CN111538953B - Material identification method, device, equipment and storage medium - Google Patents
Material identification method, device, equipment and storage medium Download PDFInfo
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- CN111538953B CN111538953B CN202010303278.1A CN202010303278A CN111538953B CN 111538953 B CN111538953 B CN 111538953B CN 202010303278 A CN202010303278 A CN 202010303278A CN 111538953 B CN111538953 B CN 111538953B
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Abstract
The invention provides a material identification method, a device, equipment and a storage medium, and belongs to the technical field of material identification. The method comprises the following steps: acquiring pressure data of the dump truck in the unloading operation process; determining pressure data of lifting a preset section number in the process of carrying out unloading operation according to the pressure data; according to the pressure data of the lifting preset section number, adopting a preset identification model to obtain unloading material parameters; and determining the unloading material type of the self-unloading mine car according to the unloading material parameters and the preset parameter threshold. Through unloading material parameters and preset parameter threshold values, the unloading material type of the self-unloading mine car can be determined based on pressure data without installing a camera for photographing, and the accuracy of identifying the self-unloading material of the mine car is improved.
Description
Technical Field
The invention relates to the field of material identification, in particular to a material identification method, a device, equipment and a storage medium.
Background
Dump trucks on mines often transport mineral aggregate according to the needs of the user, the mineral aggregate including: the ore soil, ore, etc., and different kinds of mineral aggregate are not uniform in price at the time of actual calculation, so that it is necessary to determine the kind of mineral aggregate in order to calculate the price.
In the related art, a plurality of cameras are arranged at the pricing points, pictures are shot through the cameras, related equipment can conduct image recognition processing on the pictures, recognition results can be finally obtained, and the price of mineral aggregate is calculated according to the types of mineral aggregate in the recognition results.
However, the image recognition has high requirements on the installation position of the camera, the shot photo is easily influenced by external factors, the definition is insufficient, and the recognition result is inaccurate when the photo is processed by the image recognition.
Disclosure of Invention
The invention aims to provide a material identification method, a device, equipment and a storage medium, which can solve the problem of inaccurate material identification of a dump truck in the prior art.
Embodiments of the present invention are implemented as follows:
in one aspect of the embodiments of the present application, a method for identifying materials is provided, and the method is applicable to a dump truck, and includes:
acquiring pressure data of the dump truck in the unloading operation process;
determining pressure data of lifting a preset number of nodes in the process of carrying out unloading operation according to the pressure data;
according to the pressure data of the lifting preset section number, a preset identification model is adopted to obtain unloading material parameters; the identification model is a model obtained by calculating the corresponding relation of pressure data of the preset section number when the sample material parameters are preset and the sample material parameters correspond to the materials for unloading;
And determining the unloading material type of the dump truck according to the unloading material parameters and a preset parameter threshold.
Optionally, the determining the unloading material type of the dump truck according to the unloading material parameter and a preset parameter threshold includes:
if the unloading material parameter is larger than the preset parameter threshold, determining that the unloading material type is a first material type;
and if the unloading material parameter is smaller than or equal to the preset parameter threshold, determining that the unloading material type is a second material type.
Optionally, the pressure data of the preset number of nodes includes: pressure data of the first section and the second section in the vertical direction; and determining pressure data of lifting a preset number of nodes in the process of carrying out unloading operation according to the pressure data, wherein the pressure data comprises the following steps of:
acquiring a pressure data sequence of a preset duration from the first pressure data which is greater than or equal to a preset pressure threshold value from the pressure data of the unloading operation process;
filtering the pressure data sequence with the preset duration to obtain a filtered pressure data sequence;
determining start-stop pressure data of the first section and start-stop pressure data of the second section according to the filtered pressure data sequence;
Determining pressure data of the first section in the vertical direction according to the pressure data between the start and stop pressure data of the first section, the lifting initial angle corresponding to the first section and the lifting initial angle of the second section in the filtered pressure data sequence;
and determining the pressure data of the second section in the vertical direction according to the pressure data between the start and stop pressure data of the second section, the lifting initial angle corresponding to the first section and the lifting initial angle of the second section in the filtered pressure data sequence.
Optionally, the determining the start-stop pressure data of the first section and the start-stop pressure data of the second section according to the filtered pressure data sequence includes:
determining three pressure data and a time point corresponding to each pressure data according to the filtered pressure data sequence;
and determining the start-stop pressure data of the first section and the start-stop pressure data of the second section according to the three pressure data and the time point corresponding to each pressure data.
Optionally, the determining three pressure data and the time point corresponding to each pressure data according to the filtered pressure data sequence includes:
Performing first-order differential calculation on the filtered pressure data sequence to obtain a target pressure data sequence;
the target pressure data sequence is segmented to obtain a plurality of sub-data sequences and time points corresponding to the sub-data sequences, and data in each sub-data sequence is continuously more than 0;
and determining the first three pressure data from the plurality of sub-data sequences as the three pressure data according to the lifting node number of the dump truck, and determining a time point corresponding to each of the three pressure data.
Optionally, the pressure data of the first section in the vertical direction includes: average pressure data of the first section in a vertical direction;
and determining the pressure data of the first section in the vertical direction according to the pressure data between the start and stop pressure data of the first section, the lifting start angle corresponding to the first section and the lifting start angle of the second section in the filtered pressure data sequence, wherein the determining comprises the following steps:
obtaining pressure data corresponding to each time point of the first section in the vertical direction according to the pressure data of each time point between the start and stop pressure data of the first section, the lifting time length of the first section, the lifting starting angle corresponding to the first section and the lifting starting angle of the second section;
And determining average pressure data of the first section in the vertical direction according to the pressure data corresponding to the plurality of time points of the first section in the vertical direction.
Optionally, the pressure data of the second section in the vertical direction includes: the second section has a standard deviation of pressure in the vertical direction;
and determining the pressure data of the second section in the vertical direction according to the pressure data between the start and stop pressure data of the second section, the lifting start angle corresponding to the first section and the lifting start angle of the second section in the filtered pressure data sequence, wherein the determining comprises the following steps:
calculating pressure data of each time point of the second section in the vertical direction according to the pressure data of each time point between the start and stop pressure data of the second section, the lifting time length of the second section, the lifting starting angle corresponding to the first section and the lifting starting angle of the second section;
and calculating the standard deviation of the pressure of the second section in the vertical direction according to the pressure data of the second section at a plurality of time points in the vertical direction.
Optionally, the filtering processing is performed on the pressure data sequence with the preset duration to obtain a filtered pressure data sequence, which includes:
And filtering the pressure data sequence with the preset duration by adopting a zero-phase filtering method to obtain the filtered pressure data sequence.
Optionally, the pressure data includes: a first set of pressure data and a second set of pressure data; the first group of pressure data is pressure data collected by a pressure sensor on an oil path between the lifting valve and the oil cylinder of the self-discharging car, and the second group of pressure data is pressure data collected by a pressure sensor on an oil path between the lifting valve and the oil pump.
In another aspect of the present application, a material identification device is provided, the device is suitable for a dump truck, and the device includes:
optionally, the device is suitable for a dump truck, and the device comprises:
the acquisition module is used for acquiring pressure data of the dump truck in the unloading operation process;
the determining module is used for determining pressure data of lifting a preset number of nodes in the process of carrying out unloading operation according to the pressure data;
the calculation module is used for obtaining unloading material parameters by adopting a preset identification model according to the pressure data of the lifting preset section number; the identification model is a model obtained by calculating the corresponding relation of pressure data of the preset section number when the sample material parameters are preset and the sample material parameters correspond to the materials for unloading;
The determining module is further used for determining the unloading material type of the dump truck according to the unloading material parameters and a preset parameter threshold.
Optionally, the determining module is further configured to determine that the unloading material type is a first material type if the unloading material parameter is greater than the preset parameter threshold; and if the unloading material parameter is smaller than or equal to the preset parameter threshold, determining that the unloading material type is a second material type.
Optionally, the determining module is further configured to obtain, from the pressure data for executing the unloading operation, a pressure data sequence of a preset duration from the first pressure data greater than or equal to a preset pressure threshold; filtering the pressure data sequence with the preset duration to obtain a filtered pressure data sequence; determining start-stop pressure data of the first section and start-stop pressure data of the second section according to the filtered pressure data sequence; determining pressure data of the first section in the vertical direction according to the pressure data between the start and stop pressure data of the first section, the lifting initial angle corresponding to the first section and the lifting initial angle of the second section in the filtered pressure data sequence; and determining the pressure data of the second section in the vertical direction according to the pressure data between the start and stop pressure data of the second section, the lifting initial angle corresponding to the first section and the lifting initial angle of the second section in the filtered pressure data sequence.
Optionally, the determining module is further specifically configured to determine three pressure data and a time point corresponding to each pressure data according to the filtered pressure data sequence; and determining the start-stop pressure data of the first section and the start-stop pressure data of the second section according to the three pressure data and the time point corresponding to each pressure data.
Optionally, the determining module is further specifically configured to perform a first-order differential calculation on the filtered pressure data sequence to obtain a target pressure data sequence; the target pressure data sequence is subjected to segmentation processing to obtain a plurality of sub-data sequences and time points corresponding to the sub-data sequences, wherein data in each data sequence are continuously more than 0; and determining the first three pressure data from the plurality of sub-data sequences as the three pressure data according to the lifting node number of the dump truck, and determining a time point corresponding to each of the three pressure data.
Optionally, the pressure data of the first section in the vertical direction includes: average pressure data of the first section in a vertical direction; the determining module is further specifically configured to obtain pressure data corresponding to each time point of the first section in the vertical direction according to pressure data of each time point between start-stop pressure data of the first section, lifting duration of the first section, lifting start angle corresponding to the first section, and lifting start angle of the second section; and determining average pressure data of the first section in the vertical direction according to the pressure data corresponding to the plurality of time points of the first section in the vertical direction.
Optionally, the pressure data of the second section in the vertical direction includes: the second section has a standard deviation of pressure in the vertical direction;
the calculation module is further specifically configured to calculate pressure data of each time point of the second section in the vertical direction according to pressure data of each time point between start-stop pressure data of the second section, lifting duration of the second section, lifting start angle corresponding to the first section, and lifting start angle of the second section; and calculating the standard deviation of the pressure of the second section in the vertical direction according to the pressure data of the second section at a plurality of time points in the vertical direction.
Optionally, the obtaining module is further specifically configured to perform filtering processing on the pressure data sequence with the preset duration by using a zero-phase filtering method, so as to obtain the filtered pressure data sequence.
Optionally, the pressure data includes: a first set of pressure data and a second set of pressure data; the first group of pressure data is pressure data collected by a pressure sensor on an oil path between the lifting valve and the oil cylinder of the self-discharging car, and the second group of pressure data is pressure data collected by a pressure sensor on an oil path between the lifting valve and the oil pump.
In another aspect of the embodiments of the present application, there is further provided a material identifying apparatus, including: the material identification device comprises a memory and a processor, wherein the memory stores a computer program capable of running on the processor, and the processor realizes the steps of the material identification method in the first aspect when executing the computer program.
In another aspect of the embodiments of the present application, there is further provided a storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of a method for identifying a material according to the first aspect.
The beneficial effects of this application are:
the embodiment of the invention provides a material identification method, a device, equipment and a storage medium, which are used for acquiring pressure data of a dump truck in the process of unloading operation; determining pressure data of lifting a preset section number in the process of carrying out unloading operation according to the pressure data; according to the pressure data of the lifting preset section number, adopting a preset identification model to obtain unloading material parameters; and determining the unloading material type of the self-unloading mine car according to the unloading material parameters and the preset parameter threshold. The method has the advantages that the material parameters are obtained through lifting pressure data of the preset number of nodes and a preset identification model, the unloading material type of the self-unloading mine car can be determined based on the pressure data without installing a camera for photographing through unloading material parameters and preset parameter thresholds, the pressure data is not easily influenced by external factors, and the accuracy of identifying the self-unloading material of the mine car is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a material identification system according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a material identification method according to an embodiment of the present application;
fig. 3 is a schematic flow chart of a material identification method according to an embodiment of the present application;
fig. 4 is a schematic flow chart of a material identification method according to an embodiment of the present application;
fig. 5 is a schematic view of a scenario of a material identification method according to an embodiment of the present application;
fig. 6 is a schematic flow chart of a material identification method according to an embodiment of the present application;
fig. 7 is a schematic flow chart of a material identification method according to an embodiment of the present application;
fig. 8 is a schematic diagram of an application scenario of a material identification method according to an embodiment of the present application;
fig. 9 is a schematic flow chart of a material identification method according to an embodiment of the present application;
Fig. 10 is a schematic flow chart of a material identification method according to an embodiment of the present application;
fig. 11 is a schematic structural diagram of a material identification device according to an embodiment of the present application;
fig. 12 is a schematic structural diagram of a material identification device according to an embodiment of the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present application, it should be noted that the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
Fig. 1 is a schematic structural diagram of a material identification system provided in an embodiment of the present application, as shown in fig. 1, the material identification system includes: a lift valve 102, an oil cylinder 101, and an oil pump 103.
The oil cylinder 101 and the oil pump 103 are respectively connected with the lifting valve 102 through oil ways, the pressure sensor is arranged on the oil way, and the oil pump 103 preferably adopts a gear pump to provide pressure for the oil cylinder 101 through the lifting valve 102; the oil cylinder 101 controls hydraulic oil to push a carriage of the dump truck to perform lifting work through the pressure provided by the oil pump 103; the lift valve 102 is used to control the operation of the cylinder 101 in accordance with the pressure provided by the oil pump 103. Optionally, the pressure sensor on the oil circuit of the lifting system comprises: a first pressure sensor 104 and/or a second pressure sensor 105; the first pressure sensor 104 is a pressure sensor on the oil path of the lifting valve 102 and the oil cylinder 101 in the lifting system, and the second pressure sensor 105 is a pressure sensor on the oil path of the lifting valve 102 and the oil pump 103 in the lifting system.
The pressure data measured by the first pressure sensor 104 and the second pressure sensor 105 may be subjected to a judgment as to whether the vehicle cabin performs the lifting operation in a subsequent step to improve the validity of the pressure data acquired by the first pressure sensor 104 so as to be processed in accordance with the pressure data acquired by the first pressure sensor 104 in the subsequent step.
The dump truck may be a dump truck capable of operating in a mine, and the lifting operation may be an operation of unloading the load by lifting a carriage of the dump truck.
Fig. 2 is a schematic flow chart of a material identification method provided in an embodiment of the present application, which is applied to a dump truck, and the method includes:
and 201, acquiring pressure data of the dump truck in the unloading operation process.
The pressure data includes: a first set of pressure data and a second set of pressure data.
The first group of pressure data is the pressure data acquired by a first pressure sensor on an oil path between the lifting valve and the oil cylinder of the self-unloading mine car, and the second group of pressure data is the pressure data acquired by a second pressure sensor on the oil path between the lifting valve and the oil pump.
For example: when the self-unloading mine car performs unloading operation, the first pressure sensor measures the pressure generated by the pressure sensor when the oil cylinder performs lifting operation; the second pressure sensor measures the magnitude of pressure generated to the pressure sensor when the oil pump performs a lifting operation. The pressure data may consist of pressure values corresponding to a plurality of time points. If the time taken by the dump truck to execute the unloading operation process is A, the corresponding pressure value of each time point in the first group of pressure data and the second group of pressure data in the A time period is required to be acquired.
It should be noted that, according to the first set of pressure data and the second set of pressure data, whether to execute lifting operation is determined, so that the subsequent step determines pressure data of lifting a preset number of nodes in the process of executing unloading operation.
And 203, obtaining unloading material parameters by adopting a preset identification model according to pressure data of lifting preset nodes.
The identification model is a model obtained by calculating the corresponding relation of preset section number pressure data when the sample material parameters and the sample material parameters correspond to the materials in unloading.
Specifically, the identification model can be that a sample library is built through presetting pressure data of preset sections when sample parameters and corresponding materials are unloaded, a large amount of data in the sample library is trained through adopting a logistic regression method, a sigmoid function is added in the training process through the logistic regression method, a result of the linear regression is input into the sigmoid for training, and the identification model can be further obtained.
And 204, determining the unloading material type of the dump truck according to the unloading material parameters and the preset parameter threshold.
Wherein, the unloading material type of self-discharging mine car includes: the ore and the ore soil may also be other material types, and the embodiment of the invention is not limited in this regard.
Specifically, comparing the obtained unloading material parameters with a preset parameter threshold value to obtain a comparison result, and further determining the material type of the self-unloading car according to the comparison result.
According to the material identification method provided by the embodiment of the invention, the pressure data of the dump truck in the unloading operation process is obtained; determining pressure data of lifting a preset section number in the process of carrying out unloading operation according to the pressure data; according to the pressure data of the lifting preset section number, adopting a preset identification model to obtain unloading material parameters; and determining the unloading material type of the self-unloading mine car according to the unloading material parameters and the preset parameter threshold. The method has the advantages that the material parameters are obtained through lifting pressure data of the preset number of nodes and a preset identification model, the unloading material type of the self-unloading mine car can be determined based on the pressure data without installing a camera for photographing through unloading material parameters and preset parameter thresholds, the pressure data is not easily influenced by external factors, and the accuracy of identifying the self-unloading material of the mine car is improved.
Fig. 3 is a flow chart of a material identification method according to an embodiment of the present application, as shown in fig. 3, the step 204 further includes:
and 2041, if the unloading material parameter is greater than a preset parameter threshold, determining that the unloading material type is a first material type.
The preset parameter threshold value can be set according to user experience, the unloading material parameter is compared with the preset parameter threshold value, and if the unloading material parameter is larger than the preset parameter threshold value, the unloading material type is determined to be the first material type.
For example: the first material type may be defined as ore, the preset threshold value is 0.5, and if the unloading material parameter is greater than 0.5, the unloading material type may be determined as the first material type ore.
And 2042, if the unloading material parameter is smaller than or equal to a preset parameter threshold value, determining that the unloading material type is the second material type.
If the preset parameter threshold is 0.5, the second material type is defined as mineral soil, and the unloading material parameter is calculated to be 0.3, the unloading material parameter is smaller than the preset parameter threshold, and the material type can be determined as mineral soil.
Fig. 4 is a flow chart of a material identification method according to an embodiment of the present application, as shown in fig. 4, the step 202 further includes:
Wherein the pressure data comprises: a first set of pressure data and a second set of pressure data; the first group of pressure data is the pressure data collected by the pressure sensor on the oil path between the lifting valve and the oil cylinder of the self-discharging mine car, and the second group of pressure data is the pressure data collected by the pressure sensor on the oil path between the lifting valve and the oil pump.
Specifically, the first set of pressure data, the second set of pressure data and the preset pressure threshold value are compared, and whether the vehicle is in lifting motion in the unloading operation process is judged according to the comparison result, so that the effectiveness of obtaining a pressure data sequence with preset duration according to the first set of pressure data is ensured, and the error in the follow-up calculation according to the pressure data sequence with the preset duration is reduced.
If the pressure data values in the first set of pressure data and the second set of pressure data are all greater than or equal to the preset pressure threshold, a pressure data sequence with preset duration starting from the first set of pressure data which is greater than or equal to the preset pressure threshold can be obtained.
Referring to fig. 5, fig. 5 is a schematic view of a scenario of a material identification method according to an embodiment of the present application; t is time, mpa is the unit of pressure data; for example: the preset duration may be 40S, and if at time a, the pressure data values in the first set of pressure data and the second set of pressure data are both greater than or equal to the preset pressure threshold, then it may be determined that the vehicle performs lifting motion on the carriage in the unloading operation, and at this time, a pressure data sequence of 40S in the first set of pressure data is acquired from time a.
The filtering process is used for removing noise in the pressure data sequence with preset duration.
Optionally, a zero-phase filtering method is adopted to filter the pressure data sequence with preset duration, and the filtered pressure data sequence is obtained.
Specifically, the forward iterative filtering processing is firstly carried out on the pressure data sequence with the preset duration through a filter to obtain a sequence after the forward iterative filtering processing, and the reverse processing is carried out on the sequence obtained by the backward iterative filtering processing through the same filter, so that the amplitude and phase information of the pressure data sequence with the preset duration are not changed while noise in the pressure data sequence is filtered, and the calculation accuracy is improved.
The start-stop pressure data of the first section refer to pressure data between pressure data corresponding to a starting point of lifting movement of the first section and pressure data corresponding to an ending point of lifting movement of the first section; the start-stop pressure data of the second section refer to pressure data between pressure data corresponding to the start point of lifting movement of the second section and pressure data corresponding to the end point of lifting movement of the second section.
Specifically, the filtered pressure data sequence is processed, and start-stop pressure data of the first section and start-stop pressure data of the second section can be determined according to the processed pressure data, so that calculation can be performed according to the start-stop pressure data of the first section and the start-stop pressure data of the second section in the subsequent steps.
Specifically, according to the pressure data between the start and stop pressure data of the first section, the pressure data corresponding to each time point between the pressure data of the first section starting point and the pressure data of the first section ending point are obtained, and the pressure data of the first section in the vertical direction can be obtained by combining the lifting starting angle corresponding to the first section and the lifting starting angle of the second section.
Specifically, according to the pressure data between the start and stop pressure data of the second section, the pressure data corresponding to each time point between the pressure data of the start point of the second section and the pressure data of the end point of the second section is obtained, and the pressure data of the second section in the vertical direction can be obtained by combining the lifting start angle corresponding to the first section and the lifting start angle of the second section.
Fig. 6 is a flow chart of a material identification method according to an embodiment of the present application, as shown in fig. 6, the step 2023 further includes:
Specifically, according to the filtered pressure data sequence, three pressure data and a corresponding time point of each pressure data can be obtained, so as to calculate in a subsequent step.
Specifically, according to the three pressure data and the corresponding time point of each pressure data, the start-stop pressure data of the first section and the start-stop pressure data of the second section can be obtained by combining the preset time period.
For example: the three obtained pressure data are respectively A1, B2 and C3, wherein time points corresponding to A1, B2 and C3 are respectively T1, T2 and T3, the preset time period can be 2 seconds, a pressure data sequence in a time period of 2 seconds before and after the T1 time point is obtained, and the maximum value and the minimum value of the pressure data in the pressure data sequence in the time period of 2 seconds before and after the T1 time point are obtained, wherein the maximum value is used as the starting point of a first section in the lifting number, and the minimum value can be the end point of the first section.
Fig. 7 is a flow chart of a material identification method according to an embodiment of the present application, as shown in fig. 7, the step 20231 includes:
and 202311, performing first-order differential calculation on the filtered pressure data sequence to obtain a target pressure data sequence.
Because the filtered pressure data sequence is composed of the pressure values corresponding to each of the time points, in order to obtain a stable pressure data sequence, the filtered pressure data sequence can be subjected to first-order differential calculation so as to eliminate linear trend factors and obtain the stable pressure data sequence.
Fig. 8 is a schematic diagram of an application scenario of the material identification method provided in the embodiment of the present application, where the n+1st value is subtracted from the N value in the filtered pressure data sequence, so as to finally obtain a stable pressure data sequence as shown in fig. 8, that is, a target pressure data sequence.
And 202312, carrying out segmentation processing on the target pressure data sequence to obtain a plurality of sub-data sequences and corresponding time points of each sub-data sequence.
Wherein the data in each sub-data sequence is data continuously greater than 0.
And carrying out segmentation processing on the target pressure data sequence to obtain a plurality of sub-data sequences and corresponding time points of each sub-data sequence.
Wherein the data in each word data sequence is data successively greater than 0.
Specifically, the data continuously greater than 0 in the target pressure data sequence is divided into the same segment, so that a plurality of sub-data sequences and corresponding time points of each sub-data sequence can be obtained.
For example: dividing the data continuously greater than 0 in the target pressure data sequence into the same segment, it is assumed that the data can be divided into four segments, namely a (a 1, B1, C1, D1), B (a 2, B2, C2, D2), C (a 3, B3, C3, D3), D (a 4, B4, C4, D4), wherein each data value in each segment of the sub-data sequence is, for example: in A (a 1, b1, c1, d 1), time points corresponding to a1, b1, c1, d1 are respectively t1, t2, t3, t4.
And 202313, determining the first three pressure data from the plurality of sub-data sequences as three pressure data according to the lifting pitch number of the dump truck, and determining a time point corresponding to each of the three pressure data.
Summing the sub data sequences of each segment in the plurality of sub data sequences, recording the middle time point of the segment of sub data sequences, and recording the summation value of each segment of sub data sequences after segmentation and the middle time point corresponding to the segment to form a group of new sub data sequences.
Four sub-data sequences of A (A1, B1, C1, D1), B (a 2, B2, C2, D2), C (a 3, B3, C3, D3) and D (a 4, B4, C4, D4) can be obtained in the above examples, each sub-data sequence is summed up, and the middle time point of each sub-data sequence is determined, so that A (T1, A1) can be obtained, wherein T1 is the middle time point in the sub-data sequence of A, A1 is the sum of sub-data in the sub-data sequence of A, and A1=a1+b1+c1+d1; similarly, a (T1, A1), B (T2, B2), C (T3, C3), D (T4, D4) can be obtained, and ABCD can form a new data sequence M (A1, B2, C3, D4).
And according to the lifting node number of the self-unloading car, determining the maximum three numbers in the new sequence before from the multiple sub-data sequences, selecting the maximum three numbers as the first three pressure data according to the sequence, and determining the time point corresponding to each pressure data in the three pressure data.
For example: the values of A1, B2, C3, D4 obtained in a (A1, B1, C1, D1), B (a 2, B2, C2, D2), C (a 3, B3, C3, D3), D (a 4, B4, C4, D4) in the plurality of sub-data sequences are compared, and the first three values are sorted in order from the top to the bottom, and the respective corresponding time points, for example, the first three values are A1, B2, C3, and the corresponding time points are T1, T2, T3 obtained in the above example, respectively.
T1, T2, and T3 are intermediate values of time for each of the sub-sequences a (A1, B1, C1, d 1), B (a 2, B2, C2, d 2), and C (a 3, B3, C3, d 3) corresponding to the corresponding A1, B2, and C3, respectively.
Fig. 9 is a flow chart of a material identification method according to an embodiment of the present application, as shown in fig. 9, the step 2024 includes:
the pressure data of the first section in the vertical direction includes: average pressure data of the first section in the vertical direction.
Specifically, according to the pressure data of each time point between the start and stop pressure data of the first section, the lifting time length of the first section, the lifting start angle corresponding to the first section, and the lifting start angle of the second section, the pressure data corresponding to each time point in the vertical direction of the first section is calculated by referring to the following formula.
P 1 ＝P 1 /cos(θ 1 +t i *(θ 2 -θ 1 )/t1
Wherein, p1 is the pressure value corresponding to each time point in the first section lifting pressure data sequence, ti is the time point corresponding to the pressure value, t1 is the total time of the first section time sequence, θ 1 Is the first section lifting initial angle theta 2 The second lifting initial angle is the initial angle of each section, and the initial angle of each section is a preset parameter. According to the formula, the pressure data of each time point in the vertical direction of the first section in the pressure data sequence during lifting of the first section can be obtained by calculation.
And calculating average pressure data of the first section in the vertical direction according to the lifting time of the first section and the pressure data corresponding to a plurality of time points of the first section in the vertical direction.
For example: the lifting time of the first section is T, the corresponding pressure data of the first section in the vertical direction at a plurality of time points is (a, b, c, d, e, f, g), and then the average pressure data of the first section in the vertical direction is: (a+b+c+d+e+f+d)/T. A is a time point M corresponding to pressure data in the vertical direction; b is N at the time point corresponding to the pressure data in the vertical direction; the lift duration is the difference between M and N.
Fig. 10 is a flow chart of a material identification method according to an embodiment of the present application, as shown in fig. 10, the step 2025 includes:
Specifically, according to the pressure data of each time point between the start and stop pressure data of the second section, the lifting time length of the second section, the lifting start angle corresponding to the first section, and the lifting start angle of the second section, the pressure data corresponding to each time point in the vertical direction of the second section is calculated by referring to the following formula.
P 2 ＝P 2 /cos(θ 1 +t i *(θ 2 -θ 1 )/t2)
Wherein p2 is the pressure value corresponding to each time point in the second section of lifting pressure data sequence, ti is the time point corresponding to the pressure value, t2 is the total time of the second section of pressure data sequence, θ 1 Is the first section lifting initial angle theta 2 The second lifting initial angle is the initial angle of each section, and the initial angle of each section is a preset parameter. And calculating according to the formula, so as to obtain the pressure data of the second section at each time point in the vertical direction in the pressure data sequence during lifting of the second section.
Specifically, according to the pressure data of the second section corresponding to a plurality of times in the vertical direction, a standard deviation calculation formula is adopted, and finally, the pressure standard deviation of the second section in the vertical direction can be obtained.
For example: if the pressure data of a plurality of time points in the second lifting pressure data sequence corresponds to the pressure in the vertical direction and is N (X1, X2, X3 and X4), wherein X1, X2, X3 and X4 are the pressures which are correspondingly converted to the pressure in the vertical direction by the pressure data of each time point, and the standard deviation of X1, X2, X3 and X4 is calculated according to the standard deviation calculation formula, so that the standard deviation of the pressure after the second lifting is obtained.
The accuracy of calculating the unloading material parameters can be improved by calculating the pressure standard deviation after the second calculation, and the accuracy of identifying the unloading materials of the mine car is further improved.
Fig. 11 is a schematic structural diagram of a material identification device provided in an embodiment of the present application, as shown in fig. 11, the device includes:
an acquisition module 301, configured to acquire pressure data of the dump truck during a unloading operation;
the determining module 302 is configured to determine pressure data of lifting a preset number of nodes in a process of performing a unloading operation according to the pressure data;
The calculation module 303 is configured to obtain unloading material parameters by adopting a preset identification model according to pressure data of lifting a preset number of nodes; the identification model is a model obtained by calculating the corresponding relation of preset section number pressure data when the sample material parameters are preset and the sample material parameters correspond to the materials for unloading;
the determining module 302 is further configured to determine a dump truck unloading type according to the dump truck unloading parameters and the preset parameter threshold.
Optionally, the determining module 302 is further configured to determine that the unloading material type is the first material type if the unloading material parameter is greater than a preset parameter threshold; and if the unloading material parameter is smaller than or equal to the preset parameter threshold, determining that the unloading material type is the second material type.
Optionally, the determining module 302 is further configured to obtain, from the pressure data for executing the unloading operation, a pressure data sequence of a preset duration from the first pressure data greater than or equal to the preset pressure threshold; filtering the pressure data sequence with preset duration to obtain a filtered pressure data sequence; determining start-stop pressure data of the first section and start-stop pressure data of the second section according to the filtered pressure data sequence; determining pressure data of the first section in the vertical direction according to pressure data between start and stop pressure data of the first section, a lifting start angle corresponding to the first section and a lifting start angle of the second section in the filtered pressure data sequence; and determining the pressure data of the second section in the vertical direction according to the pressure data between the start and stop pressure data of the second section, the lifting start angle corresponding to the first section and the lifting start angle of the second section in the filtered pressure data sequence.
Optionally, the determining module 302 is further specifically configured to determine three pressure data and a time point corresponding to each pressure data according to the filtered pressure data sequence; and determining the start-stop pressure data of the first section and the start-stop pressure data of the second section according to the three pressure data and the corresponding time point of each pressure data.
Optionally, the determining module 302 is further specifically configured to perform a first-order differential calculation on the filtered pressure data sequence to obtain a target pressure data sequence; segmenting the target pressure data sequence to obtain a plurality of sub-data sequences and time points corresponding to the sub-data sequences, wherein data in each data sequence is continuously more than 0; and determining the first three pressure data from the plurality of sub-data sequences as three pressure data according to the lifting node number of the dump truck, and determining a time point corresponding to each of the three pressure data.
Optionally, the pressure data of the first section in the vertical direction includes: average pressure data of the first section in the vertical direction; the determining module 302 is further specifically configured to obtain pressure data corresponding to each time point in the vertical direction of the first section according to the pressure data of each time point between the start and stop pressure data of the first section, the lifting duration of the first section, the lifting start angle corresponding to the first section, and the lifting start angle of the second section; and determining average pressure data of the first section in the vertical direction according to the pressure data corresponding to the plurality of time points of the first section in the vertical direction.
Optionally, the pressure data of the second section in the vertical direction includes: the second section has a standard deviation of pressure in the vertical direction;
the calculating module 303 is further specifically configured to calculate pressure data of the second section at each time point in the vertical direction according to pressure data of each time point between start-stop pressure data of the second section, a lifting duration of the second section, a lifting start angle corresponding to the first section, and a lifting start angle of the second section; and calculating the standard deviation of the pressure of the second section in the vertical direction according to the pressure data of the second section at a plurality of time points in the vertical direction.
Optionally, the obtaining module 301 is further specifically configured to perform filtering processing on the pressure data sequence with the preset duration by using a zero-phase filtering method, so as to obtain a filtered pressure data sequence.
Optionally, the pressure data includes: a first set of pressure data and a second set of pressure data; the first group of pressure data is the pressure data collected by the pressure sensor on the oil path between the lifting valve and the oil cylinder of the self-unloading mine car, and the second group of pressure data is the pressure data collected by the pressure sensor on the oil path between the lifting valve and the oil pump.
In another aspect of the embodiments of the present application, there is further provided a material identifying apparatus, including: the material identification device comprises a memory and a processor, wherein the memory stores a computer program capable of running on the processor, and the processor realizes the steps of the material identification method in the first aspect when executing the computer program.
In another aspect of the embodiments of the present application, there is also provided a storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of a method for identifying a material according to the first aspect.
Fig. 12 is a schematic structural diagram of a material identifying apparatus according to an embodiment of the present application, as shown in fig. 12, including: a memory 401, and a processor 402, wherein the memory 401 stores a computer program executable on the processor 402, and the processor 402 implements the steps of a material identification method described above when executing the computer program.
It should be noted that the material identifying device may be a controller in a central control system of the mine car, a controller in other working systems on the mine car, or an external computer device connected with the mine car, etc., which is not limited herein.
The embodiment of the application also provides a storage medium, and a computer program is stored on the storage medium, and the computer program executes the steps of the material identification method when being executed by a processor.
Optionally, the present invention also provides a program product, such as a computer readable storage medium, comprising a program for performing the above-described method embodiments when being executed by a processor.
In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in hardware plus software functional units.
The integrated units implemented in the form of software functional units described above may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (english: processor) to perform some of the steps of the methods according to the embodiments of the invention. And the aforementioned storage medium includes: u disk, mobile hard disk, read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic disk or optical disk, etc.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A method of identifying a material, the method being adapted for use with a dump truck, the method comprising:
Acquiring pressure data of the dump truck in the unloading operation process;
determining pressure data of lifting a preset number of nodes in the process of carrying out unloading operation according to the pressure data; the pressure data of the preset number of nodes comprises: pressure data of the first section and the second section in the vertical direction; and determining pressure data of lifting a preset number of nodes in the process of carrying out unloading operation according to the pressure data, wherein the pressure data comprises the following steps of: acquiring a pressure data sequence of a preset duration from the first pressure data which is greater than or equal to a preset pressure threshold value from the pressure data of the unloading operation process; filtering the pressure data sequence with the preset duration to obtain a filtered pressure data sequence; determining start-stop pressure data of the first section and start-stop pressure data of the second section according to the filtered pressure data sequence; determining pressure data of the first section in the vertical direction according to the pressure data between the start and stop pressure data of the first section, the lifting initial angle corresponding to the first section and the lifting initial angle of the second section in the filtered pressure data sequence; determining pressure data of the second section in the vertical direction according to the pressure data between the start and stop pressure data of the second section, the lifting initial angle corresponding to the first section and the lifting initial angle of the second section in the filtered pressure data sequence;
According to the pressure data of the lifting preset section number, a preset identification model is adopted to obtain unloading material parameters; the identification model is a model obtained by calculating the corresponding relation of pressure data of the preset section number when the sample material parameters are preset and the sample material parameters correspond to the materials for unloading;
and comparing the unloading material parameters with a preset parameter threshold value to obtain a comparison result, and determining the unloading material type of the dump truck according to the comparison result.
2. The method of claim 1, wherein comparing the dump truck material parameter with a predetermined parameter threshold value to obtain a comparison result, and determining the dump truck material type of the dump truck based on the comparison result comprises:
if the unloading material parameter is larger than the preset parameter threshold, determining that the unloading material type is a first material type;
and if the unloading material parameter is smaller than or equal to the preset parameter threshold, determining that the unloading material type is a second material type.
3. The method of claim 1, wherein determining start-stop pressure data of the first section and start-stop pressure data of the second section from the filtered sequence of pressure data comprises:
Determining three pressure data and a time point corresponding to each pressure data according to the filtered pressure data sequence;
and determining the start-stop pressure data of the first section and the start-stop pressure data of the second section according to the three pressure data and the time point corresponding to each pressure data.
4. A method according to claim 3, wherein said determining three pressure data and a point in time for each pressure data from said filtered sequence of pressure data comprises:
performing first-order differential calculation on the filtered pressure data sequence to obtain a target pressure data sequence;
the target pressure data sequence is segmented to obtain a plurality of sub-data sequences and time points corresponding to the sub-data sequences, and data in each sub-data sequence is continuously more than 0;
and determining the first three pressure data from the plurality of sub-data sequences as the three pressure data according to the lifting node number of the dump truck, and determining a time point corresponding to each of the three pressure data.
5. The method of claim 1, wherein the first section pressure data in the vertical direction comprises: average pressure data of the first section in a vertical direction;
And determining the pressure data of the first section in the vertical direction according to the pressure data between the start and stop pressure data of the first section, the lifting start angle corresponding to the first section and the lifting start angle of the second section in the filtered pressure data sequence, wherein the determining comprises the following steps:
obtaining pressure data corresponding to each time point of the first section in the vertical direction according to the pressure data of each time point between the start and stop pressure data of the first section, the lifting time length of the first section, the lifting starting angle corresponding to the first section and the lifting starting angle of the second section;
and determining average pressure data of the first section in the vertical direction according to the pressure data corresponding to the plurality of time points of the first section in the vertical direction.
6. The method of claim 1, wherein the pressure data of the second section in the vertical direction comprises: the second section has a standard deviation of pressure in the vertical direction;
and determining the pressure data of the second section in the vertical direction according to the pressure data between the start and stop pressure data of the second section, the lifting start angle corresponding to the first section and the lifting start angle of the second section in the filtered pressure data sequence, wherein the determining comprises the following steps:
Calculating pressure data of each time point of the second section in the vertical direction according to the pressure data of each time point between the start and stop pressure data of the second section, the lifting time length of the second section, the lifting starting angle corresponding to the first section and the lifting starting angle of the second section;
and calculating the standard deviation of the pressure of the second section in the vertical direction according to the pressure data of the second section at a plurality of time points in the vertical direction.
7. A material identification device, wherein the device is adapted for use with a dump truck, the device comprising:
the acquisition module is used for acquiring pressure data of the dump truck in the unloading operation process;
the determining module is used for determining pressure data of lifting a preset number of nodes in the process of carrying out unloading operation according to the pressure data; the pressure data of the preset number of nodes comprises: pressure data of the first section and the second section in the vertical direction; the determining module is specifically configured to obtain, from the pressure data for executing the unloading operation, a pressure data sequence of a preset duration from the first pressure data greater than or equal to a preset pressure threshold; filtering the pressure data sequence with the preset duration to obtain a filtered pressure data sequence; determining start-stop pressure data of the first section and start-stop pressure data of the second section according to the filtered pressure data sequence; determining pressure data of the first section in the vertical direction according to the pressure data between the start and stop pressure data of the first section, the lifting initial angle corresponding to the first section and the lifting initial angle of the second section in the filtered pressure data sequence; determining pressure data of the second section in the vertical direction according to the pressure data between the start and stop pressure data of the second section, the lifting initial angle corresponding to the first section and the lifting initial angle of the second section in the filtered pressure data sequence;
The calculation module is used for obtaining unloading material parameters by adopting a preset identification model according to the pressure data of the lifting preset section number; the identification model is a model obtained by calculating the corresponding relation of pressure data of the preset section number when the sample material parameters are preset and the sample material parameters correspond to the materials for unloading;
the determining module is further used for comparing the unloading material parameters with a preset parameter threshold value to obtain a comparison result, and determining the unloading material type of the dump truck according to the comparison result.
8. A material identification device, comprising: memory, a processor, in which a computer program is stored which is executable on the processor, when executing the computer program, realizing the steps of the method of any of the preceding claims 1 to 6.
9. A storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method of any of claims 1 to 6.
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