阅读说明：本技术 一种漏斗式散货装料机的自动装料控制系统及方法 (Automatic loading control system and method for funnel type bulk cargo loader ) 是由 智向阳 杨志敏 童益鸣 许卓刚 窦琴 于 2021-08-31 设计创作，主要内容包括：本发明公开了一种漏斗式散货装料机的自动装料控制系统和方法,所述系统包括漏斗式散货装料机结构组件、系统控制器和与所述系统控制器连接的纵向激光扫描装置和作业引导显示屏,通过激光扫描获取进场卡车的作业截面数据和通过作业引导显示屏对进场卡车进行对位引导,从而对漏斗式散货装料机的自动装料过程实行自动化控制。(The invention discloses an automatic loading control system and method of a funnel type bulk cargo loader, wherein the system comprises a funnel type bulk cargo loader structural component, a system controller, a longitudinal laser scanning device and an operation guide display screen, wherein the longitudinal laser scanning device and the operation guide display screen are connected with the system controller, the operation section data of an incoming truck is obtained through laser scanning, and the incoming truck is subjected to alignment guide through the operation guide display screen, so that the automatic loading process of the funnel type bulk cargo loader is automatically controlled.)

1. The automatic charging control system of the funnel type bulk cargo loader is characterized in that: the system comprises a funnel type bulk cargo loader structural component, a system controller, a laser scanner and an operation guide display screen;

the funnel type bulk cargo loader structural assembly comprises a funnel, a loading platform, a blanking gate and a supporting structure, wherein the funnel is fixed on the loading platform, the blanking gate is installed at a loading port below the funnel, and the supporting structure is used for fixing the loading platform and forming a vehicle running channel below the loading port;

the laser scanner is used for longitudinally and vertically scanning an incoming truck in a travelling channel of the funnel type bulk cargo loader to obtain operation section data;

the system controller is used for receiving the operation section data, controlling a blanking gate and sending driving indication information;

and the operation guide display screen is used for displaying the driving indication information to the driver of the approach truck.

2. The automatic loading control system for a hopper type bulk loader of claim 1 wherein: the laser scanner is installed in the charging platform below, and in the driving passageway entrance top of charging platform, its light-emitting point height is less than the bottom surface under the charging platform and is higher than the highest height of truck, and its laser scanning face coincides with the vertical axis plane on the perpendicular to ground of unloading gate, carries out vertical scanning to the approach truck in the driving passageway, acquires operation cross-sectional data.

3. The automatic loading control system for a hopper type bulk loader of claim 1 wherein: the device also comprises a dust removal device, and the dust removal device is used for removing smoke dust generated during charging.

4. The automatic loading control system for a hopper type bulk loader of claim 3 wherein: the dust removal device is a dust driving fan, the dust driving fan is installed on the left side or the right side of the laser scanner, and a main wind axis points to the position under the blanking gate.

5. The automatic loading control system for a hopper type bulk loader of claim 1 wherein: the operation guide display screen is a high-brightness outdoor image-text display screen and is arranged in a position which is suitable for an entrance truck driver to observe in front of the exit of the driving channel.

6. The automatic loading control system for a hopper type bulk loader of claim 1 wherein: the system controller is mounted on a loading platform of the funnel type bulk loader.

7. An automatic charging control method of a hopper type bulk loader, characterized by being applied to the automatic charging control system according to any one of claims 1 to 6, comprising:

step S1: adopting a laser scanner to longitudinally and vertically scan an approach target in a travelling channel of the funnel type bulk cargo loader and generating operation section data;

step S2, the system controller obtains the longitudinal section outline of the approach target from the operation section data, and identifies whether the approach target is a truck or not according to the longitudinal section outline;

step S3, when the approach target is identified as a truck, determining loading conditions and loading alignment positions according to the longitudinal section profile, controlling a blanking gate of the funnel type bulk cargo loader, and sending driving indication information to an approach truck driver to provide alignment guidance for the approach truck in a driving channel;

and step S4, displaying driving indication information by the operation guide display screen, and guiding the driver of the approach truck to carry out alignment control on the approach truck loaded in the driving channel and the funnel type bulk cargo loader.

8. The automatic loading control method of a hopper type bulk loader as claimed in claim 7, characterized in that the operating condition parameters extracted from said longitudinal section profile comprise: the height of the box bottom, the top point of a rear baffle of the carriage, the top point of a front baffle of the carriage, the top point of the current material pile and the tail point of the current material pile; the vertex of the carriage backboard is used for determining a loading alignment position; the height of the box bottom, the top of a baffle plate in front of the carriage, the top of the current stockpile and the tail point of the current stockpile are used for determining the charging condition; the driving indication information comprises the current alignment deviation amount of the truck, the parking-keeping information and the departure information.

9. The automatic loading control method of the hopper type bulk loader as claimed in claim 8, wherein the step S3 of controlling the blanking gate of the hopper type bulk loader comprises:

step S310: when the longitudinal section profile meets the condition of first charging, guiding the truck to complete first charging alignment according to the first charging alignment position, and executing initial charging and supplementing of first charging after the truck is correctly parked at the first charging alignment position;

step S320: when the longitudinal section profile meets the subsequent loading condition, guiding the truck to complete the subsequent loading alignment, and executing subsequent supplement after the truck is correctly parked at the subsequent loading alignment position;

step S330: when the longitudinal section profile meets the last loading condition, guiding the truck to complete the last loading alignment, and executing the last supplement after the truck is correctly parked at the last loading alignment position; and after the final installation is executed, sending departure information to the operation guide display screen to prompt the truck to depart from the field.

10. The method for automatic loading control of a hopper type bulk loader according to claim 9 wherein the loading alignment method comprises: continuously detecting the top point of a rear baffle in the longitudinal section contour of the approach truck, and continuously positioning the truck; and calculating a charging alignment position and the current truck alignment deviation amount according to the position of the top point of the rear baffle of the approach truck, sending the alignment deviation amount to the operation guide display screen, and guiding the truck to finish charging alignment.

11. The automatic loading control method of the hopper type bulk loader as claimed in claim 9, further comprising a dust removal step for removing the smoke generated at the time of loading after the execution of steps S310 and S320.

12. The automatic loading control method of a hopper type bulk loader as claimed in claim 9, characterized in that said step S310 comprises:

step S311, calculating a first-time charging alignment position and a current truck alignment deviation value, sending alignment information to an operation guide display screen, and guiding the truck to finish first-time charging alignment;

step S312, after the truck is correctly parked at the first charging opposite position, parking maintaining information is sent to an operation guide display screen, the opening time of a gate of initial installation is calculated, and the gate is opened to complete the initial installation of the first charging;

step S313, detecting the top point and the tail point of the current material pile from the longitudinal section profile of the approach truck, and calculating the height, the half length and the actual bulk viscosity of the current material pile;

and step S314, calculating the opening time of each supplement gate, and opening the gate to finish the supplement of the first charging.

13. The automatic loading control method of a hopper type bulk loader as claimed in claim 9, wherein said step S320 comprises:

s321, detecting the top point and the tail point of the current stockpile from the longitudinal section profile of the approach truck, and calculating the height and half length of the current stockpile; confirming that the loading state of the approach truck meets the subsequent loading condition according to the top point of the current stockpile, the tail point of the current stockpile and the height and half length of the current stockpile;

step S322, calculating the subsequent/last charging alignment position and the current truck alignment deviation amount, sending alignment information to an operation guide display screen, and guiding the truck to complete subsequent charging alignment;

step S323, after the truck is correctly parked at the position of the subsequent charging opposite position, the truck sends parking maintaining information to an operation guide display screen, calculates the opening time of a gate of the initial installation, and opens the gate to complete the initial installation of the subsequent charging;

step S324, detecting the top point of the current stockpile and the tail point of the current stockpile from the longitudinal section profile of the approach truck, calculating the height and half length of the current stockpile, and confirming that the charging state of the approach truck meets the follow-up charging and replenishing conditions;

step S325, calculating the opening time of each supplement gate, and opening the gate to complete the supplement of the subsequent charging;

the step S330 includes:

step S331, detecting the top point of the current stockpile and the tail point of the current stockpile from the longitudinal section profile of the approach truck, calculating the height and half-length of the current stockpile, and confirming that the charging state of the approach truck meets the last charging condition;

step S332, calculating the last-time loading alignment position and the current truck alignment deviation value, sending alignment information to an operation guide display screen, and guiding the truck to finish the last-time loading alignment;

step S333, after the truck is correctly parked at the last charging opposite position, sending parking maintaining information to an operation guide display screen, calculating the opening time of a gate of the initial device, and opening the gate to finish the initial device of the last charging;

step S334, detecting the top point of the current stockpile and the tail point of the current stockpile from the longitudinal section profile of the approach truck, calculating the height and half length of the current stockpile, and confirming that the loading state of the approach truck meets the last loading supplement condition;

and step S335, calculating the opening time of each replenishing gate, and opening the gate to finish the subsequent/last replenishing.

Technical Field

The invention relates to the field of loading equipment such as bulk cargo wharfs and mines, in particular to an automatic loading control system and method of a funnel type bulk cargo loader.

Background

The most common, at present, are hopper bulk loaders in through-lane operation mode and box bulk transport trucks with canopy (shown in fig. 1, in which the truck is not covered) in land-side loading operations at the bulk terminal. Now, the following is explained:

1. the hopper type bulk cargo loader is a loader with a frame structure and comprises the following structural elements:

1) a funnel: the bulk cargo container is an inverted regular quadrangular pyramid-shaped bulk cargo container, is positioned above the charging machine and is used for temporarily storing bulk cargo grabbed by a grab bucket of the bulk cargo crane from a bulk cargo ship, and a square discharge port is arranged below the bulk cargo container.

2) A charging platform: the middle part of the charging machine is provided with a walking channel, a railing and an equipment supporting structure, and the center of the charging machine is provided with a square hole which is matched with a discharge hole of the hopper.

3) Blanking gate: the device is arranged on a discharge port of the funnel, and the feed port is rectangular and has constant length; the gate is provided with a control rod for controlling the position and the width of the feed opening, so that the position and the flow of actual feeding are controlled. The control rod extends and is fixed to a solid portion of the loading platform, which is operated by an operator located on the loading platform in a conventional manual work mode.

4) Door leg: four column type vertical supporting legs constitute rectangular frame, support funnel and charging platform.

5) A traveling passage: and a channel between the two pairs of door legs and the ground below the loading platform, wherein one side of the channel is provided with an inlet for a bulk cargo transport truck to enter the lower part of the loading platform and complete loading.

2. Bulk transport truck: the box type truck is characterized in that a rectangular space is formed inside a container, and after entering the lower part of a blanking platform through a traveling channel of a bulk cargo loader, blanking is received from a blanking gate and transportation is completed.

The typical charging process of the funnel type bulk loader comprises the following steps:

1. entering a field: the bulk cargo transport truck enters the lower part of the blanking platform through a traveling channel of the loader;

2. aligning the first charging: the loading operator commands a driver of the bulk transport truck to carry out first loading alignment, so that the proper position of the front part of the carriage is aligned with the blanking gate;

3. charging for the first time: after the first charging alignment is finished, an operator opens the discharging gate to the central position by using the control rod, the middle part of the carriage in the left and right directions is charged (initially charged), and the height of the material pile is continuously observed in the charging process, so that the height of the material pile is prevented from exceeding the height of a carriage baffle; after the middle part is loaded, the blanking gate is respectively opened to the left and right positions, the left side and the right side are subjected to filling, and the height of the material pile also needs to be continuously observed in the filling process;

4. aligning subsequent charging: after the first charging is finished, an operator determines the position of a carriage for next charging according to the shape of the material pile for first charging and instructs a truck driver to finish alignment;

5. and (3) subsequent charging: after the subsequent loading alignment is completed, the operator uses the control rod to complete initial loading and additional loading. The subsequent loading alignment and loading process are repeated until the carriage is basically full;

6. aligning the last charging: when the stockpile is paved on the bottom of the whole carriage, an operator determines whether the last charging is needed according to the stockpile condition, and if so, the operator instructs a truck driver to complete the last alignment.

7. And (3) charging at the last time: after the last time of loading alignment is completed, the operator uses the control rod to complete initial loading and supplement, and the unloading is required to be ensured not to be scattered outside the rear baffle of the carriage.

By adopting the charging operation flow, the following defects and risks exist:

1. the loading speed and the loading quality depend on the operation skill and the responsibility of an operator of the blanking gate, and if the skill is sparse or the responsibility is not strong, the actual loading effect is poor, and adverse effects such as underload, overload, overflow and the like are caused;

2. the quality of the charge is also dependent on the cooperation of the charging operator with the truck driver. If the truck driver is not matched, the alignment time is too long or the alignment is not accurate, the adverse effects of overlong actual charging time, poor loading effect and the like can also be caused;

3. there is no effective communication means between the loading operator and the truck driver, and at present, interaction can be carried out only by original modes such as knocking metal objects, and the operation coordination effect is uncertain and depends on the on-site exertion of the two parties;

4. the charging operation site has serious dust emission and severe working environment, and the physical health of charging operators is damaged;

5. the bulk crane has large impact force when feeding the hopper, the whole structure of the charging machine has aging and damage risks, and once the impact force exceeds the critical value, the bulk crane may collapse during feeding the hopper, so that the personal safety of a feeding operator is endangered.

Disclosure of Invention

In view of the above defects in the prior art, the present invention aims to provide an automatic loading control system and method for a funnel type bulk cargo loader, which realize the automatic collection and operation control of operation condition parameters by arranging corresponding sensors and devices, can effectively solve the problems of the traditional manual operation mode in terms of loading quality and operation time, eliminate various original potential safety hazards, ensure production safety and improve production efficiency.

In order to achieve the aim, the invention provides an automatic loading control system of a funnel type bulk cargo loader, which comprises a funnel type bulk cargo loader structural component, a system controller, a laser scanner and an operation guide display screen;

the funnel type bulk cargo loader structural assembly comprises a funnel, a loading platform, a blanking gate and a supporting structure, wherein the funnel is fixed on the loading platform, the blanking gate is installed at a loading port below the funnel, and the supporting structure is used for fixing the loading platform and forming a vehicle running channel below the loading port;

the laser scanner is used for longitudinally and vertically scanning an incoming truck in a travelling channel of the funnel type bulk cargo loader to obtain operation section data;

the system controller is used for receiving the operation section data, controlling a blanking gate, sending driving indication information and extracting operation working condition parameters through the operation section data so as to realize automatic charging control of the funnel type bulk cargo loader;

the operation guiding display screen is used for displaying the driving indication information to an approach truck driver so as to guide the approach truck driver to complete the alignment of the approach truck and the funnel type bulk loader.

Furthermore, the laser scanner is installed below the loading platform and above an entrance of a driving channel of the loading platform, the light emitting point of the laser scanner is lower than the lower bottom surface of the loading platform and higher than the highest height of a truck, the laser scanning surface of the laser scanner coincides with the longitudinal middle axial plane of the unloading gate, which is perpendicular to the ground, and the laser scanner is used for vertically scanning an approaching truck in the driving channel to obtain the data of the operation section.

Furthermore, the device also comprises a dust removal device, wherein the dust removal device is used for removing smoke dust generated during charging, and the smoke dust generated in the charging process is prevented from influencing the scanning of the laser scanner on the approach truck.

Furthermore, dust collector is the dust exhaust fan, the dust exhaust fan is installed the left side or the right side of laser scanner, under the directional unloading gate of main wind axis for dispel the smoke and dust that the in-process produced of feeding.

Furthermore, the operation guide display screen is a high-brightness outdoor image-text display screen and is arranged in a position which is suitable for an entrance truck driver to observe in front of the exit of the traffic channel.

Further, the system controller is mounted on a loading platform of the funnel type bulk loader.

In order to achieve the above object, the present invention further provides an automatic loading control method of a funnel type bulk loader, which is applied to the automatic loading control system, and comprises:

step S1: adopting a laser scanner to longitudinally and vertically scan an approach target in a travelling channel of the funnel type bulk cargo loader and generating operation section data;

step S2, the system controller obtains the longitudinal section outline of the approach target from the operation section data, and identifies whether the approach target is a truck or not according to the longitudinal section outline;

step S3, when the approach target is identified as a truck, determining loading conditions and loading alignment positions according to the longitudinal section profile, controlling a blanking gate of the funnel type bulk cargo loader, and sending driving indication information to an approach truck driver to provide alignment guidance for the approach truck in a driving channel;

and step S4, displaying driving indication information by the operation guide display screen, and guiding the driver of the approach truck to carry out alignment control on the approach truck loaded in the driving channel and the funnel type bulk cargo loader.

Further, the operating condition parameters extracted from the longitudinal section profile include: the height of the box bottom, the top point of a rear baffle of the carriage, the top point of a front baffle of the carriage, the top point of the current material pile and the tail point of the current material pile; the vertex of the carriage backboard is used for determining a loading alignment position; the height of the box bottom, the top of a baffle plate in front of the carriage, the top of the current stockpile and the tail point of the current stockpile are used for determining the charging condition; the driving indication information comprises the current alignment deviation amount of the truck, the parking-keeping information and the departure information.

Further, the step S3 of controlling the blanking gate of the hopper type bulk loader includes:

step S310: when the longitudinal section profile meets the condition of first charging, guiding the truck to complete first charging alignment according to the first charging alignment position, and executing initial charging and supplementing of first charging after the truck is correctly parked at the first charging alignment position;

step S320: when the longitudinal section profile meets the subsequent loading condition, guiding the truck to complete the subsequent loading alignment, and executing subsequent supplement after the truck is correctly parked at the subsequent loading alignment position;

step S330: when the longitudinal section profile meets the last loading condition, guiding the truck to complete the last loading alignment, and executing the last supplement after the truck is correctly parked at the last loading alignment position; and after the final installation is executed, sending departure information to the operation guide display screen to prompt the truck to depart from the field.

Further, the method for aligning the charging materials comprises the following steps: continuously detecting the top point of a rear baffle in the longitudinal section contour of the approach truck, and continuously positioning the truck; and calculating a charging alignment position and the current truck alignment deviation amount according to the position of the top point of the rear baffle of the approach truck, sending the alignment deviation amount to the operation guide display screen, and guiding the truck to finish charging alignment.

Further, after steps S310 and S320 are executed, a dust removing step is further included for removing the smoke generated during the charging.

Further, the step S310 includes:

step S311, after the truck is correctly parked at the first charging opposite position, sending parking maintaining information to an operation guide display screen, calculating the opening time of a gate of initial charging, and opening the gate to finish the initial charging of the first charging;

step S312, detecting the top point and the tail point of the current material pile from the longitudinal section profile of the approach truck, and calculating the height, the half length and the actual bulk viscosity of the current material pile;

and step S313, calculating the opening time of each replenishing gate, and opening the gate to finish the first replenishing.

Further, the step S320 includes:

s321, detecting the top point and the tail point of the current stockpile from the longitudinal section profile of the approach truck, and calculating the height and half length of the current stockpile; confirming that the loading state of the approach truck meets the subsequent loading condition according to the top point of the current stockpile, the tail point of the current stockpile and the height and half length of the current stockpile;

step S322, calculating the subsequent/last charging alignment position and the current truck alignment deviation amount, sending alignment information to an operation guide display screen, and guiding the truck to complete subsequent charging alignment;

step S323, after the truck is correctly parked at the position of the subsequent charging opposite position, the truck sends parking maintaining information to an operation guide display screen, calculates the opening time of a gate of the initial installation, and opens the gate to complete the initial installation of the subsequent charging;

step S324, detecting the top point of the current stockpile and the tail point of the current stockpile from the longitudinal section profile of the approach truck, calculating the height and half length of the current stockpile, and confirming that the charging state of the approach truck meets the follow-up charging and replenishing conditions;

step S325, calculating the opening time of each supplement gate, and opening the gate to complete the supplement of the subsequent charging;

the step S330 includes:

step S331, detecting the top point of the current stockpile and the tail point of the current stockpile from the longitudinal section profile of the approach truck, calculating the height and half-length of the current stockpile, and confirming that the charging state of the approach truck meets the last charging condition;

step S332, calculating the last-time loading alignment position and the current truck alignment deviation value, sending alignment information to an operation guide display screen, and guiding the truck to finish the last-time loading alignment;

step S333, after the truck is correctly parked at the last charging opposite position, sending parking maintaining information to an operation guide display screen, calculating the opening time of a gate of the initial device, and opening the gate to finish the initial device of the last charging;

step S334, detecting the top point of the current stockpile and the tail point of the current stockpile from the longitudinal section profile of the approach truck, calculating the height and half length of the current stockpile, and confirming that the loading state of the approach truck meets the last loading supplement condition;

and step S335, calculating the opening time of each replenishing gate, and opening the gate to finish the subsequent/last replenishing.

The automatic loading control system of the funnel type bulk cargo loader acquires the operation section data of an incoming truck through the longitudinal laser scanner, extracts the operation working condition parameters from the operation section data, realizes the automatic control of the blanking gate in the loading operation process through the operation working condition parameters, and simultaneously sends driving indication information to a truck driver through the operation guide display screen to ensure the accurate alignment of the truck, thereby effectively solving the problems of the loading quality and the operation time in the traditional manual operation mode, eliminating the original various potential safety hazards, ensuring the production safety and improving the production efficiency.

Drawings

FIG. 1 is a schematic illustration of a prior art hopper bulk loader;

FIG. 2 is a schematic illustration of the funnel type bulk loader of the present invention in a first perspective;

FIG. 3 is a schematic illustration of the funnel type bulk loader of the present invention in a second perspective;

FIG. 4 is a schematic view of a bulk material haul truck configuration and laser scanning plane;

FIG. 5 is a block diagram of an automatic charging control system;

FIG. 6 is a process flow diagram of the system controller;

FIG. 7 is a schematic view of a longitudinal cross-sectional profile feature point of a bulk transport truck;

fig. 8 is a display example of the driving instruction information.

Reference numerals:

1: a funnel; 2: a charging platform; 3: a blanking gate; 4: a gate control lever; 5: a door leg; 6: a travelling crane passage; 7: a truck; 8: a carriage; 9: a carriage front baffle; 10: a rear baffle of the carriage; 11 current stockpile; 12: a system controller; 13: a longitudinal laser scanner; 14: a dust-removing fan; 15: a job guidance display screen; 16: a laser scanning surface; 17: a longitudinal cross-sectional profile; 18: a bed floor; 19: the current material pile vertex; 20: current stockpile tail point; 21: an Ethernet network.

Detailed Description

To further illustrate the various embodiments, the invention provides the accompanying drawings. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the embodiments. Those skilled in the art will appreciate still other possible embodiments and advantages of the present invention with reference to these figures. Elements in the figures are not drawn to scale and like reference numerals are generally used to indicate like elements.

The invention will now be further described with reference to the accompanying drawings and detailed description.

Example 1

As shown in fig. 2, 3, 4 and 5, the invention discloses an automatic loading control system of a funnel type bulk cargo loader, which comprises structural components of the funnel type bulk cargo loader (comprising a funnel 1, a loading platform 2, a blanking gate 3, a gate control rod 4, door legs 5 and other components, a travelling channel 6 positioned below the loading platform 2 and between two pairs of door legs 5), a system controller 12, a longitudinal laser scanner 13, a dust-driving fan 14 and an operation guide display screen 15 which are arranged on the structural components. The components are briefly described as follows:

1) the system controller 12: is arranged at a proper position on a charging platform 2 of the funnel type bulk cargo loader and is used as a system control center to complete the control of the alignment guide and the blanking gate 3.

2) Longitudinal laser scanner 13: the laser scanning device is installed above an inlet of a travelling crane channel of the loading platform 2, the light emitting point is lower than the lower bottom surface of the loading platform 2 and higher than the highest height of a truck 7, the laser scanning surface 16 is overlapped with the longitudinal middle axial plane of the unloading gate 3, which is vertical to the ground, and is used for vertically scanning a target in the travelling crane channel and generating real-time operation section data, and the real-time operation section data is sent to the system controller 12 through the Ethernet. The system controller 12 transforms the work section data to the loader coordinate system to obtain a longitudinal section profile 17 of the approach target. The scanning point in the longitudinal cross-sectional profile 17 which lies at a scanning angle perpendicular to the ground is referred to as the vertical scanning point.

3) Dust-removing fan 14: preferably, the device is arranged on the left side or the right side of the longitudinal laser scanner 13, and the main wind axis points to the position right below the blanking gate 3. After the initial loading of first feeding and the right side repacking of each feeding are finished, the system controller 12 starts the dust driving fan 14, drives the dust according to the preset dust driving time to the current stockpile, and avoids the scanning of the longitudinal laser scanner 13 on the current stockpile due to the influence of the smoke generated in the feeding process.

4) Job guidance display screen 15: the high-brightness outdoor large-size image-text display screen is arranged at the position suitable for an entrance truck driver to observe at the exit of a driving channel: the device is arranged at the same side of the driving position of the truck in the driving channel and has a certain height, so that the driver of the truck can conveniently look up; the system controller 12 is connected to the work guidance display 15 via the ethernet network, and transmits traveling instruction information. Before each charging, the driving indication information is the current alignment deviation amount of the truck; in each charging process, the driving indication information is 'parking maintenance'; and after the last charging is finished, the driving indication information is 'please leave the field'. As shown in fig. 8.

Example 2

The invention also discloses an automatic charging control method of the funnel type bulk cargo loader, which is executed by the system controller 12. As shown in fig. 6, the system controller 12 sequentially performs the following processing flows:

1) acquiring real-time operation section data from the longitudinal laser scanner 13, converting the real-time operation section data into an approach target longitudinal section profile 17 through coordinate system conversion, and completing the detection of an approach truck based on the approach target longitudinal section profile 17;

2) after confirming that the approach target is the truck 7, identifying the top point of a carriage backboard 10, the top point of a carriage front baffle 9 and the bottom point of a carriage bottom plate 18 right below a scanner from the longitudinal section outline 17 of the truck, and calculating the height of the bottom, the height of the carriage baffle and the length of the box;

3) continuously detecting the vertex of the carriage tailgate 10 in the longitudinal section profile 17 of the approach truck 7, and continuously positioning the truck 7;

4) calculating a first-time loading alignment position and the current truck alignment deviation amount, sending alignment information to the operation guide display screen 15, and guiding the truck 7 to complete first-time loading alignment;

5) after the truck 7 is correctly parked at the first charging opposite position, parking maintaining information is sent to the operation guide display screen 15, the opening time of a gate of initial charging is calculated, and the gate is opened to finish the initial charging of the first charging;

6) after the initial charging is finished, starting the dust removing fan 14 to remove dust;

7) after dust removal is finished, detecting a current stock pile vertex 19 and a current stock pile tail point 20 from a longitudinal section outline 17 of the incoming truck 7, and calculating the height and half length of the current stock pile and the actual bulk material viscosity;

8) calculating the opening time of the gate of each supplement, and opening the gate to finish the supplement of the first charging;

9) after the supplement on the right side is finished, starting the dust-removing fan 14 to remove dust;

10) after dust removal is finished, detecting a current stock pile top point 19 and a current stock pile tail point 20 from a longitudinal section outline 17 of the incoming truck 7, and calculating the height and half length of the current stock pile; judging whether the last charging condition is met, if so, carrying out the last charging, and determining the last charging alignment position, otherwise, carrying out subsequent charging, and determining the subsequent charging alignment position;

11) calculating a subsequent/last charging alignment position and the current truck alignment deviation amount, sending alignment information to the operation guide display screen 15, and guiding the truck 7 to complete subsequent/last charging alignment;

12) after the truck 7 is correctly parked at the position opposite to the subsequent charging position, the parking maintaining information is sent to the operation guide display screen 15, the opening time of the initially installed gate is calculated, and the gate is opened to finish the initial installation of the subsequent/last charging;

13) after the initial charging of the subsequent/last charging is finished, starting the dust-removing fan 14 to remove dust;

14) after dust removal is finished, detecting a current stock pile top point 19 and a current stock pile tail point 20 from a longitudinal section outline 17 of the incoming truck 7, and calculating the height and half length of the current stock pile;

15) calculating the opening time of the gate of each supplement, and opening the gate to finish the supplement of the subsequent/last charging;

16) after the supplement on the right side is finished, starting the dust-removing fan 14 to remove dust;

17) repeating the process of 10-16 to complete subsequent/last charging;

18) and after the last charging is finished, the operation guiding display screen 15 sends departure information to prompt the truck 7 to leave the field.

When the dust-removing fan 14 is not installed, steps 6), 9), 13) and 16) are skipped, or other means are used for removing dust in steps 6), 9), 13) and 16).

The current working condition parameters used by the automatic feeding control system comprise: the structural parameters, the position of the bulk transport truck, and the shape parameters of the current pile in the carriage. As shown in fig. 7, these parameters include: height TCB of box bottom_HBPPos (peak point of back baffle of carriage), and carriageA leading dam apex FPPos, a current pile apex HPSPos, and a current pile tail HPTPos.

In the above process, the positioning of the approach truck is completed by the following loading alignment method: continuously detecting the BPPos of the top points of the rear baffles in the longitudinal section outline of the approach truck, and continuously positioning the truck; and calculating a charging alignment position and the current truck alignment deviation amount according to the position of the top point of the rear baffle of the approach truck, sending the alignment deviation amount to the operation guide display screen, and guiding the truck to finish charging alignment.

As shown in fig. 8, a display example of a job guidance display screen is given, and displayed contents include: information such as the numerical value of the amount of misalignment, "park on hold", and "leave the field".

The automatic loading control system of the funnel type bulk cargo loader acquires the operation section data of an incoming truck through the longitudinal laser scanner, extracts the operation working condition parameters from the operation section data, realizes the automatic control of the blanking gate in the loading operation process through the operation working condition parameters, and simultaneously sends driving indication information to a truck driver through the operation guide display screen to ensure the accurate alignment of the truck, thereby effectively solving the problems of the loading quality and the operation time in the traditional manual operation mode, eliminating the original various potential safety hazards, ensuring the production safety and improving the production efficiency.

While the invention has been particularly shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.