WO2023065590A1 - 摊铺机的输料系统的卡料控制方法、装置、摊铺机、设备、介质及程序 - Google Patents

摊铺机的输料系统的卡料控制方法、装置、摊铺机、设备、介质及程序 Download PDF

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Publication number
WO2023065590A1
WO2023065590A1 PCT/CN2022/080586 CN2022080586W WO2023065590A1 WO 2023065590 A1 WO2023065590 A1 WO 2023065590A1 CN 2022080586 W CN2022080586 W CN 2022080586W WO 2023065590 A1 WO2023065590 A1 WO 2023065590A1
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WIPO (PCT)
Prior art keywords
motor
reverse
conveying
torque
forward rotation
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PCT/CN2022/080586
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English (en)
French (fr)
Inventor
陈日
夏一帆
李帅
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湖南三一中益机械有限公司
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Publication of WO2023065590A1 publication Critical patent/WO2023065590A1/zh

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    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/12—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for distributing granular or liquid materials
    • E01C19/18—Devices for distributing road-metals mixed with binders, e.g. cement, bitumen, without consolidating or ironing effect
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D17/00—Control of torque; Control of mechanical power
    • G05D17/02—Control of torque; Control of mechanical power characterised by the use of electric means
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/12—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for distributing granular or liquid materials
    • E01C19/20—Apparatus for distributing, e.g. spreading, granular or pulverulent materials, e.g. sand, gravel, salt, dry binders
    • E01C2019/2055—Details not otherwise provided for
    • E01C2019/207—Feeding the distribution means

Definitions

  • the present application relates to the technical field of electromechanical control, and in particular relates to a material jam control method, device, paver, electronic equipment, computer-readable storage medium and computer program product of a paver conveying system.
  • the paving material needs to be conveyed to the screw distributor through the scraper. If the scraper is stuck, the scraper will be stuck, and the paving material cannot be delivered to the screw distributor. device, thereby affecting the feeding efficiency.
  • the present application provides a material jam control method, device, paver, electronic equipment, computer-readable storage medium, and computer program product of a material conveying system of a paver, to solve or improve the jamming of the scraper in the prior art. material problem.
  • the present application provides a material jam control method for the conveying system of a paver, including:
  • the material jam working mode includes:
  • Motor reverse jamming control step control the reverse rotation of the conveying motor, determine that the reverse torque of the conveying motor is less than or equal to the reverse limit torque and reach the preset reverse holding time or the reverse of the conveying motor When the rotational torque is greater than the reverse limited torque, execute the motor forward rotation jam control step;
  • Motor forward rotation jam control step control the forward rotation of the conveying motor
  • the stuck material mode also includes:
  • Reverse times detection step detect the accumulative reverse times of the conveying motor in the current material jam mode, if the accumulative reverse times of the conveying motor is less than or equal to the preset times, execute the motor forward rotation jam control step, if the cumulative number of reverse rotations of the conveying motor is greater than the preset number of times, shutting down the conveying motor;
  • the step of detecting the number of reverse rotations is located before the step of controlling the forward rotation of the motor.
  • the step of detecting the number of reversals is located between the step of controlling the forward rotation of the motor and the step of controlling the step of controlling the blocking of the motor in reverse rotation, or the step of detecting the number of reversals is located in the step of controlling the blocking of the motor in reverse rotation. before step.
  • the step of detecting the number of reversals it also includes:
  • the material jam control method of the conveying system of the paver also includes:
  • the forward rotation torque of the feeding motor is less than or equal to the forward rotation limited torque and the material level of the material distribution system of the paver is greater than the first preset material level , controlling the conveying motor to switch from the normal conveying mode to the shutdown mode;
  • the feeding motor In the shutdown mode, the feeding motor is turned off, and when the material level of the distribution system is lower than the second preset material level, the feeding motor is controlled to switch from the shutdown mode to the normal feeding mode;
  • the first preset material level is greater than the second preset material level.
  • the material jam control method of the conveying system of the paver also includes:
  • the feeding motor In the normal feeding mode, if a shutdown command is received, the feeding motor is turned off.
  • the present application also provides a material jam control device of the conveying system of the paver, including:
  • Vehicle controller motor controller, conveying motor, material level sensor and distribution control mechanism
  • the motor controller, the material level sensor and the material distribution control mechanism are respectively connected with the vehicle controller, and the motor controller is connected with the material conveying motor.
  • the present application also provides a paver, including: the above-mentioned material jam control device.
  • the present application also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and operable on the processor.
  • the processor executes the computer program, any of the above-mentioned The material jam control method of the conveying system of the paver.
  • the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the material jam control method of the conveying system of the paver described in any one of the above is implemented.
  • the present application also provides a computer program product, including a computer program.
  • a computer program When the computer program is executed by a processor, the material jam control method of the conveying system of the paver described in any one of the above is implemented.
  • the material jam control method, device, paver, electronic equipment, computer-readable storage medium, and computer program product of the material delivery system of the paver provided by the application are based on the material delivery motor in the normal delivery mode and the material jam condition
  • the corresponding forward rotation torque, reverse rotation torque and reverse rotation holding time in the mode can control the switching between forward rotation and reverse rotation of the conveying motor, and can automatically deal with the problem of material jams; in addition, this application controls the reverse rotation of the conveying motor , when it is determined that the reverse rotation torque of the material conveying motor is less than or equal to the reverse limited torque and reaches the preset reverse holding time, or when the reverse rotation torque of the material conveying motor is greater than the reverse limited torque, execute the motor forward rotation jam control step, which can Avoid the problem that the conveying motor continues to reverse for too long or the reverse torque of the conveying motor is too large during the reversing process, which will cause the working pressure of the conveying motor to be too large, which will cause the failure of the conveying system.
  • Fig. 1 is the schematic flow sheet of the material jam control method of the conveying system of the paver provided by the application;
  • Fig. 2 is the structure schematic diagram of the jam control device of the conveying system of the paver provided by the present application;
  • FIG. 3 is a schematic structural diagram of an electronic device provided by the present application.
  • the paver When the paver is stuck on the scraper, it usually controls the conveying motor to reverse and maintain the preset time. It does not detect the maximum working pressure during the reverse, but only mechanically reverses and maintains the preset time. If the reverse working pressure If it is too large, forcibly reversing the preset time may lead to system failure, that is, excessive working pressure may be applied to the conveying motor during the reversing process, which may easily cause the failure of the conveying system.
  • Fig. 1 is the schematic flow chart of the material jam control method of the conveying system of the paver provided by the present application, as shown in Fig. 1, the method comprises:
  • the feeding motor of the paver when the feeding motor of the paver is rotating forward, determine that the forward rotation torque of the feeding motor is greater than the forward rotation limit torque, and control the switching of the feeding motor from the normal feeding mode to the material jam mode ;
  • the jam condition mode includes:
  • Motor reverse jam control step control the reverse rotation of the conveying motor, and determine that the reverse torque of the conveying motor is less than or equal to the reverse limit torque and reaches the preset reverse holding time or the reverse torque of the conveying motor is greater than the reverse limit When the torque is high, execute the control steps of motor forward rotation jamming;
  • control steps of motor forward rotation jam material control the forward rotation of the material conveying motor
  • the material conveying motor is controlled to switch from the material jam mode to the normal material conveying mode.
  • the conveying motor when the paver is conveying material normally, the conveying motor is in the forward rotation state. At this time, the scraper is rotating forward, and the scraper can convey the material to be conveyed to the screw distributor, so that the screw distributor Transport the material to be transported to the target location.
  • the process of controlling the reverse rotation of the conveying motor can be carried out in the following two ways: 1 firstly control the stop of the conveying motor, and turn on the conveying motor to reverse after the speed of the conveying motor drops to 0. 2 Directly switch the conveying motor from forward rotation to reverse rotation.
  • the motor reverse jamming control step that is, control the material conveying motor to reverse, and obtain the reverse torque of the material conveying motor in real time.
  • the rotation torque is less than or equal to the reverse limit torque and reaches the preset reverse hold time, or the reverse torque of the material conveying motor is greater than the reverse limit torque
  • the motor forward rotation jam control step is executed, or a fault alarm is issued, or the output is detected.
  • the accumulative reverse times of the material motor and judge whether the accumulative reverse times exceed the preset times, which is not specifically limited in this embodiment of the present application.
  • the motor forward rotation jam control step can be executed, that is, the forward rotation of the conveying motor is controlled.
  • the forward rotation of the conveying motor if the forward rotation torque is greater than Rotate the limited torque, execute the above motor reverse jamming control steps; if the forward rotation torque of the conveying motor is less than or equal to the forward rotation limited torque and reaches the preset forward rotation holding time, it indicates that the jamming phenomenon may have been eliminated, and it can be restored at this time
  • To the normal feeding mode that is, control the feeding motor to switch from the material jam mode to the normal feeding mode.
  • the aforementioned limited torque for forward rotation, limited torque for reverse rotation and holding time for reverse rotation can be specifically set according to actual conditions.
  • the forward torque and reverse torque can be collected through the data acquisition module without adding additional corresponding sensors to collect the forward torque and reverse torque, which reduces the Transport control costs.
  • the material jam control method of the conveying system of the paver is based on the forward rotation torque, reverse torque and reverse rotation holding time corresponding to the normal conveying mode and the material jam working mode of the conveying motor, and the control conveying
  • the material motor is switched between forward rotation and reverse rotation, which can automatically deal with the problem of material jam; in addition, when controlling the reverse rotation of the motor, make sure that the reverse rotation torque of the conveying motor is less than or equal to the reverse limited torque and reaches the preset reverse hold
  • the control step of the forward rotation of the motor is performed, which can avoid the continuous reverse reverse time of the conveying motor for too long or the reverse torque of the conveying motor is too large during the reverse , so that the working pressure of the conveying motor is too large, which in turn causes the failure of the conveying system.
  • the material jam mode also includes:
  • Reverse times detection step detect the accumulative reverse times of the conveying motor in the current material jam mode, if the accumulative reverse times of the conveying motor is less than or equal to the preset times, execute the motor forward rotation jam control step, if the input If the accumulative reverse times of the feeding motor is greater than the preset number, turn off the feeding motor;
  • the detection step of the number of reverse rotations is located before the control step of the forward rotation of the motor.
  • the reverse rotation torque of the conveying motor is less than or equal to the reverse limit torque and reaches the preset reverse hold time or the reverse torque of the conveying motor is greater than the reverse limit torque
  • the material is stuck in the current mode
  • the accumulative reverse rotation times of the medium conveying motor if the accumulative reverse rotation times of the conveying motor ⁇ preset times, after reaching the preset reverse hold time, switch the conveying motor from reverse to forward rotation, that is, execute The control step of the motor forward rotation jamming.
  • the cumulative number of reverse rotations is less than or equal to the preset number of times, it indicates that the material jam phenomenon can be eliminated by alternating forward rotation and reverse rotation (that is, performing the motor forward rotation jam control step and the motor reverse rotation jam control step). If the cumulative number of reverse rotations is greater than the preset number of times, it means that the material jam phenomenon cannot be eliminated by alternating forward rotation and reverse rotation, and if the forward rotation and reverse rotation continue to be alternated, the conveying motor may be burned out, which may cause the failure of the conveying system , at this time, the conveying motor needs to be turned off.
  • the reverse holding time of the conveying motor can be set to 4s, the preset number of times is 4, and the current accumulative reversed times of the conveying motor is 1 ⁇ 4 times, then during the 4s of the reverse, if the reverse Torque ⁇ reverse limited torque, then the conveying motor can be switched to forward rotation after the conveying motor reverses for 4s.
  • the conveying motor After switching to forward rotation, if the forward rotation torque>forward rotation limit torque, then switch the feeding motor to reverse rotation, at this time, the cumulative number of reverse rotations of the feeding motor is increased by 1, that is, the cumulative number of reverse rotations is 2 times ⁇ 4 Second, if the reverse rotation torque ⁇ reverse limited torque, the conveying motor can be switched to forward rotation after the conveying motor reverses 4 times this time.
  • the application controls the reverse duration of the feeding motor to be the reverse holding time, so as to avoid damage to the feeding system caused by the excessively long reverse holding time. , control the cumulative number of reverse rotations, and avoid damage to the conveying motor caused by excessive cumulative reverse rotations.
  • the reverse rotation limit torque can be specifically set according to the actual situation, which is not specifically limited in this application.
  • the accumulative number of reversing times is greater than the preset number of times, it means that the material jam phenomenon cannot be eliminated by alternating forward and reverse rotations, and if the forward and reverse rotations continue to be alternated, it may burn out
  • the conveying motor will cause the failure of the conveying system. In this case, it is also necessary to immediately shut down the conveying motor and give a fault prompt to avoid damage to the conveying motor caused by multiple forward and reverse rotations, which in turn leads to the failure of the conveying system.
  • the present application is based on the reverse torque and the state of the conveying motor for the accumulated number of reverses, so as to avoid the problem of excessive working pressure of the conveying motor or frequent positive and negative rotations causing the failure of the conveying system.
  • the step of detecting the number of reverse rotations is located between the control step of the forward rotation of the motor and the step of controlling the material jamming of the motor reverse rotation, or the step of detecting the number of reverse rotations is located before the step of controlling the material jamming of the motor reverse rotation.
  • the detection step of the number of reversals is located between the motor forward rotation jam control step and the motor reverse rotation jam control step, it is determined that the reverse rotation torque of the conveying motor is less than or equal to the reverse rotation limit torque and reaches the predetermined value.
  • the preset reverse holding time or the reverse torque of the conveying motor is greater than the reverse limit torque, detect the cumulative reverse times of the conveying motor in the current jamming mode, if the cumulative reverse times of the conveying motor If the number of times is less than or equal to the preset number of times, the step of controlling the motor forward rotation and jamming is executed.
  • the motor forward rotation jamming control step is executed; if the cumulative number of reverse rotations is greater than the preset number of times , then turn off the conveying motor.
  • the reversal times detection step also include:
  • the fault prompt can be in the form of a sound alarm prompt, or in the form of a light prompt.
  • the material jam control method of the conveying system of the paver also includes:
  • the control The conveying motor is switched from normal conveying mode to stop mode;
  • the first preset material level is greater than the second preset material level.
  • the feeding motor rotates forward, and if the forward rotation torque is less than or equal to the forward rotation limited torque, it indicates that there is no material jam phenomenon. However, if the material level of the material distribution system of the paver is high at this time, there may be a risk of material jams.
  • the conveying motor When there is a risk of material jamming, if the conveying motor continues to rotate forward, it may cause material jamming; when there is no risk of material jamming, the conveying motor can continue to rotate forward for normal material conveying.
  • the screw distributor In the stop mode, turn off the conveying motor, because the screw distributor is in the open state during the forward rotation of the conveying motor, so after turning off the conveying motor, the screw distributor can continue to convey materials.
  • the material level of the distribution system of the paver When the material level of the distribution system is less than the second preset material level, it indicates that the risk of material jam is eliminated, and the control of the conveying motor is switched from the stop mode to the normal conveying mode, so that the forward rotation of the conveying motor can be resumed.
  • the control After the conveying motor is switched from the normal conveying mode to the stop mode, if the current speed of the screw distributor is small, the conveying speed will be too slow, that is, the rate at which the material level of the paver's distributing system drops will be smaller .
  • the current speed of the auger is increased to the target speed, so that the conveying speed of the auger can be accelerated, so that the paving
  • the material level of the material distribution system of the paver drops rapidly until the material level of the material distribution system of the paver is lower than the second preset material level, and the risk of material jam is eliminated, so that the material conveying motor can be controlled to switch from stop mode to normal material conveying mode, resume the forward rotation of the conveying motor.
  • the target speed may be specifically set according to actual conditions.
  • the screw distributor can continue to operate at the target speed, and can also return to the initial speed operation.
  • the auger can continue to run at the target speed; in order to avoid the excessive load of the auger and cause system failure, the auger can return to the initial speed run.
  • the material jam control method of the conveying system of the paver also includes:
  • the feeding motor In the normal feeding mode, if a shutdown command is received, the feeding motor is turned off.
  • a shutdown command if a shutdown command is received, it may indicate that the material conveying is completed, so the conveying motor can be turned off, so as to avoid the waste of resources caused by the continuous operation of the conveying motor after the material conveying is completed.
  • the jam control device of the delivery system of the paver provided by the application.
  • the jam control device of the delivery system of the paver described below is the same as the jam control device of the delivery system of the paver described above.
  • the control methods can refer to each other correspondingly.
  • the present application provides a material jam control device for the conveying system of a paver, as shown in Figure 2, the device includes:
  • Vehicle controller motor controller, conveying motor, material level sensor and distribution control mechanism
  • the motor controller, the material level sensor and the material distribution control mechanism are respectively connected with the vehicle controller, and the motor controller is connected with the material conveying motor.
  • the material jam control device of the conveying system of the paver includes a vehicle controller, a motor controller, a conveying motor, a material level sensor and a material distribution control mechanism, wherein the motor controller, the material level sensor and the material distribution control mechanism
  • the control mechanism is respectively connected to the vehicle controller, the motor controller is connected to the conveying motor, and the vehicle controller is used to implement the material jam control method of the conveying system of the paver as described in any one of the above embodiments.
  • the motor controller is used to receive instructions from the vehicle controller to control the forward rotation, reverse rotation or stop of the material conveying motor
  • the material level sensor is used to monitor the material level of the material distribution system of the paver
  • the material distribution control mechanism is used to receive the vehicle Car controller's distributing instructions and distributing materials.
  • the present application provides a paver, including the above-mentioned material jam control device, since the material jam control device is used to implement the material jam control method of the conveying system of the paver as described in any one of the above embodiments, Therefore, the paver can automatically deal with the problem of material jam and improve the efficiency of material delivery.
  • Fig. 3 is the structural representation of the electronic device provided by the present application, as shown in Fig. 3, this electronic device can comprise: processor (processor) 310, communication interface (Communications Interface) 320, memory (memory) 330 and communication bus 340, Wherein, the processor 310 , the communication interface 320 , and the memory 330 communicate with each other through the communication bus 340 .
  • the processor 310 can call the logic instructions in the memory 330 to execute the material jam control method of the conveying system of the paver.
  • the method includes: in the normal conveying mode, when the conveying motor rotates forward, determine the When the forward rotation torque of the material conveying motor is greater than the forward rotation limited torque, the material conveying motor is controlled to switch from the normal material conveying mode to the material jam mode; The material conveying motor reverses, and it is determined that the reverse rotation torque of the material conveying motor is less than or equal to the reverse limit torque and reaches the preset reverse hold time or the reverse rotation torque of the material conveying motor is greater than the reverse limit torque, the rotation
  • motor forward rotation jamming control step control the forward rotation of the material conveying motor, if the forward rotation torque of the material conveying motor is greater than the forward rotation limited torque, execute the motor reverse rotation jamming control step; if the The forward rotation torque of the conveying motor is less than or equal to the forward rotation limit torque and reaches the preset forward rotation holding time, and the conveying motor is controlled to switch from the material jam mode to the normal conveying mode.
  • the above-mentioned logic instructions in the memory 330 may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as an independent product.
  • the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disc, etc., which can store program codes. .
  • the present application also provides a computer program product
  • the computer program product includes a computer program stored on a non-transitory computer-readable storage medium
  • the computer program includes program instructions
  • the method includes: in the normal conveying mode, when the conveying motor is rotating forward, determine the If the forward rotation torque is greater than the forward rotation limited torque, then control the feeding motor to switch from the normal feeding mode to the material jamming mode;
  • the jamming mode includes: motor reverse jamming control step: control the feeding motor Reverse, when it is determined that the reverse torque of the conveying motor is less than or equal to the reverse limit torque and reaches the preset reverse hold time or the reverse torque of the conveying motor is greater than the reverse limit torque, go to the next step;
  • Motor forward rotation jam control step control the forward rotation of the material delivery motor, if the forward rotation torque of the material delivery motor is greater than the forward rotation limited
  • the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it is implemented to implement the above-mentioned method for controlling the material jam of the delivery system of the paver provided by each of the above, the The method includes: in the normal material conveying mode, when the material conveying motor is rotating forward, it is determined that the forward rotation torque of the material conveying motor is greater than the forward rotation limited torque, then controlling the material conveying motor to switch from the normal material conveying mode to the material jamming State mode; the material jam mode includes: motor reverse jam material control step: control the reverse rotation of the conveying motor, determine that the reverse torque of the conveying motor is less than or equal to the reverse limit torque and reaches the preset When the reverse holding time or the reverse torque of the conveying motor is greater than the reverse limit torque, turn to the next step; the motor forward rotation jam control step: control the forward rotation of the conveying motor, if the conveying motor If the forward rotation torque is greater than the forward rotation limited torque
  • the device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without any creative effort.
  • each implementation can be implemented by means of software plus a necessary general hardware platform, and of course also by hardware.
  • the essence of the above technical solution or the part that contributes to the prior art can be embodied in the form of software products, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic discs, optical discs, etc., including several instructions to make a computer device (which may be a personal computer, server, or network device, etc.) execute the methods described in various embodiments or some parts of the embodiments.

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Abstract

本申请提供一种摊铺机的输料系统的卡料控制方法、装置、摊铺机、电子设备、计算机可读存储介质及计算机程序产品，方法包括：正常输料模式中，输料电机正转，确定输料电机的正转扭矩大于正转限定扭矩，输料电机由正常输料模式切换至卡料工况模式；卡料工况模式包括：电机反转卡料控制步骤，控制输料电机反转，确定输料电机的反转扭矩小于等于反转限定扭矩且达到预设的反转保持时间或者输料电机的反转扭矩大于反转限定扭矩时，转下一步骤；电机正转卡料控制步骤：输料电机正转，若输料电机的正转扭矩大于正转限定扭矩，执行电机反转卡料控制步骤；若输料电机的正转扭矩小于等于正转限定扭矩且达到预设的正转保持时间，输料电机由卡料工况模式切换至正常输料模式。本申请能够自动处理卡料问题。

Description

摊铺机的输料系统的卡料控制方法、装置、摊铺机、设备、介质及程序
本申请要求于2021年10月19日提交的申请号为202111217748.3，申请名称为“摊铺机的输料系统的卡料控制方法、装置及摊铺机”的中国专利申请的优先权，其通过引用方式全部并入本文。
技术领域
本申请涉及机电控制技术领域，尤其涉及一种摊铺机的输料系统的卡料控制方法、装置、摊铺机、电子设备、计算机可读存储介质及计算机程序产品。
背景技术
摊铺机在摊铺过程中，需要通过刮板将摊铺物料输送到螺旋分料器，若刮板发生卡料，则会导致刮板卡停，进而无法将摊铺物料输送至螺旋分料器，进而影响输料效率。
发明内容
本申请提供一种摊铺机的输料系统的卡料控制方法、装置、摊铺机、电子设备、计算机可读存储介质及计算机程序产品，用以解决或者改善现有技术中刮板的卡料问题。
本申请提供一种摊铺机的输料系统的卡料控制方法，包括：
正常输料模式中，在摊铺机的输料电机正转的情况下，确定所述输料电机的正转扭矩大于正转限定扭矩，控制输料电机由正常输料模式切换至卡料工况模式；
所述卡料工况模式包括：
电机反转卡料控制步骤：控制所述输料电机反转，确定所述输料电机的反转扭矩小于等于反转限定扭矩且达到预设的反转保持时间或者所述输料电机的反转扭矩大于反转限定扭矩时，执行电机正转卡料控制步骤；
电机正转卡料控制步骤：控制所述输料电机正转，
若所述输料电机的正转扭矩大于所述正转限定扭矩，执行电机反转卡 料控制步骤；
若所述输料电机的正转扭矩小于等于所述正转限定扭矩且达到预设的正转保持时间，控制所述输料电机由所述卡料工况模式切换至所述正常输料模式。
优选地，所述卡料工况模式还包括：
反转次数检测步骤：检测在当前卡料工况模式中所述输料电机的累计反转次数，若所述输料电机的累计反转次数小于等于预设次数，执行电机正转卡料控制步骤，若所述输料电机的累计反转次数大于预设次数，关闭所述输料电机；
所述反转次数检测步骤位于所述电机正转卡料控制步骤之前。
优选地，所述反转次数检测步骤位于所述电机正转卡料控制步骤和所述电机反转卡料控制步骤之间，或者所述反转次数检测步骤位于所述电机反转卡料控制步骤之前。
优选地，在所述反转次数检测步骤中，还包括：
若所述输料电机的累计反转次数大于预设次数，进行故障提示。
优选地，摊铺机的输料系统的卡料控制方法还包括：
正常输料模式中，在输料电机正转的情况下，确定所述输料电机的正转扭矩小于等于正转限定扭矩且摊铺机的分料系统的料位大于第一预设料位，控制所述输料电机由正常输料模式切换至停机模式；
在停机模式中，关闭所述输料电机，在分料系统的料位小于第二预设料位时，控制所述输料电机由停机模式切换至正常输料模式；
其中，所述第一预设料位大于第二预设料位。
优选地，摊铺机的输料系统的卡料控制方法还包括：
在正常输料模式中，若接收到停机指令，关闭所述输料电机。
本申请还提供一种摊铺机的输料系统的卡料控制装置，包括：
整车控制器、电机控制器、输料电机、料位传感器和分料控制机构；
所述电机控制器、所述料位传感器和分料控制机构分别和整车控制器连接，所述电机控制器和输料电机连接。
本申请还提供一种摊铺机，包括：如上所述的卡料控制装置。
本申请还提供一种电子设备，包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机 程序时实现如上述任一种所述摊铺机的输料系统的卡料控制方法。
本申请还提供一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现如上述任一种所述摊铺机的输料系统的卡料控制方法。
本申请还提供一种计算机程序产品，包括计算机程序，所述计算机程序被处理器执行时实现如上述任一种所述摊铺机的输料系统的卡料控制方法。
本申请提供的摊铺机的输料系统的卡料控制方法、装置、摊铺机、电子设备、计算机可读存储介质及计算机程序产品，基于输料电机在正常输料模式和卡料工况模式下对应的正转扭矩、反转扭矩以及反转保持时间，控制输料电机在正转和反转之间切换，能够自动处理卡料问题；此外，本申请在控制输料电机反转时，确定输料电机的反转扭矩小于等于反转限定扭矩且达到预设的反转保持时间，或者输料电机的反转扭矩大于反转限定扭矩时，执行电机正转卡料控制步骤，可以避免在反转过程中输料电机持续反转时间过长或输料电机反转扭矩过大，使得输料电机工作压力过大，进而造成输料系统故障的问题。
附图说明
为了更清楚地说明本申请或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请提供的摊铺机的输料系统的卡料控制方法的流程示意图；
图2是本申请提供的摊铺机的输料系统的卡料控制装置的结构示意图；
图3是本申请提供的电子设备的结构示意图。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请中的附图，对本申请中的技术方案进行清楚、完整地描述，显然，所描述的 实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
摊铺机在刮板发生卡料时，通常控制输料电机反转并保持预设时长，不检测反转时的最大工作压力，只是机械的反转并保持预设时间，如果反转工作压力过大，强行反转预设时间，可能导致系统故障，即在反转过程中可能会给输料电机施加过大的工作压力，易造成输料系统故障。
对此，本申请提供一种摊铺机的输料系统的卡料控制方法。图1是本申请提供的摊铺机的输料系统的卡料控制方法的流程示意图，如图1所示，该方法包括：
正常输料模式中，在摊铺机的输料电机正转的情况下，确定输料电机的正转扭矩大于正转限定扭矩，控制输料电机由正常输料模式切换至卡料工况模式；
卡料工况模式包括：
电机反转卡料控制步骤：控制输料电机反转，确定输料电机的反转扭矩小于等于反转限定扭矩且达到预设的反转保持时间或者输料电机的反转扭矩大于反转限定扭矩时，执行电机正转卡料控制步骤；
电机正转卡料控制步骤：控制输料电机正转，
若输料电机的正转扭矩大于正转限定扭矩，执行电机反转卡料控制步骤；
若输料电机的正转扭矩小于等于正转限定扭矩且达到预设的正转保持时间，控制输料电机由卡料工况模式切换至正常输料模式。
具体地，摊铺机在正常输料的情况下，输料电机处于正转状态，此时刮板正转，刮板可以将待传输的物料输送至螺旋分料器，以使螺旋分料器将待传输物料输送至目标位置。
在输料电机正转的情况下，当输料电机的正转扭矩大于正转限定扭矩时，表明摊铺机的刮板可能存在卡料现象，此时若输料电机继续保持正转，由于刮板存在卡料现象导致刮板停顿，无法将待传输物料输送至螺旋分料器。
为了能够消除刮板的卡料现象，在确定输料电机的正转扭矩大于正转限定扭矩时，控制输料电机由正常输料模式切换至卡料工况模式，从而可 以带动刮板进行反转，以消除卡料现象。
其中，控制输料电机进行反转的过程可以采用如下两种方式进行：①首先控制输料电机停机，在输料电机转速降为0后开启输料电机进行反转。②直接将输料电机由正转切换为反转。
在控制输料电机由正常输料模式切换至卡料工况模式时，首先执行电机反转卡料控制步骤，即控制输料电机反转，并实时获取输料电机的反转扭矩，当反转扭矩小于等于反转限定扭矩且达到预设的反转保持时间，或者输料电机的反转扭矩大于反转限定扭矩时，执行电机正转卡料控制步骤，或进行故障报警，或检测输料电机的累计反转次数，并判断累计反转次数是否超过预设次数，本申请实施例对此不作具体限定。
在输料电机的累计反转次数小于等于预设次数时，可以执行电机正转卡料控制步骤，即控制输料电机正转，在输料电机正转的过程中，若正转扭矩大于正转限定扭矩，执行上述电机反转卡料控制步骤；若输料电机的正转扭矩小于等于正转限定扭矩且达到预设的正转保持时间，表明卡料现象可能已经消除，此时可以恢复至正常输料模式，即控制输料电机由卡料工况模式切换至正常输料模式。
上述正转限定扭矩、反转限定扭矩和反转保持时间可以根据实际情况具体设置。
若输料电机持续反转的时间过长，可能会使输料电机反转扭矩过大，进而可能会给输料电机施加过大的工作压力，从而需要控制输料电机的反转保持时间。
由于输料电机原始出厂配置中带有数据采集模块，从而正转扭矩和反转扭矩可以通过数据采集模块进行采集，而不需要额外增加相应的传感器来采集正转扭矩和反转扭矩，降低了输料控制成本。
本申请提供的摊铺机的输料系统的卡料控制方法，基于输料电机在正常输料模式和卡料工况模式下对应的正转扭矩、反转扭矩以及反转保持时间，控制输料电机在正转和反转之间切换，能够自动处理卡料问题；此外，在控制电机反转时，确定输料电机的反转扭矩小于等于反转限定扭矩且达到预设的反转保持时间或者输料电机的反转扭矩大于反转限定扭矩时，行电机正转卡料控制步骤，可以避免在反转过程中输料电机持续反转时间过长或输料电机反转扭矩过大，使得输料电机工作压力过大，进而造成输料 系统故障的问题。
此外，卡料工况模式还包括：
反转次数检测步骤：检测在当前卡料工况模式中输料电机的累计反转次数，若输料电机的累计反转次数小于等于预设次数，执行电机正转卡料控制步骤，若输料电机的累计反转次数大于预设次数，关闭输料电机；
反转次数检测步骤位于电机正转卡料控制步骤之前。
具体地，在确定输料电机的反转扭矩小于等于反转限定扭矩且达到预设的反转保持时间或者输料电机的反转扭矩大于反转限定扭矩时，检测在当前卡料工况模式中输料电机的累计反转次数，若输料电机的累计反转次数≤预设次数时，在达到预设的反转保持时间后，将输料电机由反转切换为正转，即执行电机正转卡料控制步骤。
若累计反转次数小于等于预设次数，表明可以通过正转和反转交替(即执行电机正转卡料控制步骤以及电机反转卡料控制步骤)来消除卡料现象。若累计反转次数大于预设次数，表明无法通过正转和反转交替来消除卡料现象，而且若继续进行正转和反转交替，可能会烧坏输料电机，进而引起输料系统故障，此时需要关闭输料电机。
例如，可以设置输料电机的反转保持时间为4s，预设次数为4次，当前输料电机的累计反转次数为1次<4次，则在反转的4s过程中，若反转扭矩≤反转限定扭矩，则可以在输料电机反转4s后将输料电机切换为正转。
在切换为正转后，若正转扭矩>正转限定扭矩，则将输料电机切换为反转，此时输料电机的累计反转次数加1，即累计反转次数为2次<4次，若反转扭矩≤反转限定扭矩，可以在本次输料电机反转4后将输料电机切换为正转。
在正转扭矩小于等于正转限定扭矩的情况下，表明当前处于正常输料状态，此时将累计反转次数重置为0。若在将累计反转次数重置为0后，输料电机的正转扭矩再次大于正转限定扭矩，此时需要将输料电机切换为反转，并获取反转扭矩，若反转扭矩小于等于反转限定扭矩，则在输料电机反转达到预设的反转保持时间后，将输料电机切换为正转，此时累计反转次数为0+1＝1次。
由此可见，本申请在电机反转时，控制输料电机的反转时长为反转保持时间，从而避免反转保持时间过长对输料系统造成损坏，同时在输料电 机反转过程中，控制反转累计次数，避免反转累计次数过多对输料电机造成损坏的问题。
在输料电机反转的过程中，当反转扭矩大于反转限定扭矩时，若继续进行反转，可能会导致输料电机工作压力过大进而产生故障，在此情况下，不需要等到输料电机达到反转保持时间，而是要立即关闭输料电机，避免输料电机持续在较大工作压力下持续工作，并进行故障提示，以使相关人员及时获知故障并进行故障处理。其中，反转限定扭矩可以根据实际情况具体设置，本申请对此不作具体限定。
在输料电机反转的过程中，当累计反转次数大于预设次数，表明无法通过正转和反转交替来消除卡料现象，而且若继续进行正转和反转交替，可能会烧坏输料电机，进而引起输料系统故障。在此情况下，同样需要立即关闭输料电机并进行故障提示，避免多次正转和反转造成输料电机损坏，进而引发输料系统故障的问题。
由此可见，本申请基于反转扭矩以及反转累计次数输料电机的状态，从而可以避免输料电机工作压力过大或频繁正反转造成输料系统故障的问题。
可选的，反转次数检测步骤位于电机正转卡料控制步骤和电机反转卡料控制步骤之间，或者反转次数检测步骤位于电机反转卡料控制步骤之前。
具体地，当反转次数检测步骤位于电机正转卡料控制步骤和电机反转卡料控制步骤之间时，则在确定所述输料电机的反转扭矩小于等于反转限定扭矩且达到预设的反转保持时间或者所述输料电机的反转扭矩大于反转限定扭矩时，检测在当前卡料工况模式中输料电机的累计反转次数，若输料电机的累计反转次数小于等于预设次数，执行电机正转卡料控制步骤。
当反转次数检测步骤位于电机反转卡料控制步骤之前时，在检测到累计反转次数小于等于预设次数时，就执行电机正转卡料控制步骤，若累计反转次数大于预设次数，则关闭输料电机。
优选地，在反转次数检测步骤中，还包括：
若输料电机的累计反转次数大于预设次数，还进行故障提示。
具体地，当累计反转次数大于预设次数，表明无法通过正转和反转交替来消除卡料现象，而且若继续进行正转和反转交替，可能会烧坏输料电机，进而引起输料系统故障。在此情况下，需要进行故障提示；其中，故 障提示可以采用声音报警提示的方式，也可以采用亮灯提示的方式。
优选地，摊铺机的输料系统的卡料控制方法还包括：
正常输料模式中，在输料电机正转的情况下，确定输料电机的正转扭矩小于等于正转限定扭矩且摊铺机的分料系统的料位大于第一预设料位，控制输料电机由正常输料模式切换至停机模式；
在停机模式中，关闭输料电机，在分料系统的料位小于第二预设料位时，控制输料电机由停机模式切换至正常输料模式；
其中，第一预设料位大于第二预设料位。
具体地，在正常输料模式中，输料电机正转，若正转扭矩小于等于正转限定扭矩，表明当前没有卡料现象。然而，若此时摊铺机的分料系统的料位较高，可能会带来卡料风险。
在此情况下，需要检测摊铺机的分料系统的料位，以确定是否存在卡料风险。摊铺机的分料系统的料位越高，表明后续存在卡料的风险越大。
在存在卡料风险时，若输料电机继续正转，可能会造成卡料现象；在不存在卡料风险时，输料电机可以继续保持正转，以进行正常输料。
确定输料电机的正转扭矩小于等于正转限定扭矩且摊铺机的分料系统的料位大于第一预设料位时，此时需要关闭输料电机，即控制输料电机由正常输料模式切换至停机模式。
在停机模式中，关闭输料电机，由于在输料电机正转进行输料过程中，螺旋分料器是处于开启状态的，从而在关闭输料电机后，螺旋分料器可以继续输送物料，以降低摊铺机的分料系统的料位。在分料系统的料位小于第二预设料位时，表明卡料风险解除，控制输料电机由停机模式切换至正常输料模式，从而可以恢复输料电机正转。
正常输料模式中，在输料电机正转的情况下，确定输料电机的正转扭矩小于等于正转限定扭矩且摊铺机的分料系统的料位大于第一预设料位，控制输料电机由正常输料模式切换至停机模式后，若螺旋分料器的当前速度较小，则会使得输料速度过慢，即摊铺机的分料系统的料位下降的速率越小。为了进一步提高输料效率，在输料电机由正常输料模式切换至停机模式后，将螺旋分料器的当前速度提高至目标速度，从而可以加快螺旋分料器的输料速度，使得摊铺机的分料系统的料位快速下降，直至摊铺机的分料系统的料位小于第二预设料位时，卡料风险解除，从而可以控制输料 电机由停机模式切换至正常输料模式，恢复输料电机正转。其中，目标速度可以根据实际情况具体设置。
本申请在控制输料电机由停机模式切换至正常输料模式后，螺旋分料器可以继续保持目标速度运行，也可以恢复至初始速度运行。例如，若为了加快输料效率，螺旋分料器可以继续保持目标速度运行；若为了避免螺旋分料器速度过高带来较大负载，进而引起系统故障，螺旋分料器可以恢复至初始速度运行。
优选的，摊铺机的输料系统的卡料控制方法还包括：
在正常输料模式中，若接收到停机指令，关闭所述输料电机。
具体地，在正常输料模式中，若接收到停机指令，可能表明此次输料完成，因此可以关闭输料电机，以避免输料电机在输料完成后继续运转造成资源浪费的问题。
下面对本申请提供的摊铺机的输料系统的卡料控制装置进行描述，下文描述的摊铺机的输料系统的卡料控制装置与上文描述的摊铺机的输料系统的卡料控制方法可相互对应参照。
此外，本申请提供一种摊铺机的输料系统的卡料控制装置，如图2所示，该装置包括：
整车控制器、电机控制器、输料电机、料位传感器和分料控制机构；
电机控制器、料位传感器和分料控制机构分别和整车控制器连接，电机控制器和输料电机连接。
具体地，摊铺机的输料系统的卡料控制装置包括整车控制器、电机控制器、输料电机、料位传感器和分料控制机构，其中，电机控制器、料位传感器和分料控制机构分别和整车控制器连接，电机控制器和输料电机连接，整车控制器用于执行如上任一实施例所述的摊铺机的输料系统的卡料控制方法。
其中，电机控制器用于接收整车控制器的指令控制输料电机正转、反转或停机，料位传感器用于监控摊铺机的分料系统的料位，分料控制机构用于接收整车控制器的分料指令并进行分料。
此外，本申请提供一种摊铺机，包括如上所述的卡料控制装置，由于卡料控制装置用于执行如上任一实施例所述的摊铺机的输料系统的卡料控制方法，从而使得摊铺机能够自动处理卡料问题，提高了输料效率。
图3是本申请提供的电子设备的结构示意图，如图3所示，该电子设备可以包括：处理器(processor)310、通信接口(Communications Interface)320、存储器(memory)330和通信总线340，其中，处理器310，通信接口320，存储器330通过通信总线340完成相互间的通信。处理器310可以调用存储器330中的逻辑指令，以执行摊铺机的输料系统的卡料控制方法，该方法包括：正常输料模式中，在输料电机正转的情况下，确定所述输料电机的正转扭矩大于正转限定扭矩，则控制输料电机由正常输料模式切换至卡料工况模式；所述卡料工况模式包括：电机反转卡料控制步骤：控制所述输料电机反转，确定所述输料电机的反转扭矩小于等于反转限定扭矩且达到预设的反转保持时间或者所述输料电机的反转扭矩大于反转限定扭矩时，转下一步骤；电机正转卡料控制步骤：控制所述输料电机正转，若所述输料电机的正转扭矩大于所述正转限定扭矩，执行电机反转卡料控制步骤；若所述输料电机的正转扭矩小于等于所述正转限定扭矩且达到预设的正转保持时间，控制所述输料电机由所述卡料工况模式切换至所述正常输料模式。
此外，上述的存储器330中的逻辑指令可以通过软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
此外，本申请还提供一种计算机程序产品，所述计算机程序产品包括存储在非暂态计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，计算机能够执行上述各方法所提供的摊铺机的输料系统的卡料控制方法，该方法包括：正常输料模式中，在输料电机正转的情况下，确定所述输料电机的正转扭矩大于正转限定扭矩，则控制输料电机由正常输料模式切换至卡料工况模式；所述卡料工况模式包括：电机反转卡料控制步骤：控制所述输料电机反转，确定所 述输料电机的反转扭矩小于等于反转限定扭矩且达到预设的反转保持时间或者所述输料电机的反转扭矩大于反转限定扭矩时，转下一步骤；电机正转卡料控制步骤：控制所述输料电机正转，若所述输料电机的正转扭矩大于所述正转限定扭矩，执行电机反转卡料控制步骤；若所述输料电机的正转扭矩小于等于所述正转限定扭矩且达到预设的正转保持时间，控制所述输料电机由所述卡料工况模式切换至所述正常输料模式。
此外，本申请还提供一种计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现以执行上述各提供的摊铺机的输料系统的卡料控制方法，该方法包括：正常输料模式中，在输料电机正转的情况下，确定所述输料电机的正转扭矩大于正转限定扭矩，则控制输料电机由正常输料模式切换至卡料工况模式；所述卡料工况模式包括：电机反转卡料控制步骤：控制所述输料电机反转，确定所述输料电机的反转扭矩小于等于反转限定扭矩且达到预设的反转保持时间或者所述输料电机的反转扭矩大于反转限定扭矩时，转下一步骤；电机正转卡料控制步骤：控制所述输料电机正转，若所述输料电机的正转扭矩大于所述正转限定扭矩，执行电机反转卡料控制步骤；若所述输料电机的正转扭矩小于等于所述正转限定扭矩且达到预设的正转保持时间，控制所述输料电机由所述卡料工况模式切换至所述正常输料模式。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到各实施方式可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件。基于这样的理解，上述技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如ROM/RAM、磁碟、光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行各个实施例或者实施例的某些部分所述的方法。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。

Claims (12)

  1. 一种摊铺机的输料系统的卡料控制方法，包括：
    正常输料模式中，在摊铺机的输料电机正转的情况下，确定所述输料电机的正转扭矩大于正转限定扭矩，控制输料电机由正常输料模式切换至卡料工况模式；
    所述卡料工况模式包括：
    电机反转卡料控制步骤：控制所述输料电机反转，确定所述输料电机的反转扭矩小于等于反转限定扭矩且达到预设的反转保持时间，或者所述输料电机的反转扭矩大于反转限定扭矩时，执行电机正转卡料控制步骤；
    电机正转卡料控制步骤：控制所述输料电机正转，
    若所述输料电机的正转扭矩大于所述正转限定扭矩，执行电机反转卡料控制步骤；
    若所述输料电机的正转扭矩小于等于所述正转限定扭矩且达到预设的正转保持时间，控制所述输料电机由所述卡料工况模式切换至所述正常输料模式。
  2. 根据权利要求1所述的摊铺机的输料系统的卡料控制方法，其中，所述卡料工况模式还包括：
    反转次数检测步骤：检测在当前卡料工况模式中所述输料电机的累计反转次数，若所述输料电机的累计反转次数小于等于预设次数，执行电机正转卡料控制步骤，若所述输料电机的累计反转次数大于预设次数，关闭所述输料电机；
    所述反转次数检测步骤位于所述电机正转卡料控制步骤之前。
  3. 根据权利要求2所述的摊铺机的输料系统的卡料控制方法，其中，所述反转次数检测步骤位于所述电机正转卡料控制步骤和所述电机反转卡料控制步骤之间，或者所述反转次数检测步骤位于所述电机反转卡料控制步骤之前。
  4. 根据权利要求2所述的摊铺机的输料系统的卡料控制方法，其中，在所述反转次数检测步骤中，还包括：
    若所述输料电机的累计反转次数大于预设次数，进行故障提示。
  5. 根据权利要求1-4任一项所述的摊铺机的输料系统的卡料控制方法， 其中，还包括：
    正常输料模式中，在输料电机正转的情况下，确定所述输料电机的正转扭矩小于等于正转限定扭矩且摊铺机的分料系统的料位大于第一预设料位，控制所述输料电机由正常输料模式切换至停机模式；
    在停机模式中，关闭所述输料电机，在分料系统的料位小于第二预设料位时，控制所述输料电机由停机模式切换至正常输料模式；
    其中，所述第一预设料位大于第二预设料位。
  6. 根据权利要求1-4任一项所述的摊铺机的输料系统的卡料控制方法，其中，还包括：
    在正常输料模式中，若接收到停机指令，关闭所述输料电机。
  7. 根据权利要求2所述的摊铺机的输料系统的卡料控制方法，其中，所述反转次数检测步骤，还包括：
    在所述输料电机的正转扭矩小于等于正转限定扭矩时，将所述累计反转次数重置。
  8. 一种用于实施权利要求1-7任一项所述的摊铺机的输料系统的卡料控制方法的卡料控制装置，其中，包括：
    整车控制器、电机控制器、输料电机、料位传感器和分料控制机构；
    所述电机控制器、所述料位传感器和分料控制机构分别和整车控制器连接，所述电机控制器和输料电机连接。
  9. 一种摊铺机，其中，包括：如权利要求8所述的卡料控制装置。
  10. 一种电子设备，包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，其中，所述处理器执行所述程序时实现如权利要求1至7任一项所述摊铺机的输料系统的卡料控制方法。
  11. 一种计算机可读存储介质，其上存储有计算机程序，其中，所述计算机程序被处理器执行时实现如权利要求1至7任一项所述摊铺机的输料系统的卡料控制方法。
  12. 一种计算机程序产品，包括计算机程序，其中，所述计算机程序被处理器执行时实现如权利要求1至7任一项所述摊铺机的输料系统的卡料控制方法。
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