CN114620497A - Automatic unloading control system and method - Google Patents
Automatic unloading control system and method Download PDFInfo
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- CN114620497A CN114620497A CN202210271842.5A CN202210271842A CN114620497A CN 114620497 A CN114620497 A CN 114620497A CN 202210271842 A CN202210271842 A CN 202210271842A CN 114620497 A CN114620497 A CN 114620497A
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- 238000007599 discharging Methods 0.000 claims abstract description 49
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- 230000009471 action Effects 0.000 claims abstract description 7
- 238000004891 communication Methods 0.000 claims description 4
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- 238000004364 calculation method Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/005—Control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
- B65G65/34—Emptying devices
- B65G65/40—Devices for emptying otherwise than from the top
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
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- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an automatic unloading control system and method. The system comprises: the device comprises a first differential positioning device, a second differential positioning device, a first wireless data transceiver, a second wireless data transceiver, a data processing module and a control module; the first differential positioning device detects a first space coordinate of a carriage of the transportation equipment and sends the first space coordinate to the second wireless data transceiver through the first wireless data transceiver; the second wireless data transceiver transmits the first space coordinate to the data processing module; the second differential positioning device detects a second space coordinate of a discharge hopper of the discharging equipment and sends the second space coordinate to the data processing module; the data processing module outputs a mechanism motion control and unloading control signal to the control module according to the first and second space coordinates; the control module controls the unloading equipment to move to a target space position according to the mechanism movement control signal and controls the action of an unloading hopper of the unloading equipment according to the unloading control signal so as to finish automatic unloading.
Description
Technical Field
The embodiment of the invention relates to a discharging control technology, in particular to an automatic discharging control system and method.
Background
In the process of carrying out autonomous operation and cluster cooperative operation of an earth moving machine, a mining machine, a road surface machine and other engineering mechanical equipment such as an earth moving machine, a mining machine, a road surface machine and the like, loading and unloading equipment (such as an excavator and a loader) needs to carry out frequent work cooperation with a truck, such as truck identification, truck position detection, truck compartment contour identification, truck compartment depth calculation and truck full detection, and then loading and unloading planning is completed, so that the space of the truck compartment is reasonably utilized.
In the prior art, in the process of completing the planning of loading and unloading, sensors such as a camera and a radar are usually installed on loading and unloading equipment to measure and calculate the position, the contour and the depth of a carriage, then decision data is obtained, and then unloading is performed. Because the sensor is arranged on the loading and unloading equipment for scanning to obtain a scanned image, the image is processed and measured to obtain the position and the depth of the carriage, and the sensor can frequently change the measuring position along with the frequent movement of the loading and unloading equipment, the data of the image measured by the sensor is more, the calculation amount of a subsequent control module is large, and the control of the whole system is complex. Meanwhile, the sensor is easily shielded under the action area of the handling equipment, and a safety blind area exists in sensor data acquisition, so that the data acquisition of the sensor is influenced, the control precision is influenced subsequently, and the unloading position is inaccurate.
Disclosure of Invention
The invention provides an automatic discharging control system and method, which are used for realizing accurate discharging control by accurately arranging a discharging hopper of discharging equipment at a fixed position above a carriage, and solving the problems of complex control, low control precision and the like in the prior art.
In a first aspect, an embodiment of the present invention provides an automatic discharge control system, where the control system includes: the device comprises a first differential positioning device, a second differential positioning device, a first wireless data transceiver, a second wireless data transceiver, a data processing module and a control module;
the first differential positioning device and the first wireless data transceiver are arranged on the transportation equipment; the second differential positioning device, the second wireless data transceiver, the data processing module and the control module are arranged on the unloading equipment;
the first differential positioning device is electrically connected with the first wireless data transceiver, and the first wireless data transceiver is in communication connection with the second wireless data transceiver; the first differential positioning device is used for detecting a first space coordinate of a carriage of the transportation equipment and sending the first space coordinate to the second wireless data transceiver through the first wireless data transceiver;
the second wireless data transceiver is electrically connected with the data processing module; the second wireless data transceiver is used for sending the first space coordinate to the data processing module;
the second differential positioning device is electrically connected with the data processing module and is used for detecting a second space coordinate of a discharge hopper of the discharging equipment and sending the second space coordinate to the data processing module;
the data processing module is electrically connected with the control module and is used for outputting a mechanism motion control signal and a discharging control signal to the control module according to the first space coordinate and the second space coordinate;
the control module is electrically connected with the unloading equipment and used for controlling the unloading equipment to move to a target space position according to the mechanism motion control signal and controlling the action of an unloading hopper of the unloading equipment according to the unloading control signal so as to finish automatic unloading.
Optionally, the data processing module and the control module are integrated into a whole.
In a second aspect, an embodiment of the present invention further provides an automatic discharging control method, where the control method is applied to the automatic discharging control system in the first aspect; the automatic discharging control method comprises the following steps:
the first differential positioning device detects a first space coordinate of a carriage of the transportation equipment, and sends the first space coordinate to the second wireless data transceiver through the first wireless data transceiver;
the second differential positioning device detects a second space coordinate of a discharge hopper of the discharge equipment and sends the second space coordinate to the data processing module;
the second wireless data transceiver transmits the first space coordinate to the data processing module;
the data processing module outputs a mechanism motion control signal and a discharging control signal to the control module according to the first space coordinate and the second space coordinate;
the control module controls the unloading equipment to move to a target space position according to the mechanism motion control signal and controls the action of an unloading hopper of the unloading equipment according to the unloading control signal so as to finish automatic unloading.
Optionally, the data processing module outputs a mechanism motion control signal and a discharge control signal to the control module according to the first space coordinate and the second space coordinate, and includes: and when the spatial relative position between the first spatial coordinate and the second spatial coordinate is smaller than the preset value, the data processing module outputs a discharging control signal to the control module.
Optionally, the data processing module outputs a mechanism motion control signal and a discharge control signal to the control module according to the first space coordinate and the second space coordinate, and further includes:
and when the spatial relative position between the first spatial coordinate and the second spatial coordinate is greater than the preset value, the data processing module outputs a mechanism motion control signal to the control module.
In the embodiment of the invention, a first space coordinate of a carriage of the transportation equipment is detected through the first differential positioning device, and the first space coordinate is sent to the second wireless data transceiver through the first wireless data transceiver; the second wireless data transceiver transmits the first space coordinate to the data processing module; the second differential positioning device detects a second space coordinate of a discharge hopper of the discharge equipment and sends the second space coordinate to the data processing module; the data processing module outputs a mechanism motion control signal and a discharging control signal to the control module according to the first space coordinate and the second space coordinate; the control module moves the unloading equipment to a target space position according to the mechanism motion control signal and controls the action of the unloading hopper of the unloading equipment according to the unloading control signal so as to complete automatic unloading.
Drawings
Fig. 1 is a block diagram of an automatic discharge control system according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of an automatic data control method according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a schematic structural diagram of an automatic discharge control system provided in an embodiment of the present invention, and as shown in fig. 1, the system includes: the positioning device comprises a first differential positioning device 10, a second differential positioning device 20, a first wireless data transceiver 30, a second wireless data transceiver 40, a data processing module 50 and a control module 60; the first differential positioning device 10 and the first wireless data transceiver 30 are disposed on the transportation device 01; the second differential positioning device 20, the second wireless data transceiver 40, the data processing module 50 and the control module 60 are arranged on the discharging device 02; the first differential positioning device 10 is electrically connected with the first wireless data transceiver 30, and the first wireless data transceiver 30 is in communication connection with the second wireless data transceiver 40; the first differential positioning device 10 is used for detecting a first space coordinate of a carriage of the transportation equipment 01 and sending the first space coordinate to the second wireless data transceiver 40 through the first wireless data transceiver 30; the second wireless data transceiver 40 is electrically connected with the data processing module 50; the second wireless data transceiver 40 is used for transmitting the first space coordinate to the data processing module 50; the second differential positioning device 20 is electrically connected with the data processing module 50, and the second differential positioning device 20 is used for detecting a second spatial coordinate of the discharging hopper of the discharging device 02 and sending the second spatial coordinate to the data processing module 50; the data processing module 50 is electrically connected with the control module 60, and the data processing module 50 is used for outputting a mechanism motion control signal and a discharging control signal to the control module 60 according to the first space coordinate and the second space coordinate; the control module 60 is electrically connected with the discharging device 02, and the control module 60 is used for controlling the discharging device to move to a target space position according to the mechanism movement control signal and controlling the discharging hopper of the discharging device 02 to act according to the discharging control signal so as to complete automatic discharging.
Wherein, the automatic discharge control process in this embodiment is: the first differential positioning device 10 acquires a first spatial position coordinate a (X) above the center of the carriage of the transport apparatus 01A，YA，ZA) And transmitted to the second wireless data transceiver 40 through the first wireless data transceiver 30, wherein the first spatial position coordinate a (X)A，YA，ZA) Is the best discharge point on the transportation equipment 01; the second wireless data transceiver 40 then converts the first spatial position coordinate (X)A，YA，ZA) Forward to the data processing module 50; the second differential positioning device 20 acquires a second spatial position coordinate (X) below the discharge hopper of the discharge apparatus 02B，YB，ZB) And sent to the data processing module 50, and the data processing module 50 processes the first spatial position coordinate (X) in real timeA，YA，ZA) And second spatial position coordinates (X)B，YB，ZB) And (6) carrying out treatment analysis. When | XB-XA|＞XT，|YB-YA|＞YT，|ZB-ZA|＞ZTThat is, when the spatial relative position between the first spatial coordinate and the second spatial coordinate is greater than the preset value, the data processing module 50 outputs a mechanism movement control signal to the control module 60. The control module 60 controls the discharging device 01 to move to a target space position according to the mechanism movement control signal; when the absolute value of X is more than or equal to 0B-XA|≤XT，0≤|YB-YA|≤YT，0≤|ZB-ZA|≤ZTWhen the relative deviation value X is smaller thanT、YT、ZTWhen the deviation value is smaller than the set allowable deviation value, the data processing module 50 sends a discharging control signal to the control module 60, and the control module 60 controls the discharging hopper of the discharging device 02 to discharge according to the discharging control signal output by the data processing module 50. The first differential positioning device 10 includes a base station and a first mobile station, the base station is fixed on the ground, and the first mobile station is arranged on the transportation equipment 01; the second differential positioning device 20 comprises a base station and a second flow station, which is arranged on the discharge apparatus 02. Satellite data observed by a GPS receiver on a reference station is transmitted to a first mobile station and a second mobile station nearby in real time through a data communication link (a radio station); the GPS receivers in the first mobile station and the second mobile station receive satellite data while receiving radio station signals from the base station, and give three-dimensional coordinates of different mobile stations by respectively processing the received different signals in real time. The first wireless data transmitting and receiving device 30 and the second wireless data transmitting and receiving device 40 in the present embodiment may include any one of a 5G mobile network, WIFI, and uhf radio waves.
In this way, based on the scheme that the first differential positioning device 10 and the second differential positioning device 20 are used for respectively detecting the first spatial position coordinate of the carriage of the transportation equipment 01 and the second spatial position coordinate of the discharge hopper of the discharge equipment 02 in real time, compared with the image data collected based on a vision and laser sensor in the prior art, the method has the advantages that the differential positioning device is used for collecting coordinate information, the measured data are few, the data processing time of the data processing module 50 is greatly shortened, the control complexity of the control module 60 is simplified, and the working efficiency of the automatic discharge system is improved; meanwhile, the accuracy of detecting the space position coordinate of the carriage of the transport equipment 01 by adopting the first differential positioning device 10 and the accuracy of detecting the space position coordinate of the unloading equipment 02 by adopting the second differential positioning device 20 are higher, and the problem that the differential positioning devices cannot be shielded by other working devices in the automatic unloading process is solved, so that the precision of controlling automatic unloading is greatly improved.
In addition, compared with the prior art, sensors such as cameras and laser radar equipment which are difficult to prevent water, dust and collision and are easy to damage are adopted, and meanwhile, differential positioning devices are adopted on the transportation equipment 01 and the unloading equipment 02 to position the carriage, so that automatic unloading control is carried out, and high extra hardware equipment cost is saved.
Optionally, the first differential positioning apparatus 10 and the first wireless data transceiver 30 may be integrated into a whole or used separately; the second differential positioning device 20, the second wireless data transceiver 40, the data processing module 50 and the control module 60 may be integrated or used separately. The integrated arrangement can reduce the physical connection of each device and improve the data processing and control speed; and the split use can improve the reliability and the universality of each device.
Based on the same inventive concept, an embodiment of the present invention further provides an automatic discharging control method, where the control method is applied to the automatic discharging control system described in the above embodiment, and fig. 2 is a flowchart of the automatic discharging control method provided in the embodiment of the present invention, and as shown in fig. 2, the control method includes the following steps:
s110, the first differential positioning device detects a first space coordinate of a carriage of the transportation equipment, and sends the first space coordinate to the second wireless data transceiver through the first wireless data transceiver.
S120, detecting a second space coordinate of a discharging hopper of the discharging device by the second differential positioning device, and sending the second space coordinate to the data processing module.
And S130, the second wireless data transceiver transmits the first space coordinate to the data processing module.
S140, the data processing module outputs a mechanism motion control signal and a discharging control signal to the control module according to the first space coordinate and the second space coordinate
When the space relative position between the first space coordinate and the second space coordinate is larger than a preset value, the data processing module outputs a mechanism motion control signal to the control module, and the control module controls the unloading equipment to move to a target position; and when the space relative position between the first space coordinate and the second space coordinate is smaller than a preset value, the data processing module outputs a discharging control signal to the control module.
And S150, the control module controls the discharging equipment to move to the target space position according to the mechanism movement control signal and controls the discharging hopper of the discharging equipment to act according to the discharging control signal so as to finish automatic discharging.
According to the scheme, the first space position coordinate of the carriage of the transportation equipment and the second space position coordinate of the discharge hopper of the discharge equipment are respectively detected in real time by using the first differential positioning device and the second differential positioning device, compared with the image data collected by a vision and laser sensor in the prior art, the coordinate information is collected by using the differential positioning device, the measured data are few, the data processing time of the data processing module is greatly shortened, the control complexity of the control module is simplified, and the working efficiency of the automatic discharge system is improved; meanwhile, the accuracy of detecting the space position coordinate of the carriage of the transport equipment 01 by adopting the first differential positioning device 10 and the accuracy of detecting the space position coordinate of the unloading equipment 02 by adopting the second differential positioning device 20 are higher, and the problem that the differential positioning devices cannot be shielded by other working devices in the automatic unloading process is solved, so that the precision of controlling automatic unloading is greatly improved.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (7)
1. An automatic discharge control system, comprising: the device comprises a first differential positioning device, a second differential positioning device, a first wireless data transceiver, a second wireless data transceiver, a data processing module and a control module;
the first differential positioning device and the first wireless data transceiver are arranged on the transportation equipment; the second differential positioning device, the second wireless data transceiver, the data processing module and the control module are arranged on the unloading equipment;
the first differential positioning device is electrically connected with the first wireless data transceiver, and the first wireless data transceiver is in communication connection with the second wireless data transceiver; the first differential positioning device is used for detecting a first space coordinate of a carriage of the transportation equipment and sending the first space coordinate to the second wireless data transceiver through the first wireless data transceiver;
the second wireless data transceiver is electrically connected with the data processing module; the second wireless data transceiver is used for sending the first space coordinate to the data processing module;
the second differential positioning device is electrically connected with the data processing module; the second differential positioning device is used for detecting a second space coordinate of a discharge hopper of the discharge equipment and sending the second space coordinate to the data processing module;
the data processing module is electrically connected with the control module; the data processing module is used for outputting a mechanism motion control signal and a discharging control signal to the control module according to the first space coordinate and the second space coordinate;
the control module is electrically connected with the discharging equipment; the control module is used for controlling the unloading equipment to move to a target space position according to the mechanism motion control signal and controlling the action of the unloading hopper of the unloading equipment according to the unloading control signal so as to finish automatic unloading.
2. The automatic discharging control system according to claim 1, wherein the first differential positioning device and the first wireless data transceiver device can be integrated or used separately;
the second differential positioning device, the second wireless data transceiver, the data processing module and the control module can be integrated into a whole or used separately.
3. The automatic discharge control system of claim 1 wherein said first differential positioning device comprises a base station and a first flow station, said base station being fixed to the ground, said first flow station being disposed on said transport apparatus;
the second differential positioning device comprises the base station and a second flow station, and the second flow station is arranged on the discharging device.
4. The automatic discharge control system according to claim 1, wherein the first wireless data transmitting and receiving device and the second wireless data transmitting and receiving device include any one of a 5G mobile network, WIFI, and ultrahigh frequency radio waves.
5. An automatic discharge control method, characterized by being applied to the automatic discharge control system according to any one of claims 1 to 4; the automatic discharging control method comprises the following steps:
the first differential positioning device detects a first space coordinate of a carriage of the transportation equipment, and sends the first space coordinate to the second wireless data transceiver through the first wireless data transceiver;
the second differential positioning device detects a second space coordinate of a discharge hopper of the discharge equipment and sends the second space coordinate to the data processing module;
the second wireless data transceiver transmits the first space coordinate to the data processing module;
the data processing module outputs a mechanism motion control signal and a discharging control signal to the control module according to the first space coordinate and the second space coordinate;
the control module is electrically connected with the unloading equipment and used for controlling the unloading equipment to move to a target space position according to the mechanism motion control signal and controlling the action of an unloading hopper of the unloading equipment according to the unloading control signal so as to finish automatic unloading.
6. The automatic discharge control method according to claim 5, wherein said data processing module outputs a mechanism motion control signal and a discharge control signal to said control module according to said first spatial coordinate and said second spatial coordinate, comprising:
and when the space relative position between the first space coordinate and the second space coordinate is smaller than a preset value, the data processing module outputs a discharging control signal to the control module.
7. The automatic discharge control method according to claim 6, wherein said data processing module outputs a mechanism motion control signal and a discharge control signal to said control module according to said first spatial coordinate and said second spatial coordinate, further comprising:
and when the spatial relative position between the first spatial coordinate and the second spatial coordinate is greater than the preset value, the data processing module outputs a mechanism motion control signal to the control module.
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| CN213894407U (en) * | 2020-11-02 | 2021-08-06 | 东华理工大学 | Device for automatically loading and unloading materials for large test box |
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| CN113463719A (en) * | 2021-06-30 | 2021-10-01 | 广西柳工机械股份有限公司 | Loader autonomous operation control system and method |
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2022
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105731098A (en) * | 2016-04-25 | 2016-07-06 | 莱芜钢铁集团电子有限公司 | Bunker charging control system and method |
| CN105947593A (en) * | 2016-06-15 | 2016-09-21 | 重庆塞夫科技有限公司 | Control system for cargo transportation |
| CN212892781U (en) * | 2020-05-25 | 2021-04-06 | 浙江浙能嘉华发电有限公司 | Ship unloaders positioning system |
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