Sand conveying apparatus and control method thereof, control device, and storage medium

A control method of a sand conveying apparatus, comprising:

• generating a sand transport command, after a sand container of the sand conveying apparatus is hung on a hoist of a hoisting device of the sand conveying apparatus;
• generating a raw-feeding route between a first position where the hoist is located and the position where a hopper of a conveying device of the conveying apparatus is located in response to the sand transport command, wherein the first position of the hoist is located above the sand container, and the raw-feeding route comprises a plurality of route segments;
• and
• 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, wherein controlling the hoist to move to the position above the hopper along the raw-feeding route comprises:
• controlling the hoist to move simultaneously along the route segments of the plurality of route segments 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 a location of the hopper,
• wherein a coordinate system is established based on an action range of the hoisting device, and according to a scale information, positions of the hoist and the hopper are marked in the coordinate system and updated in real time, and a moving range of the hoist is set in the coordinate system.

A non-transitory computer-readable storage medium, having an executable code stored thereon, wherein in a case where the executable code is executed by a processor, the processor executes a control of a sand conveying apparatus by:

• generating a sand transport command, after a sand container of the sand conveying apparatus is hung on a hoist of a hoisting device of the sand conveying apparatus;
• generating a raw-feeding route between a first position where the hoist is located and the position where a hopper of a conveying device of the conveying apparatus is located in response to the sand transport command, wherein the first position of the hoist is located above the sand container, and the raw-feeding route comprises a plurality of route segments;
• and
• 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, wherein controlling the hoist to move to the position above the hopper along the raw-feeding route comprises:
• controlling the hoist to move simultaneously along the route segments of the plurality of route segments 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 a location of the hopper,
• wherein a coordinate system is established based on an action range of the hoisting device, and according to a scale information, positions of the hoist and the hopper are marked in the coordinate system and updated in real time, and a moving range of the hoist is set in the coordinate system.