CN105404300B - Expect storehouse unloading control method, apparatus and system - Google Patents
Expect storehouse unloading control method, apparatus and system Download PDFInfo
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- CN105404300B CN105404300B CN201510824716.8A CN201510824716A CN105404300B CN 105404300 B CN105404300 B CN 105404300B CN 201510824716 A CN201510824716 A CN 201510824716A CN 105404300 B CN105404300 B CN 105404300B
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Abstract
The invention provides one kind material storehouse unloading control method, apparatus and system, wherein, this method includes：Obtain the positional information of dummy car；By the positional information of dummy car compared with the preceding value in the position section in each material storehouse of demarcation, first moving direction of the dummy car between the material storehouse of variety classes material is determined；The dummy car arrives sub-material storehouse corresponding with the preceding value in the position section according to first moving direction walking；Obtain the controlling level information in the sub-material storehouse；By the controlling level information compared with the controlling level higher limit of sub-material storehouse, second moving direction of the dummy car in the sub-material reservoir area including one species material is determined；According to second moving direction run to controlling level be not up to higher limit position carry out discharging operations；Wherein, one species material storehouse has one or more adjacent sub-material storehouses successively.Material storehouse automatic discharging is realized by the present invention, accelerates unloading efficiency, accomplishes unattended, the safety and health of support personnel.
Description
Technical field
The present invention relates to material storehouse storage field, specifically, is related to a kind of material storehouse unloading control method, apparatus and system.
Background technology
The major function of stock yard is that outside supplied materials is stored in into stock ground, and some raw materials are located in advance as needed
Reason, then supplies each user.New pinnacle storage warehouse is different from a traditional stock ground, it is necessary to will by the mobile of dummy car
Different materials is separately stored in different sub-material storehouses.Because pinnacle storage warehouse is the space of relative closure, material drop
It is larger, along with dust removing effects are undesirable so that bad environments in material storehouse, hidden trouble is brought to the safety and body of employee.
Therefore, it is necessary to which dummy car can automatically select material storehouse according to supplied materials species, and it is combined with the material position of raw material in material storehouse and unloads automatically
Material, it is unattended so as to realize.
And the automatic discharging problem for being needed in the pinnacle storage warehouse in correlation technique, do not propose effective solution party also
Case.
The content of the invention
The invention provides one kind material storehouse automatic discharging control system and method, to solve to expect environment in storehouse in correlation technique
It is severe, it is necessary to the problem of automatic discharging.
According to an aspect of the invention, there is provided a kind of material storehouse unloading control method, methods described include：Obtain discharging
The positional information of car；By the position section in the material storehouse belonging to material in the positional information of the dummy car and dummy car it is preceding be worth into
Row compares, and determines first moving direction of the dummy car between the material storehouse of variety classes material；The dummy car is according to institute
State the walking of the first moving direction and arrive sub-material storehouse corresponding with the preceding value in the position section；Obtain the controlling level in the sub-material storehouse
Information；By the controlling level information compared with the controlling level higher limit of sub-material storehouse, determine the dummy car including same
The second moving direction in the sub-material reservoir area of one species material；Controlling level is run to according to second moving direction not reach
Discharging operations are carried out to the position of higher limit；Wherein, one species material storehouse has one or more adjacent sub-material storehouses successively.
Alternatively, obtaining the positional information of the dummy car includes：Using the increment being arranged on the dummy car
Type encoder, obtain the position counting information of the dummy car.
Optionally it is determined that first moving direction of the dummy car between the material storehouse of variety classes material includes：According to
To the signal-count of the incremental encoder, the position counting section xi in each material storehouse is demarcated1~xi2；According to the dummy car
Stop to the coasting distance of stopping, setting coefficient of determination K；By material in the dummy car position count value X and dummy car
Affiliated material storehouse counts value xi before section1Compare, determine first moving direction of the dummy car, if | X-xi1|>K, then
The dummy car is moved to xi1Corresponding position；If | X-xi1|≤K, then the dummy car be not required to move.
Alternatively, obtaining the controlling level information in the specified sub-material storehouse includes：The dummy car is measured using level-sensing device
The controlling level in place sub-material storehouse.Optionally it is determined that the dummy car in the sub-material reservoir area of one species material second
Moving direction includes：Sub-material storehouse where the dummy car is corresponded into controlling level h to compare with controlling level higher limit H, determined
Moving direction of the dummy car in the sub-material reservoir area of one species material, if h<H, then the dummy car stopping walking,
Discharging operations are carried out in sub-material base area corresponding to height h, until h >=H；If h >=H, the dummy car walks on to h<H
Position.
Alternatively, in the dummy car walking process, the position by one or more limit switches to the dummy car
Confidence breath is verified.
According to another aspect of the present invention, there is provided one kind material storehouse discharge control apparatus, it is characterised in that described device
Including：First acquisition module, for obtaining the positional information of dummy car；First determining module, for by the position of the dummy car
Confidence is ceased compared with the preceding value in the position section in the material storehouse belonging to material in dummy car, determines the dummy car not of the same race
The first moving direction between the material storehouse of class material；Module is run, for the dummy car according to the first moving direction row
Go to sub-material storehouse corresponding with the preceding value in the position section；Second acquisition module, the material position for obtaining the sub-material storehouse are high
Spend information；Second determining module, for by the controlling level information compared with the controlling level higher limit of sub-material storehouse, it is determined that
Second moving direction of the dummy car in the sub-material reservoir area including one species material；Inversion module, for according to institute
State the second moving direction and run to the position progress discharging operations that controlling level is not up to higher limit；Wherein, one species material storehouse
With one or more adjacent sub-material storehouses successively.
Alternatively, first acquisition module is additionally operable to：Using the incremental encoder being arranged on the dummy car, obtain
Take the position counting information of the dummy car.
Alternatively, first determining module also includes：Unit is demarcated, for according to the letter to the incremental encoder
Number count, demarcate the position counting section xi in each material storehouse1~xi2；Setup unit, for according to dummy car parking to stopping
Coasting distance only, setting coefficient of determination K；First determining unit, for by the dummy car position count value X and discharging
Material storehouse belonging to in-car material counts value xi before section1Compare, determine first moving direction of the dummy car, if | X-
xi1|>K, then the dummy car be moved to xi1Corresponding position；If | X-xi1|≤K, then the dummy car be not required to move.
Alternatively, second acquisition module is additionally operable to the material position in sub-material storehouse where measuring the dummy car using level-sensing device
Highly.
Alternatively, second determining module also includes：Second determining unit, for by sub-material storehouse where the dummy car
Corresponding controlling level h determines the dummy car in the sub-material reservoir area of same material compared with controlling level higher limit H
Moving direction, if h<H, then the dummy car stopping walking, carries out discharging operations, directly in sub-material base area corresponding to height h
To h >=H；If h >=H, the dummy car walks on to h<H position.
Alternatively, in the dummy car walking process, the position by one or more limit switches to the dummy car
Confidence breath is verified.
According to a further aspect of the invention, there is provided one kind material storehouse discharge control system, including：Incremental encoder,
The incremental encoder is arranged on dummy car, and the positional information of dummy car is sent into control system；Level-sensing device, the material
The controlling level information in sub-material storehouse where position meter measures the dummy car, and be to control by the controlling level information transmission
System；Control system, the control system according to the signal-count to the incremental encoder, count by the position for demarcating each material storehouse
Numerical value；The control system receives the positional information of the dummy car, and with the position area in the material storehouse belonging to material in dummy car
Between preceding value compare, control dummy car walking between corresponding material reservoir area；Moreover, the control system receives the material position height
Information is spent, controls the dummy car in same material section, the position that limit value is not up to controlling level is moved.
Alternatively, material storehouse discharge control system also includes one or more limit switches, for the dummy car
Position verifies.
By the present invention, the positional information of dummy car is obtained；By belonging to material in the positional information of dummy car and dummy car
The preceding value in position section in material storehouse be compared, determine first movement side of the dummy car between the material storehouse of variety classes material
To；The dummy car arrives sub-material storehouse corresponding with the preceding value in the position section according to first moving direction walking；Obtain the sub-material
The controlling level information in storehouse；By the controlling level information compared with the controlling level higher limit of sub-material storehouse, the dummy car is determined
The second moving direction in the sub-material reservoir area including one species material；Material position height is run to according to second moving direction
The position that degree is not up to higher limit carries out discharging operations；Wherein, one species material storehouse has one or more adjacent points successively
Expect storehouse.Material storehouse automatic discharging is realized, unloading efficiency is accelerated, accomplishes unattended, ensured the safety and health of personnel.
Brief description of the drawings
By the way that embodiment is described with reference to accompanying drawings below, features described above of the invention and technological merit will become
More understand and be readily appreciated that.
Fig. 1 is material storehouse unloading control method flow chart according to embodiments of the present invention；
Fig. 2 is the frame diagram of material storehouse discharge control system according to embodiments of the present invention；
Fig. 3 is material storehouse distribution map according to embodiments of the present invention；
Fig. 4 is the control flow chart that dummy car according to embodiments of the present invention is walked between different material species material storehouse；
Fig. 5 is the control flow that dummy car according to embodiments of the present invention is walked between the sub-material storehouse in one species material storehouse
Figure；
Fig. 6 is the structured flowchart (one) of material storehouse discharge control apparatus according to embodiments of the present invention；
Fig. 7 is the structured flowchart (two) of material storehouse discharge control apparatus according to embodiments of the present invention；
Fig. 8 is the structured flowchart (three) of material storehouse discharge control apparatus according to embodiments of the present invention.
Embodiment
The embodiment of material storehouse of the present invention unloading control method, apparatus and system described below with reference to the accompanying drawings.
One of ordinary skill in the art will recognize, without departing from the spirit and scope of the present invention, can be with various
Different modes or its combination are modified to described embodiment.Therefore, accompanying drawing and description are inherently illustrative,
It is not intended to limit the scope of the claims.In addition, in this manual, accompanying drawing is drawn not in scale, and it is identical
Reference represent identical part.
In the present embodiment, there is provided one kind material storehouse unloading control method, as shown in figure 1, comprising the following steps：
Step S102, obtain the positional information of dummy car；
Step S104, by the position section in the material storehouse belonging to material in the positional information of dummy car and dummy car it is preceding be worth into
Row compares, and determines first moving direction of the dummy car between the material storehouse of variety classes material；
Step S106, dummy car arrive sub-material storehouse corresponding with the preceding value in position section according to the walking of the first moving direction；
Step S108, obtain the controlling level information in sub-material storehouse；
Step S1010, by controlling level information compared with the controlling level higher limit of sub-material storehouse, determine that dummy car is wrapping
Include the second moving direction in the sub-material reservoir area of one species material；
Step S1012, according to the second moving direction run to controlling level be not up to higher limit position carry out discharging behaviour
Make；
Wherein, one species material storehouse has one or more adjacent sub-material storehouses successively.
By above-mentioned steps, solve the problems, such as that bad environments endanger personal security and healthy, dependence in the storage warehouse of pinnacle
Automatic discharging control method, can accomplish unattended, accelerate unloading efficiency.
Step S102 is related to the positional information for obtaining dummy car, and in one alternate embodiment, step S102 is to increase
Amount type encoder is arranged on the wheel of dummy car, as vehicle wheel rotation outputs signals to PLC control system, PLC control system
The signal of incremental encoder is received, the position for determining dummy car is counted by high speed counting module.
Step S104 is related to expecting the counting demarcation between reservoir area, and in one alternate embodiment, step S104 is to use PLC
Control system demarcates the position counting value in each material storehouse according to the signal-count to the incremental encoder, and by dummy car
Positional information determines dummy car in difference compared with the preceding value in the position section in the material storehouse belonging to material in dummy car
The first moving direction between the material storehouse of species material.
Step S106 control dummy car walkings are to sub-material storehouse corresponding to the preceding value in position section, in an alternative embodiment
In, step S106 it is determined that dummy car variety classes material material storehouse between the first moving direction after, PLC control system control
Corresponding material library section is arrived in dummy car walking processed.
Step S108 obtains the controlling level information in sub-material storehouse, and in one alternate embodiment, step S108 is to use thunder
Measure the controlling level in dummy car position sub-material storehouse in real time up to level-sensing device, the radar level gauge is installed on dummy car discharge port
Inner side, controlling level information is real-time transmitted to PLC control system.
Step S1010 determines whether that some position in same material section carries out discharging, in an alternative embodiment
In, step S1010 is the signal according to the radar level gauge on the inside of dummy car discharge port using PLC control system, and
Controlling level higher limit is compared, and control dummy car is not up to limit value in same material section to controlling level
Position is moved, and reaches target discharge position.
In one alternate embodiment, in step S1012, dummy car runs to controlling level not according to the second moving direction
Reach the position of higher limit, and carry out discharging operations.
Illustrated below for a specific alternative embodiment.As shown in Figure 2 and Figure 3, the defective material storehouse system of stock yard one
The material storehouse of 8 kinds of materials is configured with, every kind of material storehouse includes sub-material storehouse again.One defective material storehouse overall length (dummy car stroke) is 610 meters.At this
Material transportation direction is set in embodiment as just, opposite direction is negative, and the positive walking of dummy car is plus counted, and reversely walking is to subtract meter
Number.Respectively expect that the raw materials such as miscellaneous ore deposit, coke are deposited in storehouse respectively according to technological requirement.Encoder is installed on dummy car lateral wheel, is used for
Output pulse signal.Radar level gauge is installed on the inside of dummy car discharge port, and the material position for measuring dummy car position is high
Degree.As shown in figure 3, in one alternate embodiment, each material storehouse is divided into correspondence position count value xi by PLC control system1
~xi2Section, such as x11~x12Corresponding miscellaneous ore deposit, x21~x22Corresponding pelletizing miberal powder, material storehouse is divided into 10 in length direction
Individual section.Using L1 as initial position (encoder pulse count 0), L5 is final position (pressing encoder pulse actual count value)
Location position is carried out to whole defective material storehouse.
According to dummy car parking to the coasting distance stopped, setting coefficient of determination K.For entirely material storehouse, discharging
Car can regard a particle.Because dummy car has certain slip when parking, encoder also can be counted and then, according to
The field condition setting K of dummy car track and dummy car etc., for example, set coefficient of determination K as 50, equivalent to dummy car walking
0.5 meter of distance, it is ensured that dummy car can be stopped in 0.5 meter of section before and after the position, rather than with encoder
Parking spot is being looked in counting always.
It is assumed that it is X that dummy car position, which corresponds to real-time encoder step-by-step counting, when it is determined that supplied materials species
Afterwards, between PLC control system selects material reservoir area corresponding to the material, xi is determined1~xi2Value, for example, when supplied materials is sintering miberal powder
When, PLC control system determines that the position bin count of sintering miberal powder is x81~x82, the region labeling value in sintering deposit powder storehouse
Preceding value be x81.Preceding value xi with encoder pulse real-time counting X with material base area calibration value where the material1It is compared,
Determination flow is as follows：
If | X-xi1|>K, and X<xi1, then dummy car forward direction run to xi1Corresponding position；
If | X-xi1|>K, and X>xi1, then dummy car move backward to xi1Corresponding position；
If | X-xi1|≤K, then show that dummy car in the position of corresponding material, terminates walking.
By above flow decision, dummy car can walk to the xi in material storehouse corresponding to material1Place, every kind of material library can also
Corresponding one or more sub-material storehouses, the walking between several sub-material storehouses according to the height of materials information in sub-material storehouse, it is necessary to sentence
It is fixed, in one alternate embodiment, as shown in figure 5, when dummy car marches to xi1After correspondence position, it is assumed that dummy car institute is in place
It is h to put the corresponding controlling level measured in real time, is compared with actual controlling level h with setting controlling level higher limit H:
If h<H, then dummy car stop walking and in this discharging to h >=H, then dummy car forward direction is walked to h<Continue H positions
Discharging, until | X-xi2|≤K, dummy car stop walking and stopping feeding.
If h >=H, dummy car continues to proceed to h<H.
For clearer description the present embodiment, it is exemplified below, as shown in figure 3, when determination supplied materials is sintering miberal powder
When, PLC control system determines that the position bin count of sintering miberal powder is x81~x82, the region labeling in sintering deposit powder storehouse
The preceding value of value is x81.Encoder pulse real-time counting is X, the preceding value x8 by X with material base area calibration value where the material1Carry out
Compare, set material transportation direction as just, opposite direction is negative, and coefficient of determination is set as 50.
If | X-x81|>50, and X<xi1, then dummy car forward direction run to the x8 in sintering deposit powder storehouse1Corresponding position；
If | X-x81|>50, and X>xi1, then dummy car move backward to the x8 in sintering deposit powder storehouse1Corresponding position；
If | X-x81|≤50, then show dummy car in sintering miberal powder x81Corresponding position, terminate walking.
Dummy car is moved to corresponding material warehouse compartment and postponed, with the controlling level h of actual sintered miberal powder with setting controlling level H
(higher limit) is compared.If h<H, then dummy car stopping are walked and in this discharging until h >=H.Then dummy car is walked forward
To h<H positions continue discharging until | X-x82|≤50, i.e. dummy car has gone to the end in the material section, and dummy car stops row
Walk and stop feeding.
In one alternate embodiment, entirely expecting to be provided with 5 limit switches on the length direction of storehouse, respectively L1, L2,
L3, L4, L5, the position of limit switch can be arranged on different positions according to being actually needed, when dummy car encounters limit switch
When, positional information corresponding to limit switch is sent to PLC control system by limit switch, for example, when dummy car walking limits to L3
When at bit switch, L3 limit circuits are triggered, the positional information where it is sent to PLC control system, PLC controls by L3 limit switches
The positional information that system processed sends the encoder in L3 positional information and dummy car compares, to proofread the position of dummy car letter
Breath.
Above description is only the situation of single supplied materials discharging, and in actual production is various material alternatings.Due to remaining kind
Class material discharge process is similar, and it is not described here in detail, by this material storehouse unloading control method, reaches unattended Full-automatic discharging
Purpose.
Additionally provide a kind of material storehouse discharge control apparatus in the present embodiment, the device is used to realizing above-described embodiment and excellent
Embodiment is selected, had carried out repeating no more for explanation.As used below, term " module " can realize predetermined work(
The combination of the software and/or hardware of energy.
Fig. 6 is the structured flowchart of material storehouse discharge control apparatus according to embodiments of the present invention, as shown in fig. 6, the device bag
Include the first acquisition module 52, the first determining module 54, operation module 56, the second acquisition module 58, the second determining module 510, unload
Expect module 512.
Wherein, the first acquisition module 52 is used for the positional information for obtaining dummy car；First determining module 54, for this to be unloaded
The positional information of truck determines that the dummy car exists compared with the preceding value in the position section in the material storehouse belonging to material in dummy car
The first moving direction between the material storehouse of variety classes material；Module 56 is run, for dummy car according to first moving direction
Walk to sub-material storehouse corresponding with the preceding value in the position section；Second acquisition module 58, the material position for obtaining the sub-material storehouse are high
Spend information；Second determining module 510, for by the controlling level information compared with the controlling level higher limit of sub-material storehouse, really
Second moving direction of the fixed dummy car in the sub-material reservoir area including one species material；Inversion module 512, for basis
Second moving direction runs to the position progress discharging operations that controlling level is not up to higher limit；Wherein, one species material storehouse
With one or more adjacent sub-material storehouses successively.
In addition, first acquisition module 52 obtains the dummy car using the incremental encoder being arranged on the dummy car
Position counting information.
As shown in fig. 7, the first determining module 54 also includes：
Unit 542 is demarcated, for according to the position counting for the signal-count of the incremental encoder, demarcating each material storehouse
Section xi1~xi2；
Setup unit 544, for according to dummy car parking to the coasting distance stopped, setting coefficient of determination K；
First determining unit 546, for the material storehouse belonging to by material in dummy car position count value X and dummy car
Value xi before counting section1Compare, determine first moving direction of the dummy car,
If | X-xi1|>K, then the dummy car be moved to xi1Corresponding position；
If | X-xi1|≤K, then the dummy car be not required to move.
The controlling level in sub-material storehouse where second acquisition module 58 measures the dummy car using radar level gauge.
As shown in figure 8, the second determining module 510 also includes：
Second determining unit 5102, for sub-material storehouse where the dummy car to be corresponded into controlling level h and the controlling level upper limit
Value H compares, and determines moving direction of the dummy car in the sub-material reservoir area of same material,
If h<H, then dummy car stopping walking, discharging operations are carried out in sub-material base area corresponding to height h, until h >=
H；
If h >=H, the dummy car walks on to h<H position.
In addition, in the dummy car walking process, the positional information by one or more limit switches to the dummy car
Verified.
Additionally provide a kind of material storehouse discharge control system in the present embodiment, as shown in Fig. 2 including incremental encoder,
Radar level gauge, PLC control system.Incremental encoder is arranged on the lateral wheel of dummy car, and PLC controls are accessed by cable
System, with vehicle wheel rotation output pulse signal to PLC control system；Radar level gauge is installed in the discharge port of dummy car
Side, the controlling level of dummy car position is measured in real time, it is linked into PLC control system by cable；PLC control system root
According to the signal-count to the incremental encoder, the position counting value in each material storehouse is demarcated；PLC control system receives incremental and compiled
The signal of code device, the position for determining the dummy car is counted by high speed counting module, and combine the position correspondence in each material storehouse
Section is counted, is fed by being fed belt to dummy car, corresponding material section is arrived in control dummy car walking, you can transports material
It is sent to corresponding position；Moreover, signal of the PLC control system according to radar level gauge, controls the dummy car in same material
In section, the position that limit value is not up to controlling level is moved.
In one alternate embodiment, entirely expecting to be provided with 5 limit switches on the length direction of storehouse, respectively L1, L2,
L3, L4, L5, the position of limit switch can be arranged on different positions according to being actually needed, when dummy car encounters limit switch
When, positional information corresponding to limit switch is sent to PLC control system by limit switch, and PLC control system is by limit switch
The positional information that encoder in positional information and dummy car is sent compares, to proofread the positional information of dummy car.
By above-mentioned material storehouse automatic discharging control system, using the pulse signal of incremental encoder, pass through high-speed counting
Module count, whole defective material storehouse is included in a big counting section, each count value corresponds to a dummy car
Position, and by limit switch L1~L5 when it is verified.Solve in the storage warehouse of pinnacle that material drop is larger,
Dust removing effects are undesirable so that in material storehouse the problem of bad environments, by automatic discharging control system, accomplish unattended, energy
Enough accelerate unloading efficiency, and the safety and health of support personnel.
In summary, by the material storehouse automatic discharging control system of the present invention, following technique effect is realized：1. use pair
The mode of incremental encoder step-by-step counting positions dummy car, can monitor the position of dummy car in real time, so as to avoid limit
Blind area between bit switch；
2. to real-time counting value compared with calibration value by way of control the walking of dummy car, it is succinct bright in logic
, easily realize in program；
3. encoder positioning is combined with monitoring material position, the automatic discharging in single material area is realized.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for those skilled in the art
For member, the present invention can have various modifications and variations.Any modification within the spirit and principles of the invention, being made,
Equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (8)
1. one kind material storehouse unloading control method, it is characterised in that methods described includes：
Obtain the positional information of dummy car；
The positional information of the dummy car and the preceding value in the position section in the material storehouse belonging to material in the dummy car are compared
Compared with, determine the dummy car variety classes material material storehouse between the first moving direction；
The dummy car arrives sub-material storehouse corresponding with the preceding value in the position section according to first moving direction walking；
Obtain the controlling level information in the sub-material storehouse；
By the controlling level information compared with the controlling level higher limit of sub-material storehouse, determine the dummy car including same
The second moving direction in the sub-material reservoir area of species material；
According to second moving direction run to controlling level be not up to higher limit position carry out discharging operations；
Wherein, one species material storehouse has one or more adjacent sub-material storehouses successively,
Wherein it is determined that first moving direction of the dummy car between the material storehouse of variety classes material includes：
According to the signal-count to incremental encoder, the position counting section xi in each material storehouse is demarcated1~xi2；
According to dummy car parking to the coasting distance stopped, setting coefficient of determination K；
By value xi before the material storehouse counting section belonging to material in the dummy car position count value X and dummy car1Compare, really
First moving direction of the fixed dummy car,
If | X-xi1|>K, then the dummy car be moved to xi1Corresponding position；
If | X-xi1|≤K, then the dummy car be not required to move,
Wherein it is determined that second moving direction of the dummy car in the sub-material reservoir area of one species material includes：
Sub-material storehouse where the dummy car is corresponded into controlling level h to compare with controlling level higher limit H, determines the dummy car
Moving direction in the sub-material reservoir area of one species material,
If h<H, then the dummy car stopping walking, carries out discharging operations, until h >=H in sub-material base area corresponding to height h；
If h>=H, then the dummy car walk on, and by material in the dummy car position count value X and dummy car
Affiliated material storehouse counts the rear value xi in section2Compare, until | X-xi2|≤K, dummy car stop walking and stopping feeding.
2. according to the method for claim 1, it is characterised in that obtaining the positional information of the dummy car includes：
Using the incremental encoder being arranged on the dummy car, the position counting information of the dummy car is obtained.
3. according to the method for claim 1, it is characterised in that obtain and specify the controlling level information in sub-material storehouse to include：
The controlling level in sub-material storehouse where measuring the dummy car using level-sensing device.
4. according to the method for claim 1, it is characterised in that in the dummy car walking process, pass through one or more
Individual limit switch verifies to the positional information of the dummy car.
5. one kind material storehouse discharge control apparatus, it is characterised in that described device includes：
First acquisition module, for obtaining the positional information of dummy car；
First determining module, for by belonging to material in the positional information of the dummy car and dummy car material storehouse position section
Preceding value be compared, determine the dummy car variety classes material material storehouse between the first moving direction；
Module is run, is walked for the dummy car according to first moving direction to corresponding with the preceding value in the position section
Sub-material storehouse；
Second acquisition module, for obtaining the controlling level information in the sub-material storehouse；
Second determining module, for compared with the controlling level higher limit of sub-material storehouse, the controlling level information to be determined into institute
State second moving direction of the dummy car in the sub-material reservoir area including one species material；
Inversion module, for according to second moving direction run to controlling level be not up to higher limit position carry out discharging
Operation；
Wherein, one species material storehouse has one or more adjacent sub-material storehouses successively,
Wherein, first determining module also includes：
Unit is demarcated, for according to the position counting section xi for the signal-count of incremental encoder, demarcating each material storehouse1~
xi2；
Setup unit, for according to dummy car parking to the coasting distance stopped, setting coefficient of determination K；
First determining unit, for the material storehouse belonging to material in the dummy car position count value X and dummy car to be counted
Value xi before section1Compare, determine first moving direction of the dummy car,
If | X-xi1|>K, then the dummy car be moved to xi1Corresponding position；
If | X-xi1|≤K, then the dummy car be not required to move,
Wherein, second determining module also includes：
Second determining unit, for sub-material storehouse where the dummy car to be corresponded into controlling level h compared with controlling level higher limit H
Compared with, moving direction of the dummy car in the sub-material reservoir area of same material is determined,
If h<H, then the dummy car stopping walking, carries out discharging operations, until h >=H in sub-material base area corresponding to height h；
If h >=H, the dummy car walks on, and by material institute in the dummy car position count value X and dummy car
The material storehouse of category counts the rear value xi in section2Compare, until | X-xi2|≤K, dummy car stop walking and stopping feeding.
6. device according to claim 5, it is characterised in that first acquisition module is additionally operable to：
Using the incremental encoder being arranged on the dummy car, the position counting information of the dummy car is obtained.
7. device according to claim 5, it is characterised in that second acquisition module is additionally operable to measure using level-sensing device
The controlling level in sub-material storehouse where the dummy car.
8. device according to claim 5, it is characterised in that in the dummy car walking process, pass through one or more
Individual limit switch verifies to the positional information of the dummy car.
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| CN106553990B (en) * | 2017-01-24 | 2018-08-07 | 长安大学 | A kind of asphalt loading system and control method based on machine vision |
| CN108861643B (en) * | 2017-05-12 | 2020-10-27 | 中冶长天国际工程有限责任公司 | Automatic uniform discharging control method and device |
| CN107607058B (en) * | 2017-09-26 | 2023-09-26 | 中铁第四勘察设计院集团有限公司 | Automatic residual coal detection system and detection method |
| CN110989485A (en) * | 2019-12-13 | 2020-04-10 | 华电重工股份有限公司 | Hard wire control method, device and equipment for discharging car |
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