, the acquisition device includes a first encoder and a second encoder. The controller can acquire a first position signal of the unloading vehicle through the first encoder, and the controller can acquire a second position signal of the concrete placing machine through the second encoder. The controller can calculate the position deviation based on the first position signal and the second position signal.

[0015] Optionally, the fabric feeding machine includes a first fabric belt and a second fabric belt, the second fabric belt being located below the first fabric belt and capable of moving relative to the first fabric belt along a second direction, the second direction being perpendicular to the first direction.

[0016] The synchronous operation control method and placing system for unloading vehicle and placing machine provided in this application have the following technical effects: By using the actual position feedback of the unloading car and the placing boom to achieve synchronous movement through adjustment, a foundation is provided for continuous feeding and uniform material distribution. This reduces frequent start-ups and shutdowns during the repositioning process, decreases operating energy consumption and equipment wear, and effectively improves material distribution efficiency. Furthermore, the unloading car and the placing boom do not need to use the same drive mechanism, nor do they need to run the two drive motors at the same frequency at all times. The two independent drive mechanisms can each exert their drive capacity matched to their respective equipment operating conditions, thereby effectively reducing costs and energy consumption. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the fabric system provided in the embodiments of this application; Figure 2 This is a flowchart of the synchronous operation control method for the unloading vehicle and the placing boom provided in the embodiments of this application; Figure 3 This is a partial structural schematic diagram of the fabric system provided in the embodiments of this application.

[0018] Appendix Figures 1-3 The reference numerals in the attached figures are explained as follows: 1 unloading truck; 11 discharge ports; 2. Fabric feeding machine; 21. First fabric feeding belt; 22. Second fabric feeding belt; 3. Main belt; 4 material pits; 5. First encoder; 6. Second encoder; 7 Controller; 71 Input / Output Module; 72 Communication Module; 73 Power Supply; 74 CPU. Detailed Implementation

[0019] To enable those skilled in the art to better understand the technical solutions of this application, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0020] During the material placement operation in the storage pit, the unloading car moves along the extension direction of the main belt (i.e., the first direction), and the placing machine moves in the pit along the first direction and places the material in the pit. After the material is conveyed to the unloading car by the main belt, the unloading car drops the material through the discharge port to the receiving part of the placing machine. When dropping the material, the discharge port of the unloading car and the receiving part of the placing machine must be aligned.

[0021] Since the unloading trolley and the placing boom are generally independent devices, their actual moving speeds may still differ, causing the positional deviation to gradually increase over time. When the positional deviation exceeds the preset deviation range, the unloading position of the unloading trolley may deviate from the receiving part of the placing boom, causing material spillage, interruption of placing, or equipment shutdown.

[0022] This application provides a method and system for controlling the synchronous operation of an unloading vehicle and a placing machine, which is used to adjust the moving speed of the unloading vehicle and the placing machine so that the positional deviation between the two is within a preset deviation range, and the unloading port of the unloading vehicle and the receiving part of the placing machine are aligned.

[0023] like Figure 1 As shown, the material placement system includes an unloading trolley 1, a material placing machine 2, a controller 7, and a data acquisition device, a first drive mechanism, and a second drive mechanism, all of which are signal-connected to the controller 7. The material placement system may also include a main belt 3, which extends along a first direction F1 and is used to transport material from upstream to the location of the unloading trolley 1. The unloading trolley 1 is movably mounted on the main belt 3 or on a track corresponding to the main belt 3. The unloading trolley 1 has a discharge port 11 to discharge material from the main belt 3 downwards to the material placing machine 2.

[0024] The unloading trolley 1 is driven by a first drive mechanism, and the concrete placing machine 2 is driven by a second drive mechanism. The first and second drive mechanisms are two independent drive mechanisms. The first drive mechanism may include a first drive motor, a first reduction mechanism, and unloading trolley wheels, and the second drive mechanism may include a second drive motor, a second reduction mechanism, and concrete placing machine wheels. The first and second drive motors can be controlled by frequency converters, servo drives, or other speed control devices, respectively.

[0025] The controller 7 can acquire the positional deviation of the unloading vehicle 1 and the placing machine 2 through the acquisition device. If the absolute value of the positional deviation is less than or equal to the first deviation value, the unloading vehicle 1 and the placing machine 2 will run at their current speeds without any speed adjustment. If the absolute value of the positional deviation is greater than the first deviation value, the controller 7 can also adjust the moving speed of the unloading vehicle 1 through the first drive mechanism and / or adjust the moving speed of the placing machine 2 through the second drive mechanism, so that the absolute value of the positional deviation is less than or equal to the first deviation value, and so that the unloading port 11 of the unloading vehicle 1 and the receiving part of the placing machine 2 remain in correspondence.

[0026] The controller 7 can adjust the speed of the unloading car 1 and the placing machine 2 through two drive mechanisms according to the synchronous operation control method of the unloading car and the placing machine, so that the two can move in sync, so that the unloading port 11 of the unloading car 1 and the receiving part of the placing machine 2 can remain in correspondence.

[0027] The following is combined Figure 2 This describes the method for synchronous operation control of the unloading car and the concrete placing boom. The control method includes the following steps: Obtain the positional deviation X between unloading vehicle 1 and concrete placing machine 2; If the absolute value of the position deviation X is greater than the first deviation value A, then at least one of the first drive mechanism of the unloading vehicle 1 and the second drive mechanism of the placing machine 2 is adjusted to adjust the moving speed of at least one of the unloading vehicle 1 and the placing machine 2 until the absolute value of the position deviation X is less than or equal to the first deviation value A.

[0028] The positional deviation X can specifically refer to the distance between the discharge port 11 of the unloading vehicle 1 and the receiving part of the material placing machine 2 along the first direction. If the positional deviation X is within the preset deviation range, that is, the absolute value of the positional deviation is less than or equal to the first deviation value, it means that the material discharged from the discharge port 11 can enter the receiving part of the material placing machine 2.

[0029] To avoid frequent adjustments to the first and second drive mechanisms due to position detection errors, equipment vibration, or short-term speed fluctuations, when the absolute value of the position deviation |X| is less than or equal to the first deviation value A, the unloading vehicle 1 and the placing machine 2 are considered to be in an allowable synchronous operation state. The first and second drive mechanisms maintain their current operating state or run at the preset initial speed without additional speed correction. The range defined by the first deviation value A can be called the control dead zone or the preset deviation range.

[0030] The first deviation value A can be set according to the size of the discharge port 11, the width of the material feeding belt or receiving part of the material feeder, the operating speed of the equipment, the position detection accuracy, and the allowable risk of material spillage. For example, when the receiving part of the material feeder 2 is large or the operating speed of the equipment is low, the first deviation value A can be appropriately increased; when the receiving part is small or when higher alignment accuracy is required, the first deviation value A can be appropriately decreased. The first deviation value A can also be dynamically adjusted according to the operating status, rather than being fixed throughout the entire working process.

[0031] If the absolute value of the position deviation |X| is greater than the first deviation value A, then at least one of the first drive mechanism and the second drive mechanism is adjusted to regulate the moving speed of at least one of the unloading car 1 and the placing machine 2 until the absolute value of the position deviation |X| is less than or equal to the first deviation value A. The speed can be adjusted by only one drive mechanism or by both drive mechanisms simultaneously.

[0032] The sign of the position deviation X determines which of the unloading car 1 and the placing machine 2 is in front, and the object to be adjusted and the amount of adjustment are determined based on the magnitude and trend of the position deviation and the adjustable speed range of the two drive mechanisms.

[0033] Furthermore, this control method uses the actual position of the unloading vehicle 1 and the placing machine 2 as feedback during their movement, and adjusts their speed in real time accordingly. The adjustment process is independent of the selection of the first and second drive mechanisms, which can eliminate the influence of motor specifications, output frequency, slip rate, wheel diameter and load differences on the actual walking speed, making the selection of the first and second drive mechanisms more flexible.

[0034] In a concrete placing system, since the unloading trolley 1 is typically relatively lightweight, while the platform, placing belt, and load-bearing structure of the placing boom 2 are significantly heavier, the first and second drive mechanisms can be selected based on the weight, load, wheel diameter, transmission ratio, target speed, acceleration / deceleration performance, and working environment of the corresponding equipment. Their rated power, rated speed, output torque, reduction ratio, and moment of inertia can all differ. For example, the first drive mechanism can use a lower-power, faster-responding motor to allow for precise speed adjustment of the unloading trolley 1, while the second drive mechanism can use a motor with a larger output torque to meet the load-bearing and movement requirements of the placing boom 2.

[0035] Compared to equipping the unloading car 1 and the placing boom 2 with the same drive mechanism, using two independent drive mechanisms adapted to their respective working conditions avoids the procurement costs and inefficient energy consumption caused by using an excessively high-power motor in the light-duty unloading car 1. Furthermore, it reduces the rotational inertia of the unloading car 1, resulting in faster response speeds and higher adjustment resolution during start-up, acceleration, and deceleration. In addition, the high-power drive mechanism on the placing boom 2 side does not need to frequently start and stop due to minor position fluctuations, reducing impact on transmission components, thermal load, and electrical losses. Even if the specifications and operating frequencies of the two drive mechanisms differ, closed-loop control can be implemented using the synchronous operation control method for the unloading car and placing boom provided in this embodiment to ensure synchronized operation of the unloading car 1 and the placing boom 2.

[0036] By using feedback from the actual positions of the unloading car 1 and the placing boom 2 and adjusting accordingly to achieve synchronous movement, a foundation is provided for continuous feeding and uniform material distribution. This reduces frequent start-ups and shutdowns during repositioning, lowers operating energy consumption and equipment wear, and effectively improves material distribution efficiency. Furthermore, the unloading car 1 and the placing boom 2 do not need to use identical drive mechanisms, nor do they need to operate at the same frequency. The two independent drive mechanisms can each utilize their respective drive capabilities tailored to their operating conditions, thereby effectively reducing costs and energy consumption.

[0037] In this embodiment, there are no restrictions on how to obtain the positional deviation between the unloading vehicle 1 and the placing machine 2. The obtaining device may include a first encoder 5 and a second encoder 6. The first encoder 5 is used to obtain the first position signal of the unloading vehicle 1, and the second encoder 6 is used to obtain the second position signal of the placing machine 2. The controller 7 determines the positional deviation between the unloading vehicle 1 and the placing machine 2 based on the difference between the first position signal and the second position signal.

[0038] Position coding strips can be installed between the main belt 3 and the material pit 4, near the running track of the unloading car 1, and near the running track of the placing boom 2. One end of the main belt 3 or the equipment track serves as the starting point of the 0mm position coding, and the position coding increases sequentially along the first direction F1. The end point of the position coding is set at the other end of the equipment's running range. The first encoder 5 is installed on the unloading car 1, and the second encoder 6 is installed on the placing boom 2. The first encoder 5 and the second encoder 6 can read the corresponding position coding strips respectively to obtain the real-time positions of the unloading car 1 and the placing boom 2.

[0039] Alternatively, the relative distance between the unloading trolley 1 and the placing boom 2 can be detected by a distance sensor, and the position deviation can be determined based on the difference between the detected relative distance and a preset distance. The distance sensor can be installed on one of the unloading trolley 1 and the placing boom 2, facing the other, or corresponding detection units can be installed on both the unloading trolley 1 and the placing boom 2. The distance sensor can be a laser rangefinder, an ultrasonic rangefinder, a radar sensor, or other detection device capable of detecting relative distance.

[0040] The position deviation X is calculated based on the first current position X1 and the second current position X2. The position deviation satisfies X = X1 - X2, where X > 0 indicates that the unloading vehicle 1 is located in front of the placing boom 2 along the first direction F1, and X < 0 indicates that the unloading vehicle 1 is located behind the placing boom 2 along the first direction F1. Alternatively, X = X2 - X1 can also be used to calculate the position deviation; simply adjust the correspondence between the positive and negative values ​​of the position deviation and the relative positions of the equipment accordingly.

[0041] To employ control strategies of varying intensity based on the magnitude of the positional deviation, this embodiment further defines a second deviation value D, a third deviation value B, a fourth deviation value C, and a fifth deviation value E. The first deviation value A, the third deviation value B, the fourth deviation value C, the second deviation value D, and the fifth deviation value E increase sequentially, i.e., 0... <A<B<C<D<E。

[0042] Each deviation value can be set according to the equipment scale, the dimensional difference between the discharge port 11 and the receiving part, the maximum speed and acceleration of the drive mechanism, the control cycle, and the safety margin. This embodiment does not limit the specific values ​​of each deviation value. To avoid repeated switching of position deviations near the boundaries of adjacent intervals, a hysteresis value or delay time can also be set for each interval, that is, different switching thresholds are used for entering and exiting a higher-level adjustment mode.

[0043] When the absolute value of the position deviation is greater than the first deviation value and less than or equal to the second deviation value (i.e., A < |X| ≤ D), the first speed adjustment mode can be activated. The first speed adjustment mode mainly eliminates the position deviation by adjusting one of the first drive mechanism and the second drive mechanism.

[0044] Since the mass and inertia of the unloading vehicle 1 are relatively small, the first drive mechanism can be adjusted first to make the unloading vehicle 1 catch up with the placing boom 2 or slow down and wait for the placing boom 2. However, if the first drive mechanism reaches the speed limit, the unloading vehicle 1 is not suitable for further speed adjustment, or other working conditions, the second drive mechanism can be adjusted instead.

[0045] The first speed adjustment mode may include a first adjustment sub-mode. When the absolute value of the position deviation is greater than the first deviation value and less than or equal to the third deviation value (i.e., A < |X| ≤ B), the position deviation is small, and the controller 7 can use proportional speed correction to ensure that the moving speed V1 of the adjusted equipment satisfies: V1=k V0; Where V0 is the current speed of the regulated equipment when entering the first regulation sub-mode, and k is the speed regulation coefficient. The speed regulation coefficient k can be determined based on the direction and magnitude of the position deviation X, the rate of change of the position deviation, the current speed, and the load status. Its value range is not limited, as long as it can make the absolute value of the position deviation tend to decrease. k can remain constant during a single regulation process, or it can change dynamically with the real-time position deviation.

[0046] For example, when X is negative and the unloading trolley 1 is slightly behind the placing boom 2, the speed of the unloading trolley 1 can be increased; in a specific example, k = 1.05. When X is positive and the unloading trolley 1 is slightly ahead of the placing boom 2, the speed of the unloading trolley 1 can be decreased; in a specific example, k = 0.95. The values ​​of 1.05 and 0.95 are only used to illustrate the principle of proportional control and do not constitute a limitation on the speed adjustment coefficient k. The first adjustment sub-mode can implement gradual corrections when the deviation is small, avoiding sudden speed changes that could cause equipment vibration or reverse overshoot of position deviation.

[0047] The first speed adjustment mode may also include a second adjustment sub-mode. When the absolute value of the position deviation is greater than the third deviation value and less than or equal to the fourth deviation value (i.e., B < |X| ≤ C), the adjustment intensity of the first adjustment sub-mode may be insufficient. The controller 7 can continuously correct the speed of the adjusted equipment according to the acceleration so that the moving speed V2 satisfies: V2=V0+a t; Where V0 is the initial speed of the regulated device when entering the second regulation sub-mode (e.g., V0=V1), a is the acceleration, and t is the regulation duration. The acceleration a can be determined based on the direction and magnitude of the position deviation, and can be positive, negative, or zero. When it is necessary to increase the speed of the regulated device, a is taken as a value that increases the speed; when it is necessary to decrease the speed of the regulated device, a is taken as a value that decreases the speed.

[0048] The amplitude of acceleration 'a' can be set according to the initial velocity V0, for example, by a predetermined proportion and time unit of the initial velocity V0, or it can be adjusted in real time according to the absolute value or rate of change of the position deviation. The adjustment duration 't' can be obtained by accumulating the control cycle at the millisecond level. Through the second adjustment sub-mode, it is possible to adjust the speed continuously under moderate position deviations, which, compared to changing the speed all at once, balances correction speed and operational smoothness.

[0049] The first speed adjustment mode may also include a third adjustment sub-mode. When the absolute value of the position deviation is greater than the fourth deviation value and less than or equal to the second deviation value (i.e., C < |X| ≤ D), the position deviation further increases, and the controller 7 can adjust the moving speed of the adjusted equipment using an acceleration a(t′) that varies with time. The complete speed relationship can be expressed as: V3=V0+ dt; Where V0 is the initial speed of the regulated equipment when entering the third regulation sub-mode (e.g., V0=V2), a is the acceleration, and t is the regulation duration. The acceleration a can change with time t, specifically based on the real-time position deviation, the rate of change of position deviation, the current speed, and the remaining adjustable speed range, and can be positive, negative, or zero. In the case of using discrete control cycles, the target speed can also be obtained by successively accumulating the acceleration and cycle duration of each control cycle.

[0050] The third adjustment sub-mode can employ linear increase, linear decrease, piecewise change, limit slope change, or other smooth acceleration curves. For example, when the position deviation is large, a large acceleration is initially used to quickly reduce the deviation, and then the acceleration is gradually reduced as the deviation approaches a smaller range to reduce the risk of overshoot. Compared to fixed proportion or fixed acceleration adjustment, the third adjustment sub-mode provides more flexible adjustment capabilities under larger deviations.

[0051] During the execution of the first speed adjustment mode, the controller 7 continuously updates the position deviation X. If the position deviation decreases from a larger range to a smaller range, it can switch from the third adjustment sub-mode to the second adjustment sub-mode, and then back to the first adjustment sub-mode. When |X|≤A, it exits speed adjustment and maintains the current speed or restores the preset initial speed. If the position deviation continues to increase during the adjustment process, it can switch to a sub-mode with a higher adjustment intensity.

[0052] When the absolute value of the position deviation is greater than the second deviation value and less than or equal to the fifth deviation value (i.e., D < |X| ≤ E), the second speed adjustment mode can be activated. At this time, adjusting only one device may not be enough to eliminate the position deviation in a short time. The controller 7 can simultaneously adjust the first drive mechanism and the second drive mechanism, so that the unloading car 1 and the placing machine 2, the one located at the front decelerates and the one located at the rear accelerates, in order to quickly achieve synchronization.

[0053] When X < -D, the unloading trolley 1 is significantly behind the placing boom 2, and the first drive mechanism may be close to the maximum permissible speed. The controller 7 can reduce the moving speed of the placing boom 2 while keeping the unloading trolley 1 accelerating or running at high speed, so that the placing boom 2 waits for the unloading trolley 1. When X > D, the unloading trolley 1 is significantly ahead of the placing boom 2. If the unloading trolley 1 cannot continue to decelerate in a short time, the moving speed of the placing boom 2 can be increased so that the placing boom 2 catches up with the unloading trolley 1.

[0054] The second speed regulation mode, through the coordinated control of two independent drive mechanisms, can fully utilize the speed regulation margin of each device, preventing the position deviation from continuing to expand after a single drive mechanism reaches its upper or lower speed limit. For the concrete placing machine 2 with a large inertia, mechanical impact can be reduced by limiting acceleration, setting the slope of speed change, or using smoothing filtering; for the unloading car 1 with a smaller inertia, a faster regulation response can be adopted.

[0055] When the absolute value of the position deviation is greater than the fifth deviation value (i.e., |X|>E), the third speed adjustment mode can be activated. This state indicates that the discharge port 11 is approaching or has already posed a risk of moving out of the receiving section. The controller 7 controls the unloading trolley or placing machine 2 located in front along the first direction F1 to stop moving, allowing the equipment located behind to continue moving and reduce the position deviation. Specifically, when X<-E, the placing machine 2 is located in front of the unloading trolley 1, and the speed of the placing machine 2 can be adjusted to zero through the second drive mechanism; when X>E, the unloading trolley 1 is located in front of the placing machine 2, and the speed of the unloading trolley 1 can be adjusted to zero through the first drive mechanism.

[0056] When stopping the equipment located at the front, a zero-speed command can be output directly, or the speed can be gradually reduced to zero according to a preset deceleration rate to reduce the impact of sudden stop. Controller 7 can also output alarm signals synchronously and limit the upstream feed rate as needed. When the position deviation returns to the first deviation range, i.e., |X|≤A, the unloading car 1 and the placing boom 2 can be restored to the preset initial speed or the synchronization target speed can be recalculated, allowing the two devices to continue operating synchronously.

[0057] The aforementioned first, second, and third speed adjustment modes form a multi-level control strategy. For small deviations, slight speed adjustment on one side is the primary method; for medium deviations, the adjustment intensity is increased; for large deviations, both drive mechanisms work together to adjust; and when the safety threshold is exceeded, the front-side equipment is stopped. This avoids frequent large-scale speed adjustments under minor deviations and also prevents the material outlet 11 from separating from the receiving section when the deviation increases rapidly.

[0058] like Figure 1 As shown, the material feeder 2 is provided with a first material feeder 21 and a second material feeder 22. One end of the first material feeder 21 is located below the discharge port 11 and can be used directly as a receiving part, or a hopper can be set as a receiving part. The material first falls into the hopper and is then guided by the hopper to the first material feeder 21. The second material feeder 22 is located below the first material feeder 21 and is used to receive the material output by the first material feeder 21 and transport the material to the material pit 4.

[0059] The first fabric belt 21 and the second fabric belt 22 form a double-layer fabric structure. The second fabric belt 22 can move relative to the first fabric belt 21 along a second direction F2, which is perpendicular to or intersects with the first direction F1. The second fabric belt 22 can also change the material conveying direction, for example, switching between forward and reverse conveying states. Thus, while the fabric placing machine 2 moves along the first direction F1, the second fabric belt 22 can adjust the unloading position and switch the conveying direction along the second direction F2, allowing the material to cover different areas within the material pit 4, which helps to improve the fabric coverage and the uniformity of material accumulation.

[0060] Controller 7 can be a programmable logic controller, industrial computer, embedded controller, or other device with data processing and control output capabilities. For example... Figure 3 As shown, the controller 7 may include an input / output module 71, a communication module 72, a power supply 73, and a CPU 74. The power supply 73 is used to supply power to each module of the controller 7, and the CPU 74 is used to perform position calculation, interval judgment, speed calculation, mode switching, alarm and interlock control.

[0061] The controller 7 can be installed on the unloading vehicle 1. The position signal of the first encoder 5 can be fed back to the input / output module 71, and the position signal of the second encoder 6 can be connected to the communication module 72 via communication. Alternatively, the controller 7 can be set up independently, and the first encoder 5 and the second encoder 6 can be connected to the communication module 72 respectively.

[0062] The operating status of the first and second drive mechanisms can also be sent to the CPU 74 via the communication module 72. The CPU 74 generates control commands based on the position signals and equipment status signals, and sends them to the corresponding drive mechanisms via the input / output module 71 and / or the communication module 72.

[0063] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0064] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0065] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0066] The above are merely preferred embodiments of this application. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for controlling the synchronous operation of an unloading vehicle and a concrete placing boom, characterized in that, include: Obtain the positional deviation between the unloading vehicle and the concrete placing boom; If the absolute value of the position deviation is greater than the first deviation value, then at least one of the first drive mechanism of the unloading vehicle and the second drive mechanism of the placing machine is adjusted to adjust the moving speed of at least one of the unloading vehicle and the placing machine until the absolute value of the position deviation is less than or equal to the first deviation value.

2. The method for synchronous operation control of the unloading vehicle and the placing boom according to claim 1, characterized in that, If the absolute value of the position deviation is greater than the first deviation value, then at least one of the first drive mechanism of the unloading vehicle and the second drive mechanism of the placing boom is adjusted to adjust the moving speed of at least one of the unloading vehicle and the placing boom until the absolute value of the position deviation is less than or equal to the first deviation value, including: If the absolute value of the position deviation is greater than a first deviation value and less than or equal to a second deviation value, then a first speed adjustment mode is activated, the first speed adjustment mode including: Adjust the first drive mechanism or the second drive mechanism to adjust the moving speed of the unloading vehicle or the placing machine until the absolute value of the position deviation is less than or equal to the first deviation value; The second deviation value is greater than the first deviation value.

3. The method for synchronous operation control of the unloading vehicle and the placing boom according to claim 2, characterized in that, The first speed adjustment mode includes a first adjustment sub-mode and a second adjustment sub-mode; If the absolute value of the position deviation is greater than the first deviation value and less than or equal to the third deviation value, then the first adjustment sub-mode is performed: the first drive mechanism or the second drive mechanism is adjusted so that the moving speed V1 of the unloading vehicle or the placing machine satisfies: V1=k V0, where V0 is the current speed and k is the speed adjustment coefficient; If the absolute value of the position deviation is greater than the third deviation value and less than or equal to the fourth deviation value, then the second adjustment sub-mode is performed: the first drive mechanism or the second drive mechanism is adjusted so that the moving speed V2 of the unloading vehicle or the placing machine satisfies: V2=V0+a t, where a is the acceleration and t is the settling time.

4. The method for synchronous operation control of the unloading vehicle and the placing boom according to claim 3, characterized in that, The first speed adjustment mode also includes a third adjustment sub-mode; If the absolute value of the position deviation is greater than the fourth deviation value and less than or equal to the second deviation value, then the third adjustment sub-mode is performed: the first drive mechanism or the second drive mechanism is adjusted so that the moving speed V3 of the unloading vehicle or the placing machine satisfies: V3=V0+ dt, where a is the acceleration, To adjust the duration; The first deviation value, the third deviation value, the fourth deviation value, and the second deviation value increase sequentially.

5. The method for synchronous operation control of the unloading car and the placing machine according to any one of claims 2-4, characterized in that, If the absolute value of the position deviation is greater than the second deviation value and less than or equal to the fifth deviation value, then a second speed adjustment mode is activated. The second speed adjustment mode includes: Adjust the first drive mechanism and the second drive mechanism to adjust the moving speed of the unloading vehicle and the placing machine until the absolute value of the position deviation is less than or equal to the first deviation value; The fifth deviation value is greater than the second deviation value.

6. The method for synchronous operation control of the unloading vehicle and the placing boom according to claim 5, characterized in that, If the absolute value of the position deviation is greater than the fifth deviation value, then a third speed adjustment mode is activated, the third speed adjustment mode including: Adjust the drive mechanism for driving the unloading car or the placing machine located at the front, so that the unloading car or the placing machine located at the front stops, and the unloading car or the placing machine located at the rear continues to move.

7. The method for synchronous operation control of the unloading car and the placing boom according to any one of claims 1-4, characterized in that, The acquisition of the positional deviation between the unloading vehicle and the concrete placing machine includes: Obtain the first current position of the unloading vehicle and the second current position of the concrete placing machine; The position deviation is calculated based on the difference between the first current position and the second current position.

8. A fabric system, characterized in that, It includes an unloading vehicle, a concrete placing machine, a controller, and a signal acquisition device, a first drive mechanism, and a second drive mechanism respectively connected to the controller. The first driving mechanism is used to drive the unloading vehicle to move along a first direction. The unloading vehicle has a discharge port. The second driving mechanism is used to drive the material placing machine to move along the first direction. The material placing machine is provided with a receiving part, which can receive the material discharged from the discharge port. The controller can acquire the positional deviations of the unloading vehicle and the concrete placing machine through the acquisition device; If the absolute value of the position deviation is less than or equal to the first deviation value, the unloading vehicle and the placing boom will run at their current speeds respectively. If the absolute value of the position deviation is greater than the first deviation value, the controller can also adjust the moving speed of the unloading vehicle through the first drive mechanism, and / or adjust the moving speed of the placing machine through the second drive mechanism, so that the absolute value of the position deviation is less than or equal to the first deviation value.

9. The fabric system according to claim 8, characterized in that, The acquisition device includes a first encoder and a second encoder. The controller can acquire the first position signal of the unloading vehicle through the first encoder, and the controller can acquire the second position signal of the fabric placing machine through the second encoder. The controller can calculate the position deviation based on the first position signal and the second position signal.

10. The fabric system according to claim 8 or 9, characterized in that, The fabric feeding machine includes a first fabric belt and a second fabric belt. The second fabric belt is located below the first fabric belt and can move relative to the first fabric belt along a second direction, which is perpendicular to the first direction.

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