Patent ID: 12187545

DETAILED DESCRIPTION

In order to make objectives, technical details, and advantages of the embodiments of the present disclosure apparent, the technical solutions of the embodiments will be described in a clearly and fully understandable way in connection with the drawings related to the embodiments of the present disclosure. Apparently, the described embodiments are just a part but not all of the embodiments of the present disclosure. Based on the described embodiments herein, those skilled in the art can obtain other embodiment(s), without any inventive work, which should be within the scope of the present disclosure.

Unless otherwise defined, all the technical and scientific terms used herein have the same meanings as commonly understood by one of ordinary skill in the art to which the present disclosure belongs. The terms “first”, “second”, etc., which are used in the present disclosure, are not intended to indicate any sequence, amount or importance, but distinguish various components. Similarly, similar terms such as “a”, “an”, or “the”, etc., do not indicate the limitation of quantity, but indicate the existence of at least one. The terms “comprise,” “comprising,” “include,” “including,” etc., are intended to specify that the elements or the objects stated before these terms encompass the elements or the objects and equivalents thereof listed after these terms, but do not preclude the other elements or objects.

At present, the commonly used sand conveying apparatus in fracturing well sites includes a sand tank, which needs to be hoisted by a crane during filling sand, and people need to stand on an operating platform for high-altitude operations. The sand discharging device of the sand tank is a manual valve that needs to be operated manually. Thus, the entire apparatus is arranged with no automatic operation and requires a lot of human participation. It also increases the personal danger in the process of human participation in the operation. In addition, in the case where the crane hoists, the boom directly hoists the sand tank without a strict moving route, which has poor stability and low efficiency.

At least one embodiment of the present disclosure provides a sand conveyor apparatus, the sand conveying apparatus includes a storage device, a conveying device, and a hoisting device. The storage device is located above an area where sand needs to be input. The conveying device is connected with the storage device. The conveying device includes a hopper, the hopper is configured to receive the sand, and the conveying device is configured to convey the sand to the storage device. The hoisting device is located above the conveying device. The hoisting device includes a hoist, and the hoist is configured to hoist a sand container. The hoisting device is configured to transport the sand in the sand container to the conveying device through an action of the hoist, and the hoist of the hoisting device is configured to move simultaneously along a plurality of route segments in different directions, so as to realize a linear movement between a first position where the hoist is located and a position where the hopper is located.

At least one embodiment of the present disclosure provides a control method of a sand conveyor apparatus, and the method includes: generating a sand transport command after a sand container is hung on a hoist of a hoisting device; generating a raw-feeding route between a first position where the hoist is located and a position where the hopper of the conveying device is located in response to the sand transport command; the first position of the hoist being located above the sand container, and the raw-feeding route including a plurality of route segments in different directions; controlling the hoist to move to a position above the hopper along the raw-feeding route, and unloading the sand in the sand container into the hopper; herein, the controlling the hoist to move to the position above the hopper along the raw-feeding route includes: controlling the hoist to move simultaneously along the route segments of the plurality of route segments in different directions and reach the position above the hopper, so as to realize a linear movement of the hoist between the first position of the hoist and the position of the hopper.

The sand conveying apparatus and the control method of the sand conveying apparatus provided by the above-mentioned embodiments of the present disclosure realize simultaneous movement of the hoist in different directions, that is, realize the linear movement of the hoist between the first position and the position of the hopper, thereby improving the stability and efficiency of the hoist and increasing the accuracy of controlling the hoist.

The embodiments and examples of the present disclosure will be described in detail below with reference to the accompanying drawings.

FIG.1is a schematically structural diagram of a sand conveying apparatus provided by at least one embodiment of the present disclosure.

For example, in some embodiments, as shown inFIG.1, the sand conveying apparatus1000includes a storage device1100, a conveying device1200, and a hoisting device1300. The storage device1100is located above the area where the sand needs to be input, and is configured to output the sand. The storage device1100includes a plurality of storage tanks1110. For example, the storage device1100, as shown in the drawing, includes four storage tanks1110. Each of the plurality of storage device1100has an inverted cone shape. A feed inlet1111corresponding to each of the plurality of storage tanks1110is provided above the storage device1100. A feed outlet1116corresponding to each of the plurality of storage tanks1110is provided below the storage device1100. The area corresponding to the feed outlet1116is the area where the sand needs to be input. For example, the area where the sand needs to be input is a wellhead for oil or gas production. The storage device1100outputs the sand by opening the feed outlets.

It should be noted that the embodiments of the present disclosure are not limited to the shape of the storage device1100and the number of the plurality of storage tanks1110.

FIG.3is a partially structural diagram of the conveying device provided by at least one embodiment of the present disclosure.

As shown inFIG.1andFIG.3, the conveying device1200is connected with the storage device1100. The conveying device1200includes a hopper1220(as shown inFIG.3). The hopper1220is configured to receive the sand (for example, the sand delivered by a hoisting device), and the conveying device1220is configured to convey the sand to the storage device1100. For example, the conveying device1200includes a belt assembly1210. The belt assembly1210is connected with the feed inlet1111of a storage tank1110and the hopper1220, and the conveying device1200conveys the sand in the hopper1220to the storage device1100through the belt assembly1210.

FIG.4Ais a schematically partial structural diagram of a hoisting device provided by at least one embodiment of the present disclosure.

As shown inFIG.1andFIG.4A, the hoisting device1300is located above the conveying device1200. The hoisting device includes a hoist1301. The hoist1301is configured to hoist the sand container1302(as shown inFIG.4A). The hoisting device1300transports the sand in the sand container to the conveying device through the action of the hoist1301. For example, the sand container1302is a bag or a box for storing the sand, and the embodiments of the present disclosure are not limited thereto. The hoisting device1300includes a plurality of truss structures to limit the movable range of the hoist. For example, the hoist moves along a first track1304in a first direction X of the drawing and a second track1305in a second direction Y of the drawing. The first track1304is provided on a support that is along the first direction X and above the ground in the drawing (for example, a plane where the base1002is located in the drawing is considered as the ground), and the second track1305is provided on a support that is along the second direction Y and above the ground in the drawing. Second tracks1305are located on both sides of the first track1304. For example, the first direction X and the second direction Y are different from each other. For example, the first direction X and the second direction Y are perpendicular to each other. For example, the hoist1301is provided on the first track1304. The first track1304moves along the second tracks1305. As shown inFIG.1, the hoist1301of the hoisting device1300moves simultaneously along a plurality of route segments in different directions between the first position where the hoist1301of the hoisting device1300is located and the position where the hopper1220is located, so as to realize the linear movement. For example, the hoist1301moves simultaneously in the first direction X and the second direction Y, that is, with the first track1304moving on the second track1305, the hoist1301moves along the first track1304, thereby realizing the rapid movement of the hoist1301.

FIG.4Bis a schematically partial structural diagram of the hoisting device during unloading provided by at least one embodiment of the present disclosure.

For example, as shown inFIG.4AandFIG.4B, the hoisting device1300further includes a sand unloading mechanism1303, and the hoist1301includes a hanger1312. The sand unloading mechanism1303is connected with both the hoist1301and an end (for example, the lower end) of the sand container1302away from the hoist1301. The hanger1312is connected with an end (for example, the upper end) of the sand container1302closing to the hoist1301. The sand unloading mechanism1303is configured to automatically unload the sand in the sand container1302to the hopper1220of the conveying device1200, that is, to automatically unload the sand, so as to reduce the participation of personnel.

For example, as shown inFIG.4A, the hoisting device1300is in a state of transporting the sand container1302, and the hanger1312lifts or falls in a third direction Z (for example, the vertical direction). For example, the hoisting device includes a third motor1311, and the third motor1311is configured to drive the hanger1312to move in the third direction Z. The third direction Z is perpendicular to the first direction X and the second direction Y. The sand unloading mechanism1303includes a traction rope1313and a hook1314. In the state ofFIG.4A, the hook1314is connected with, for example, an latch that is located at the end (such as the lower end) away from the hoist1301of the sand container1302and configured to close a unloading outlet of the sand container1302. The traction rope1313has a fixed length and is connected with the hoisting device1300.

For example, as shown inFIG.4B, in the case where the hoisting device1300transports the sand container1302to the position above the hopper1220, the sand container1302on the hanger1312gradually falls. Under this case, the traction rope1313is gradually pulled tightly, so that the traction rope1313generates a pulling force on the latch. Under the action of the pulling force, the latch for fixing the sand container1302is pulled open, the unloading outlet for fixing the fixed sand container1302is opened, and the sand starts to be unloaded. InFIG.4AandFIG.4B, the sand container1302is taken as an example of a bag.

For example, in other embodiments, the sand container1302includes a storage box or the like. The unloading outlet below the storage box is provided with the latch for fixing a sealing box cover. In the case where the sand is uploaded, the sealing box cover is unlocked by the pulling force of the traction rope1313applied to the latch, thereby realizing the unloading of the sand.

For example, in some embodiments, as shown inFIG.4A, the hoisting device1300further includes at least one first motor1306. The total number of the at least one first motor1306shown in the drawing is one, and the embodiments of the present disclosure are not limited thereto. The first motor1306is configured to drive the hoist1301to move on the first track1304, that is, to move in the first direction X.

FIG.5Ais a schematically structural diagram of a first track provided by at least one embodiment of the present disclosure.FIG.5Bis a schematically structural diagram of a second track provided by at least one embodiment of the present disclosure.

For example, in some embodiments, as shown inFIG.5A, the hoisting device1300further includes at least one second motor1307. For example, the total number of at least one second motor1307is two, and the embodiments of the present disclosure are not limited thereto. Two second motors1307are located at two ends of the first track1304respectively. Each of the second motors1307is configured to drive the hoist1301to move on each of the second tracks1305, that is, to move in the second direction Y.

It should be noted that the total number of at least one second motor1307is set according to design requirements, and the embodiments of the present disclosure are not limited thereto.

For example, as shown inFIG.5AandFIG.5B, a plurality of first limit sensors1308are provided on the first track1304, and a plurality of second limit sensors1309are provided on the second track1305. For example, the plurality of first limit sensors1308or the plurality of second limit sensors1309are arranged at equal intervals or at unequal intervals. The embodiments of the present disclosure are not limited to the setting mode and specific number of the plurality of first limit sensors1308or the plurality of second limit sensors1309as shown in the drawings. For example, the positions of the first limit sensors1308at two ends of the first track1304are for example arranged as the first utmost positions P1. For example, the positions of the second limit sensors1309at two ends of the second track1305are for example arranged as the second utmost positions P2. The hoist1301is configured to move on the first track1304without exceeding the first utmost positions P1and to move on the second track1305without exceeding the second utmost positions P2, so as to avoid causing apparatus failure and other dangers.

For example, as shown inFIG.4A, the sand conveying apparatus further includes a tilt-angle sensor1310. The tilt-angle sensor1310is configured to detect the tilt angle between the hoist1301and the third direction Z during the movement of the hoist1301on the first track1304and the second track1305. For example, in the case where the hoist1301hoists the sand container1302, the tilt-angle sensor1310detects whether the center of gravity of the hoist1301and the center of the sand container1302are in the same straight line. For example, the tilt-angle sensor1310detects an angle between a line from the center of gravity of the hoist1301to the center of the sand container1302and the vertical direction (i.e., the third direction Z in the drawing). For example, the tilt-angle sensor1310detects a swing angle of the rope that is connected with the hanger of the hoist1301. If the tilt angle is too large, it possibly causes damage to the hoist1301. Thus, the detection is performed in real time according to the signal of the tilt-angle sensor1310.

For example, in some embodiments, as shown inFIG.1, the sand conveying apparatus1000further includes a power supply device1001and a base1002. The power supply device1001supplies power to various devices in the sand conveying apparatus1000that require electrical energy, such as the first motor1306, the second motor1307, and so on. The base1002is configured to carry the sand conveying apparatus1000.

As shown inFIG.3, the sand conveying apparatus1000further includes a third track1230along the second direction Y. The conveying device1200is provided on the third track1230and moves along the third track1230, so that the conveying device1200is allowed to correspond to the feed inlets1111of different storage tanks1110of the storage device1100. Under this case, the belt assembly1210is in direct connection with the feed inlet1111, thereby inputting the sand from the hopper1220to the storage tank1110.

FIG.2is a schematically structural diagram of a feed inlet of a storage tank of a storage device provided by at least one embodiment of the present disclosure.

For example, in some embodiments, as shown inFIG.2, the feed inlet1111of the storage tank1110is provided with a sand feeding shutter1114. An opening sensor1115is provided on the sand feeding shutter1114. The opening sensor1115is configured to detect the opening value of the sand feeding shutter1114. In the case where the opening value of the sand feeding shutter1114is too small and does not meet the requirements, the belt assembly1210and the feed inlet1111cannot be completely butted with each other, which possibly causes the sand to be transported to the outside of the storage tank1110at the feed inlet. For example, each storage tank1110of the storage device1100is provided with a raw level detector1112, and the raw level detector1112is configured to detect the storage amount of sand in the storage tank1110. For example, the raw level detector1112is implemented as a weight sensor, an ultrasonic sensor, or a radar sensor, or a plurality of the raw level sensors. For example, the plurality of the raw level sensors are arranged at different heights of a side wall of the storage tank1110.

FIG.6is a schematic diagram of a control system provided by at least one embodiment of the present disclosure.

For example, in some embodiments, as shown inFIG.6, the sand conveying apparatus further includes a control system1400. The control system1400is in signal connection with the storage device1100, the conveying device1200, and the hoisting device1300. The control system1400includes a first control module1410, and the first control module1410is in signal connection with the hoisting device1300. For example, the first control module1410includes a transport command generation unit1411, a raw-feeding route generation unit1412, and a raw-unloading control unit1413.

For example, the transport command generation unit1411is configured to generate a sand transport command after the sand container1302is hung on the hoist1301. For example, the sand transport command is used to instruct the hoist1301to move from the position where the hoist1301is located (i.e., the first position of the hoist1301) to the position where the hopper1220of the conveying device1200is located (i.e., the position of the hopper1220).

For example, the raw-feeding route generation unit1412is configured to generate a raw-feeding route between the first position of the hoist1301(for example, the position corresponding to the sand container) and the position of hopper1220of the conveying device1200, in response to the sand transport command. The first position of the hoist1301is located above the sand container1302, and the raw-feeding route includes a plurality of route segments in different directions. For example, a moving range of the hoist1301and a moving range of the hopper1220are established in a three-dimensional coordinate system. For example, the moving routes of the hoist1301in the first direction X and the second direction Y are generated according to the first position of the hoist1301and the position of the hopper1220.

For example, the raw-unloading control unit1413is configured to control the hoist1301to move to a position above the hopper1220along the raw-feeding route and unload the sand in the sand container1302into the hopper1220. During the process of moving the hoist1301to the position above the hopper along the raw-feeding route, the hoist1301moves simultaneously along the route segments of the plurality of route segments in different directions and reaches the position above the hopper1220, thereby realizing a linear movement of the hoist between the first position of the hoist and the position of the hopper, and realizing the rapid movement and accurate control of the hoist1301.

For example, in some embodiments, as shown inFIG.6, the control system further includes a second control module1420. The second control module1420is connected with the storage device1200. The second control module1420is configured to respond to the storage amount of the sand in the storage tank1110and to generate a demand information corresponding to the storage tank1110in the case where the storage amount of the sand in the storage tank1110is insufficient. That is, in the case where the storage amount of the sand in a certain storage tank1110is insufficient, the conveying device1200, according to the demand information, moves to a position corresponding to the storage tank1110to perform the sand conveying operation on the storage tank1110.

For example, in some embodiments, as shown inFIG.6, the control system1400further includes a third control module1430. The third control module1430is connected with the conveying device1200and is configured to control the movement of the conveying device1200and the conveying of the sand. For example, the third control module1430is configured to generate and output a displacement route of the conveying device1220in response to the input demand information and the position of the hopper1220of the conveying device1200. The demand information includes a demand information corresponding to a single storage tank1110or a demand information corresponding to a plurality of storage tanks1110arranged in sequence, that is, the storage amount of sand in one storage tank1110is insufficient or the sand in the plurality of storage tanks1110is insufficient. The third control module1430is further configured to control the conveying device1200to move to a position in correspondence to the single storage tank1110along the displacement route, or to control the conveying device1200to move one by one to the positions in correspondence to the plurality of storage tanks1110according to the arrangement sequence of the plurality of storage tanks1110. Then, the conveying device1200conveys the sand to the storage tank1110through the belt assembly1210.

For example, in some embodiments, as shown inFIG.6, the third control module1430is further configured to control, after uploading the sand in the sand container1302into the hopper1220, in the case where the conveying device1200is in a non-moving state, the belt assembly1210to convey the sand in the hopper1220of the conveying device1200to the storage tank1110corresponding to the conveying device1200.

For example, in some embodiments, as shown inFIG.2, the third control module1430further includes a proximity switch1113, and the proximity switch1113is provided at the feed inlet1111of each storage tank1110. In the case where the conveying device1200moves to the feed inlet1111of the storage tank1110, the proximity switch1113outputs a proximity signal. The third control module1430is configured to determine that the conveying device1200corresponds to the storage tank1110according to the proximity signal. After determining that the conveying device1200corresponds to the storage tank1110, the feed inlet1111of the storage tank1110is opened. For example, one of the feed inlets1111of the plurality of storage tanks1110as shown inFIG.1is opened at the same time.

For example, in some embodiments, as shown inFIG.2, the second control module1420is configured, in the case where the conveying device1200corresponds to the storage tank1110, to output a tank opening information of the storage tank1110. The third control module1420is configured, to open the sand feeding shutter1114at the feed inlet1111of the storage tank1110and to control the belt assembly to run in response to the tank opening information, so as to convey the sand in the hopper1220into the storage tank1110, in a case where the opening value of the sand feeding shutter1114is greater than a preset value.

It should be noted that the structures of various parts as shown inFIG.2,FIG.3,FIG.5A, andFIG.5Bdoes not represent the actual structures, but to show the positions and connection relationship between various parts, and the embodiments of the present disclosure do not limited thereto.

For example, as shown inFIG.6, the modules in the control system operate independently and communicate with each other. Even if one of the modules in the control system is damaged, it will not affect the operation of other control units. The control system is designed to be operated in three modes, including local buttons, HMI (Human Machine Interface) interface, and remote control. The local buttons are capable of directly controlling the actions of the corresponding components to keep the operation running, in the case where the control system is failure. The HMI interface and the remote control are mutually backup. The remote control is configured as the main operating component during normal operations. The HMI interface is capable of performing all operations in the case where the remote control is failure.

Many functional components described in the description are all called units (such as the transport command generation unit, the raw-feeding route generation unit, the raw-unloading control unit) in order to more particularly emphasize the independence of implementation.

In the embodiments of the present invention, the units may be achieved by software so as to be executed by various types of processors. For example, a marked executable code unit may include one or more physical or logical blocks of a computer instruction, and for instance, may be constructed as an object, a procedure or a function. Even so, executable codes of the marked unit are not required to be physically located together but may include different instructions stored on different physical blocks. When the instructions are logically combined, a unit is constructed and the predetermined object of the unit is achieved.

Actually, the executable code unit may include a single instruction or many instructions which may even be distributed on a plurality of different code segments, distributed in different programs, and distributed on a plurality of storage devices. Similarly, operational data may be identified in the unit, achieved by any appropriate means and organized in any appropriate type of data structure. The operational data may be collected as a single data set or may be distributed at different positions (including the case of being distributed on different storage devices) and may at least partially exist on a system or a network by being only taken as electronic signals.

When the unit can be achieved by software, in view of the level of the traditional hardware technology, those skilled in the art can establish corresponding hardware circuits on units capable of being achieved by software to achieve corresponding functions regardless of the cost. The hardware circuits include conventional very large scale integration (VLSI) circuits or gate arrays and conventional semiconductors such as logic chips and transistors or other discrete elements. The unit may also be achieved by programmable hardware units such as field programmable gate arrays, programmable logic arrays and programmable logical devices.

The embodiments of the present disclosure further provide a control method of any one of the above-mentioned sand conveyor apparatus.

FIG.7is a schematic flow chart of a control method of the sand conveying apparatus provided by at least one embodiment of the present disclosure. The control method described inFIG.7includes step S110to step S130.

Step S110: generating a sand transport command, after the sand container is hung on the hoist of the hoisting device. For example, as shown inFIG.1, the sand transport command is used to instruct the hoist1301to move from the first position of the hoist1301where the hoist1301is located to the position of the hopper1220of the conveying device1200.

For example, in some embodiments, before the sand container is hung on the hoist, if the hoist is located at a second position different from the first position, a moving route is generated between the first position and the second position of the hoist, and the hoist is controlled to move to the first position along the moving route. For example, as shown inFIG.4A, the first position of the hoist1301is located above the sand container1302. In the case where the sand container1302is not hung on the hanger1312of the hoist1301, if the hoist1301is not above the sand container1302, the hoist1301needs to be moved to the first position, in order to allow the sand container1302to be hung on the hanger1312.

For example, in some embodiments, as shown inFIG.4A, after the hoist1301is moved to the first position, the hanger1312of the hoist1301falls along the third coordinate axis Z to hang the sand container1302. After the sand containing1302is hung on the hanger1312of the hoist1301, the hanger1312of the hoist1301rises along the third coordinate axis Z, until the hanger1312of the hoist1301reaches a third utmost position in a direction of third coordinate axis Z within the moving range of the coordinate system. The third utmost position is the highest position of the hanger1312in the vertical direction. That is, the third utmost position is defined by the height of the first track1304and the second track1305(on which the hoist is provided) in the direction of third coordinate axis Z.

Step S120: in response to the sand transport command, generating the raw-feeding route between the first position of the hoist and the position of the hopper of the conveying device, herein, the first position of the hoist is located above the sand container, and the raw-feeding route includes the plurality of route segments in different directions. For example, after the hoist reaches the highest position of the moving range (the maximum height where the hanger is located in the direction of third coordinate axis Z), projection points of the first position of the hoist and the position of the hopper on a plane where the position of the hoist is located (i.e., the plane where the first coordinate axis X and the second coordinate axis Y are located) are called, and then the raw-feeding route are drawn and output.

For example, as shown inFIG.1, the coordinate system is established based on the action range of the hoisting device1300. The coordinate system includes the first coordinate axis X, the second coordinate axis Y, and the third coordinate axis Z (respectively corresponding to the first direction, the second direction, and the third direction). According to scale information, the positions of the hoist1300and the hopper1220(shown inFIG.3) are marked in the coordinate system, and the positions of the hoist1300and the hopper1220are updated in real time. The moving range of the hoist1220is set in the coordinate system. For example, the moving range of the hoist1220is the range defined by the first track1304and the second track1305. For example, an origin of the coordinate system is the grounding point of the vertical truss inFIG.1, or any one of intersection points between the first track1304and the second tracks1305, and the embodiments of the present disclosure are not limited thereto.

It should be noted that in the embodiments of the present disclosure, the symbol X represents the first coordinate axis and the first direction, Y represents the second coordinate axis and the second direction, and Z represents the third coordinate axis and the third direction.

Step S130: controlling the hoist to move to the position above the hopper along the raw-feeding route, and uploading the sand in the sand container into the hopper.

For example, in some embodiments, after the sand in the sand container is unloaded into the hopper, the control method further includes: controlling the hoist to return to the first position of the hoist along the raw-feeding route, so as to continue a next sand transportation. For example, the hoist is controlled to move to the position above the hopper along the raw-feeding route, and the hoist is further controlled to make a reciprocating movement for once between the current position of the hoist and the raw unloading position of the hopper.

For example, in some embodiments, the controlling the hoist to move to the position above the hopper along the raw-feeding route includes: controlling the hoist to move simultaneously along the route segments of the plurality of route segments in different directions and reach the position above the hopper, thereby realizing the linear movement of the hoist between the first position and the position of the hopper.

For example, in some embodiments, the controlling the hoist to move to the position above the hopper along the raw-feeding route includes: controlling the hoist to move simultaneously on the first track and the second track. For example, as shown inFIG.4AandFIG.5A, the first motor1306is configured to drive the hoist1301to move on the first track1304, and each of the second motors1307is configured to drive the hoist1301to move on each of the second tracks1305.

For example, the hoisting device1300has an automatic positioning function without manual intervention in the whole process. For example, the automatic positioning function are classified into automatic walking function and automatic returning function. During the automatic walking process, the current position of the feed inlet and the current state of the motors (the above-mentioned first and second motors) for driving the hoist1301of the hoisting device1300are first read. After it is determined to be normal, the hanger1312of the hoist1301is automatically controlled to lift or fall and to move in the first direction and the second direction according to the preset control program. In order to reduce the running time, the hoist1301moves in the first direction and the second direction at the same time. After the hoist1301reaches the position above the hopper1220, the hanger1312is driven to fall and then the sand is unloaded. During the automatic return process, according to the pre-determined position coordinates during the automatic walking, the hanger1312of the hoist1301is automatically controlled to lift or fall and to move in the first direction and the second direction according to the preset control program, thereby reducing the moving time and improving the moving stability and efficiency of the hoist1301.

For example, in some embodiments, the control method includes: controlling the hoist to move on the first track without exceeding the first utmost positions and to move on the second track without exceeding the second utmost positions. For example, as shown inFIG.4AandFIG.4B, the plurality of first limit sensors1308are provided on the first track1304, and the plurality of second limit sensors1309are provided on the second track1305. For example, the positions of the first limit sensors1308at the two ends of the first track1304are the first utmost positions P1. For example, the positions of the second limit sensors1309at the two ends of the second track1305are the second utmost positions P2. The hoist1301is configured to move on the first track1304without exceeding the first utmost positions P1and to move on the second track1305without exceeding the second utmost positions P2, so as to avoid causing apparatus failure and other dangers.

For example, in some embodiments, the first limit sensors1308and the second limit sensors1309are implemented as photoelectric sensors, that is, in the case where the hoist1301passes the photoelectric sensor, a trigger signal is generated while a light signal of the photoelectric sensor is blocked.

FIG.8is a schematic flow chart of a control method of the sand conveying apparatus provided by at least one embodiment of the present disclosure. The control method as shown inFIG.8includes step S210to step S230. Step S210to step S230are used to control the hoist to move on the first track without exceeding the first utmost positions and to move on the second track without exceeding the second utmost positions.

Step S210: during movement of the hoist, calculating position coordinates of the hoist in the coordinate system according to a moving time of the hoist. For example, as shown inFIG.4AandFIG.4B, the moving speed of the hoist1301on the first track1304and the second track1305is a preset value. According to the moving time of the hoist1301, the moving distances of the hoist1301in the direction of first direction X (the first track1304) and in the direction of second coordinate Y (the second track1305) are determined, and the position coordinates of the hoist1301are also determined.

Step S220: during the movement of the hoist, calibrating the position coordinates of the hoist according to trigger signals generated by the plurality of first limit sensors and the plurality of second limit sensors. For example, as shown inFIG.4AandFIG.4B, in the case where the hoist1301moves on the first track1304and the second track1305, the corresponding signal is triggered every time while the hoist1301passes one of the plurality of first limit sensor1308or one of plurality of second limit sensor1309, so as to monitor the position of the hoist1301in real time. For example, according to the moving time, it is concluded that the position of the hoist1301on the first track1304is at the left end (that is, it exceeds the first limit sensor1308at P1) and the position of the hoist1301on the second track1305is at the left end (that is, it exceeds the second limit sensor1309at P2), and both the first limit sensor1308at P1and the second limit sensor1309at P2generate trigger signals, thus it is determined that the position of the hoist1301exceeds the first limit sensor1308at P1and exceeds the second limit sensor1309at P2, thereby further determining that the position coordinates of the hoist1301calculated in step S210are reliable.

Step S230: comparing the position coordinates of the hoist with the first utmost position and the second utmost position respectively, in a case where the position coordinate of the hoist exceeds the first utmost position or the second utmost position, stopping an operation of the hoist and activating a protection mechanism. For example, according to the position coordinates of the hoist1301obtained in step S210and step S220, it is determined that the hoist1301exceeds the first utmost position P1and the second utmost position P2.

It should be noted that in the case where the position coordinate of the hoist exceeds at least one of the first utmost position and the second utmost position, the operation of the hoist is stopped.

For example, in other embodiments, in step S220, according to the moving time, it is concluded that the position of the hoist1301on the first track1304is at the left end (that is, it exceeds the first limit sensor1308at P1) and the position of the hoist1301on the second track1305is at the left end (that is, it exceeds the second limit sensor1309at P2). Although neither of the first limit sensor1308at P1and the second limit sensor1309at P2generates the trigger signal due to the failure of the limit sensors, the other first limit sensor1308and the other second limit sensor1309generate the trigger signals. Under this case, the position coordinates of the hoist1301calculated in step S210are further verified according to the trigger signals generated from the other first limit sensors and second limit sensors and based on the time interval of the trigger signals or the time of the latest trigger signal.

For example, the above-mentioned step S210to step S230are achieved in a way by combining software calculation with hardware signals, so as to allow the hoist to be controlled to move on the first track without exceeding the first utmost positions and to move on the second track without exceeding the second utmost positions, thereby avoiding the failure of the hoist1301caused by the failure of the limit sensors. For example, in the case where the calculated position coordinates exceed the safety limit and there is no signal generated from the limit sensor, the protection mechanism is triggered to prevent the hoist1301from continuing to run under the case where the limit sensor fails, thereby avoiding any safety accident.

For example, in some embodiments, the unloading the sand in the sand container into the hopper includes: automatically unloading the sand in the sand container into the hopper through the sand unloading mechanism. As shown inFIG.4AandFIG.4B, the hoisting device1300further includes the sand unloading mechanism1303, and the hoist1301includes the hanger1312. The sand unloading mechanism1303is connected with both the hoist1301and an end (for example, the lower end) of the sand container1302away from the hoist1301. The hanger1312is connected with an end (for example, the upper end) of the sand container1302close to the hoist1301. The sand unloading mechanism1303is configured to automatically unload the sand in the sand container1302to the hopper1220of the conveying device1200, that is, to automatically unload the sand, so as to reduce the participation of personnel. The process of automatic sand unloading may be referred to the previous description, which will not be repeated here.

For example, in some embodiments, the control method further includes: during the movement of the hoist along the raw-feeding route, detecting the tilt angle between the hoist and the third coordinate axis by using the tilt-angle sensor and sending an alarm information in the case where the tilt angle is greater than an warning threshold, and stopping the operation of the hoist in the case where the tilt angle is greater than a safety threshold. For example, as shown inFIG.4A, the tilt-angle sensor1310is configured to detect the tilt angle between the hoist1301and the third direction Z during the movement of the hoist1301on the first track1304and the second track1305. For example, the tilt-angle sensor1310detects a swing angle of the rope that is connected with the hanger of the hoist1301. If the tilt angle is too large, it possibly causes damage to the hoist1301. That is, in a case where the center of gravity of the sand container1302is lifted, if the suspended object is not in the same straight line as the hoist, it will cause the hoist to tilt. In the case where the tilt-angle sensor detects that the tilt angle is greater than the warning threshold, an alarm will be sent out. In the case where the tilt angle is greater than the safety threshold, the operation of the hoist is cut off to prevent damage to the hoist during diagonal pulling.

FIG.9is a schematic flow chart of a control method of the sand conveying apparatus provided by at least one embodiment of the present disclosure. The control method shown inFIG.9includes step S310to step S320.

Step S310: generating a demand information in a case where the demand site needs to be fed, the demand information including a single demand site or a plurality of demand sites arranged in sequence. For example, as shown inFIG.1, the storage device1100includes a plurality of storage tanks1110. In the coordinate system, each storage tank1100corresponds to one of the demand sites. For example, in the case where the storage amount of sand in the storage tank1100is insufficient, the storage tank1100generates the demand information. For example, the plurality of demand sites are distinguished from one another by marks.

Step S320: in response to the input demand information and the position of the hopper, generating and outputting the displacement route of the conveying device. For example, as shown inFIG.3, the sand conveying apparatus1000further includes a third track1230along the second direction Y. The conveying device1200is provided on the third track1230and moves along the third track1230. For example, the displacement route of the conveying device is along the third track.

Step S330: controlling the conveying device to move to the single demand site along the displacement route, or move to the plurality of demand sites one by one according to the arrangement sequence of the plurality of demand sites. For example, as shown inFIG.1, the conveying device1200moves to the single storage tank1110or moves to the plurality of storage tanks1110sequentially. For example, the motor is configured to control the movement of the conveying device1200, and the lateral movement of the conveying device1200is controlled by the start or stop of the motor. For example, in the case where a movement command is sent, the rotation direction of the motor is judged according to the difference between the feed inlet of the storage tank1110corresponding to the demand site and the current position of the conveying device1200, and then the motor is controlled to run. While the belt assembly of the conveying device1200reaches the designated position of the feed inlet, the motor stops running.

Step S340: in a case where the conveying device is in a non-moving state, controlling the belt assembly to run, so as to convey the sand in the hopper of the conveying device into the storage tank corresponding to the conveying device. For example, the belt assembly1210of the conveying device1200is in direction connection with the feed inlet of the storage tank1110, so as to convey the sand in the hopper1220to the storage tank1110. That is, in the case where the storage amount of sand in a certain storage tank1110is insufficient, according to the demand information, the conveying device1200moves to a position corresponding to the storage tank1110to perform the sand conveying operation on the storage tank1110.

For example, in some embodiments, in the case where the conveying device moves to the single demand site or in the case where the conveying device moves to the last one of the plurality of demand sites, an arrival information is output and the conveying device is controlled to stop moving. For example, in some embodiments, the convey device and the hoist do not move simultaneously. If the movement instructions of the conveying device and the hoist are received simultaneously, the conveying device will be moved first, in order to allow enough time for the sand conveying operation to perform the sand conveying operation, so as to avoid moving the sand conveying apparatus before the sand conveying is completed.

For example, in some embodiments, the storage amount of sand in the storage tank1110is controllable. For example, as shown inFIG.2, each storage tank1110of the storage device1100is provided with the raw level detector1112, and the raw level detector1112is configured to detect the storage amount of sand in the storage tank1110. For example, the raw level detector1112is implemented as a weight sensor, an ultrasonic sensor, a radar sensor, or a plurality of raw level sensors. For example, the plurality of raw level sensors are arranged at different heights of the side wall of the storage tank1110. For example, the real-time monitoring of the raw level of the storage tank1110is realized by using the raw level sensors mounted in the storage tank1110. In the case where the sand level in the tank rises to the mounting position of the raw high-level sensor (the highest raw level sensor), the signal contact of the raw level sensor is closed and detected, the acousto-optic alarm is controlled to send alarm, and the running of the belt assembly1210is automatically stopped to prevent the proppant from overflowing from the storage tank1110. In the case where the sand level in the storage tank1110falls below the mounting position of the raw low-level sensor (the lowest raw level sensor), the signal contact of the raw low-level sensor is disconnected and detected, and the acousto-optic alarm is controlled to send an alarm of the raw low-level sensor. According to the above-mentioned mode, the automatic metering function is realized. For example, a metering mode is carried out by: based on the times for lifting or dropping the sand containers through the hoist, calculating the added-sand weight according to the sand weight in each sand container. In the case where the sand container is lifted, the weight of the hoist is recorded according to the weight change of the weight sensor, and in the case where the sand container is moved onto a conveying belt through the hoist, the secondary weight is added to the recorded total weight to realize the weight accumulation.

For example, in some embodiments, in the case where there is no sand on the belt assembly, a completion information is output. For example, the raw level sensor or the weight sensor is provided on the belt assembly to realize real-time monitoring of the sand on the belt assembly.

FIG.10is a schematic flow chart of a control method of the sand conveying apparatus provided by at least yet another embodiment of the present disclosure. The control method shown inFIG.10includes step S410to step S440.

Step S410: in a case where the conveying device corresponds to the storage tank, outputting the tank opening information, herein, the tank opening information is used to open the feed inlet of the storage tank. For example, in the case where the conveying device does not correspond to the storage tank, the tank closing information is output.

For example, in some embodiments, the proximity switch is provided at the feed inlet of the storage tank. In the case where the conveying device moves to the feed inlet of the storage tank, it is determined that whether the conveying device corresponds to the storage tank according to the proximity signal sent by the proximity switch. As shown inFIG.2, the proximity switch1113is provided at the feed inlet1111of each storage tank1110. In the case where the conveying device1200moves to reach the feed inlet1111of the storage tank1110, the proximity switch1113outputs the proximity signal. The third control module1430is configured to determine that the conveying device1200corresponds to the storage tank1110according to the proximity signal.

For example, in other embodiments, read-write mediums configured for being matched with each other are provided at the feed inlet1111and the conveying device1200respectively. For example, the read-write mediums includes but is not limited to chips based on NFC, RFID, or other information transmission modes.

For example, in some embodiments, one of the plurality of storage tanks1110of the storage device1100sends out the tank opening information at the same time.

Step S420: controlling the sand feeding shutter at the feed inlet of the storage tank to open in response to the tank opening information.

Step S430: detecting the opening value of the sand feeding shutter by using the opening sensor on the sand feeding shutter.

Step S440: in a case where the opening value is greater than the preset value, controlling the belt assembly to run.

For example, as shown inFIG.2, the feed inlet1111of the storage tank1110is provided with the sand feeding shutter1114. The opening sensor1115is provided on the sand feeding shutter1114. The opening sensor1115is configured to detect the opening value of the sand feeding shutter1114. For example, in response to the opening information, the sand shutter1114at the feed inlet1111of the storage tank1110is controlled to open. In the case where the opening value of the sand feeding shutter1114is greater than the preset value, the belt assembly1210is controlled to run, so as to convey the sand in the hopper1220into the storage tank1110. For example, the motor control for the belt conveying is realized by combining the switch state of the feed inlet1111of the storage tank1110. In the case where it is detected that the belt assembly1210is at the position of the feed inlet1111, the sand feeding shutter1114at the feed inlet1111is automatically controlled to open to the designated position, whereas the shutters at other feed inlets are closed. The opening value of the shutter may be detected by the opening sensor mounted on the sand feeding shutter1114. In the case where it is judged that the opening value of the sand feeding shutter on a top of the tank is greater than the preset value and the conveying device is at the position corresponding to the feed inlet, the conveying action of the belt assembly1210is allowed to start, thereby preventing the belt assembly1210from conveying the sand to the outside of the storage tank1110.

FIG.11is a schematically structural diagram of a control device provided by at least one embodiment of the present disclosure.

The control device400for the sand conveying apparatus as shown inFIG.11is, for example, suitable for implementing the control method of the sand conveying apparatus provided by the embodiments of the present disclosure. The control device400used for the sand conveying apparatus may be a terminal device, such as a personal computer, a laptop computer, a tablet computer, a mobile phone, etc., or the control device may also be a workstation, a server, a cloud service, and the like. It should be noted that the control device400for the sand conveying apparatus as shown inFIG.11is only an example, which does not bring any limitation to the function and the range of application of the embodiments of the present disclosure.

As shown inFIG.11, the control device400for the sand conveying apparatus includes a processing unit (for example, a central processor, a graphics processor, etc.)410, which performs various appropriate actions and processes according to the program stored in a read-only memory (ROM)420or the program loaded from a storage unit480into a random access memory (RAM)430. Various programs and data required for the operation of the control device400of the sand conveying device are further stored in the RAM430. The processing unit410, the ROM420, and the RAM430are connected with one another through a bus line440. An input/output (I/O) interface450is further connected with the bus line440.

Generally, the devices connected with the I/O interface450includes at least one of an input unit460, an output unit470, a storage unit480, and a communication unit490. For example, the input unit460includes a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, and the like. For example, the output unit470includes a liquid crystal displays (LCD), a speaker, a vibrator, and the like. For example, the storage unit480includes a magnetic tape, a hard disk, and the like. For example, the communication unit490allows the control device400for the sand conveying apparatus to perform wireless or wired communication with other electronic devices to exchange data. AlthoughFIG.11shows the control device400for the sand conveying apparatus includes various devices, it should be understood that it is not required to implement or have all the devices shown in the drawings, and the control device400for the sand conveying apparatus may be substituted to implement or have more or fewer devices.

For example, according to the embodiments of the present disclosure, the above-mentioned control method of the sand conveying device is implemented as a computer software program. For example, the embodiments of the present disclosure include a computer program product, which includes a computer program carried by a non-transitory computer readable medium, and the computer program includes a program code for executing the above-mentioned control method of the sand conveyor apparatus. In such embodiment, the computer program may be downloaded and installed from the internet through the communication unit490, or installed from the storage unit480, or installed from the ROM420. In the case where the computer program is executed by the processing unit410, the functions defined in the control method of the sand conveying apparatus provided in the embodiments of the present disclosure can be executed.

At least one embodiment of the present disclosure further provides a storage medium for storing non-transitory computer program executable code (for example, computer executable instructions). In the case where the non-transitory computer program executable code is executed by the computer, the control method of the sand conveying apparatus according to any embodiment of the present disclosure can be realized. Alternatively, in the case where the non-transitory computer program executable code is executed by a computer, the control method of the sand conveying apparatus according to any embodiment of the present disclosure can be realized.

FIG.12is a schematic diagram of a storage medium provided by at least one embodiment of the present disclosure. As shown inFIG.12, a storage medium500non-transitorily stores a computer program executable code501. For example, in the case where the computer program executable code501is executed by the computer, one or more steps in the control method of the sand conveying apparatus described above can be executed.

For example, the storage medium500is applied to the above-mentioned control device400for the sand conveyor apparatus. For example, the storage medium500is the ROM420in the control device400for the sand conveying apparatus as shown inFIG.11. For example, for the relevant description of the storage medium500, reference may be made to the corresponding description of the ROM420in the control device400for the sand conveying apparatus as shown inFIG.11, which will not be repeated here.

The following statements should be noted:(1) The accompanying drawings involve only the structure(s) in connection with the embodiment(s) of the present disclosure, and other structure(s) can be referred to common design(s).(2) In case of no conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other to obtain new embodiments.

The above are merely specific implementations of the present disclosure without limiting the protection scope of the present disclosure thereto. Any person familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present disclosure, which should be covered within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the appended claims.