22117results about "Loading/unloading" patented technology

The invention discloses an intelligent car coupler identification method and system of a car dumper based on a picking and re-hooking robot, and relates to the technical field of intelligent identification, the method comprises the following steps: multi-modal data is collected and preprocessed, and the multi-modal data comprises laser radar point cloud data, camera images and infrared data; fusing the processed multi-modal data, identifying coupler information by adopting a convolutional neural network and an attitude estimation algorithm, and generating a coupler identification result; a path planning algorithm is adopted, a grabbing point path of the car coupler is calculated, interferents are avoided, the grabbing path is optimized, and an optimal grabbing path is generated; and the robot moves to the position of the car coupler according to the optimal grabbing path, the grabbing posture is corrected in real time through image perception, and a mechanical arm tail end executor is driven to clamp the car coupler for grabbing. Through multi-modal data fusion and path planning, the coupler is accurately recognized, the grabbing path is optimized, and the grabbing precision and stability of the robot in a complex environment are improved.

The invention discloses an automatic loading method for a truck based on deep learning and stereoscopic vision. The automatic loading method comprises the following steps that S1, goods location pixel coordinates are obtained and converted into an AGV forklift coordinate system; s2, a driving track is calculated, a front station is generated, and the AGV forklift is guided to move; s3, collecting point cloud data, denoising, extracting features by adopting an improved Transform point cloud registration network, calculating three-dimensional feature points of goods locations and trays, and converting coordinates; s4, calculating a rotation adjustment amount and a displacement compensation parameter, optimizing a driving track and correcting a butt joint deviation; s5, adopting a self-adaptive local attention weighting strategy to match the target goods allocation with the tray slot, and correcting the pose; s6, the cargo stacking posture is adjusted, gravity center distribution is optimized, and the AGV forklift is controlled to complete cargo loading; and S7, exiting the loading area along the optimized track, recording data and optimizing a loading strategy. The goods allocation identification precision is improved, the loading path is optimized, manual intervention is reduced, the loading efficiency, stability and adaptability are improved, and the logistics automation level is enhanced.

The present invention relates to the technical field of warehousing control. In particular disclosed are an automatic cargo loading and unloading warehousing control system and a cargo loading and unloading device therefor, the system being provided with a compartment parking information acquisition and processing module, an intelligent cargo conveyance control module, a warehousing management information comprehensive determination module, and a data control library. First, compartment parking information acquisition and preprocessing is performed, and it is determined whether a cargo loading and unloading AGV can be started, and next, a first channel is screened out to convey a goods in a compartment. Hence, a control anomaly value of warehousing management information of an intelligent warehousing control platform is comprehensively calculated, and the warehouse management information is subjected to autonomous early warning control and indication, thus facilitating rapid operations of cargo loading and unloading, and greatly improving the efficiency of warehousing intelligentization. Meanwhile, the labor costs of warehousing operations can be reduced, and the quality and accuracy of cargo processing can also be improved.

The invention discloses an underground coal bunker unblocking system. The underground coal bunker unblocking system comprises a spiral conveying drill rod, a drill rod driving device, an intelligent monitoring module and a control module, the drill rod is arranged on the inner wall of a coal bunker, the gap between the outer edge of a drill rod blade and the inner wall of the coal bunker is smaller than 10 mm, and the drill rod driving device is connected with the drill rod to drive the drill rod to rotate. The intelligent monitoring module integrates a pressure sensor array, an infrared coal flow detector and an image recognition camera and is used for monitoring the blocking state in a coal bunker in real time, and the control module dynamically adjusts the rotating speed and the rotating direction of the spiral conveying drill rod according to monitoring data. According to the underground coal bunker unblocking system, through the collaborative design of spiral drill rod structure optimization, anti-explosion power driving, a multi-mode sensing network and intelligent decision control, the unblocking efficiency of the coal bunker and the safety of unblocking operation are improved, the monitoring means are comprehensive, the blocking state can be accurately judged in real time, control response is timely, and the unblocking efficiency of the coal bunker is improved. And complex working conditions can be adapted.

The invention relates to the technical field of wharf loading and unloading, and discloses a bulk grain wharf ship loading and unloading dual-purpose machine which comprises a conveyor main body and a frame, a discharging hopper is fixedly connected to the top of the conveyor main body, the bottom of the conveyor main body is rotationally connected with the outer wall of the frame, and a supporting frame is rotationally connected to the bottom of the conveyor main body; when a ship needs to be unloaded, a conveying pipeline enters a cabin through a moving assembly, then when a first motor is started to enable a rotating rod to rotate, a connecting rod can be driven to rotate, a concave-convex ring rotates, an extrusion pushing assembly ascends and extrudes gas, and finally high-pressure gas is sprayed out towards grain particles and permeates into gaps of the grain particles to form an air cushion effect; the friction force among grain particles is reduced, the mobility of the grain particles is enhanced, the grains are conveniently conveyed by the spiral auger, the situation that the grains are accumulated at the bottom of the spiral auger due to poor mobility of the grain particles, the grains are extruded and are prone to being damaged is effectively prevented, and the integrity of the grain particles is ensured.

Powder feeding device and powder transfer method are disclosed. The powder feeding device includes a container including a container body forming a storage space therein; a hopper including a hopper body forming an accommodation space therein; a chamber unit including a chamber housing forming a hollow portion and coupled to the hopper body; a pipe assembly including a container pipe unit which extends from the container and is opened or closed, a hopper pipe unit which is branched from the container pipe unit, is connected to the hopper body, and is opened or closed, and a chamber pipe unit which is branched from the container pipe unit, is connected to the chamber housing, and is opened or closed; and a valve assembly including a coupling valve which is coupled to at least one of the chamber housing and the hopper body and connects / disconnects the storage space to / from the hollow portion.

The invention relates to the technical field of screening, and discloses an iron ore powder and antifreezing agent mixed screening device which comprises a rack, and the surface where the top of the rack is located is inclined; a first bearing seat is mounted on the rack, a roller with a rubber wheel surface is rotationally connected to the first bearing seat, a universal coupling is connected to the shaft end of the roller, a shaft rod is connected to the other end of the universal coupling, a speed reducer arranged on a second supporting seat is connected to the free end of the shaft rod, and the second supporting seat is connected with the rack; the speed reducer is driven by a first motor arranged on the rack, and the first motor and the speed reducer transmit power through belt transmission; a drum screen assembly used for improving the mixing uniformity of the iron ore powder and the anti-freezing agent is connected to the rolling wheel in a rolling mode, and mixed materials are discharged from screen holes of the drum screen assembly. Mixing, screening, conveying and cleaning are integrated, mixing uniformity is high, screening efficiency is excellent, operation and maintenance are convenient and fast, and the requirement for mixing and screening of iron ore powder and an anti-freezing agent is met.

An automated storage and retrieval system includes an automated storage and retrieval grid and a delivery system. The automated storage and retrieval grid includes a container handling vehicle rail system and a delivery column. The container handling vehicle rail system is for guiding a plurality of container handling vehicles. The delivery column is adapted for transport of a storage container from a container handling vehicle to a delivery port situated at a lower end of the delivery column, and further adapted for transport of a storage container from the delivery port to the container handling vehicle. The storage container is configured to be stored in a stack of storage containers beneath the container handling vehicle rail system. The delivery system includes a remotely operated delivery vehicle, which includes a container carrier adapted to support the storage container. The delivery vehicle is further adapted to transport the storage container between a delivery port and a second location for handling of the storage container by at least one of a robotic operator and a human operator.

The embodiment of the invention relates to the field of radioactive waste treatment, in particular to lifting feeding equipment and curing equipment. According to the lifting feeding equipment provided by the embodiment of the invention, the conveying jacking device drives the material containing device to move in different directions, so that the material containing device abuts against the vacuum feeding device, the powdery materials can be conveyed to the material containing device from the vacuum feeding device, the powdery materials can be prevented from escaping through jacking communication, and the working efficiency is improved. And material waste and operation space pollution are avoided. According to the curing equipment provided by the embodiment of the invention, the material containing device is moved through the lifting feeding equipment, and the powdery materials are conveyed to the material containing device, so that the powdery materials can be prevented from being scattered; and meanwhile, the material containing device containing the powdery materials can reach other processing stations by moving the material containing device into or out of the containing space so as to carry out the next processing procedure.

The invention relates to the technical field of positioning and clamping, in particular to a positioning and clamping device for a circuit board unloading machine. Comprising a plate unloading machine, the plate unloading machine comprises a lifting section and a feeding section, and a material frame is placed in the lifting section; a clamping mechanism is arranged on the feeding section; through the clamping mechanism, the problem of inaccurate positioning caused by deviation, rotation or deformation of the circuit board in the prior art is effectively solved. The clamping mechanism adopts a cooperative working mode of a positioning block and an extrusion plate, a deformed circuit board is leveled through a rubber ball at the lower end of a pressing strip, then the positioning block is used for clamping and positioning from the left side and the right side and the extrusion plate from the front-back direction, and comprehensive control over the four free edges of the circuit board is achieved. Position deviation in the conveying process can be corrected, the device can adapt to the board bodies deformed in the moving process, and it is ensured that the circuit boards can be accurately inserted into the material frame.

The invention discloses a glass fiber particle assembly line-based magnetic suction quick-release vibration disc system and a detection method, and relates to the technical field of production and processing, the system comprises a data acquisition module for acquiring data of a vibration light-emitting chassis, a magnetic suction column, an assembly line and particles by means of a distributed sensor network, and transmitting the data to an intelligent self-adaptive control module after signal processing; the intelligent self-adaptive control module realizes intelligent dynamic regulation and control of the parameters of the magnetic suction quick-release vibration disc, optimizes the production process of the glass fiber particles, and automatically generates an accurate control instruction based on a data analysis result by integrating multi-source information and performing deep fusion and analysis, so that the production efficiency of the glass fiber particles is improved. Parameters such as the vibration frequency and amplitude of the vibration light-emitting chassis and the magnetic attraction strength of the magnetic attraction column are adjusted to meet the requirements in different production states, so that the system can quickly respond to changes in the production process, defective particles are reduced, and the production efficiency is improved.

A method and system for discharge operation of a ship loader at a bulk cargo terminal. The method comprises: acquiring initial ship point cloud data; establishing a three-dimensional coordinate system, and acquiring an initial frame ship hold center line and a discharge planning point; continuously scanning a ship to be unloaded, acquiring real-time ship point cloud data, and acquiring a current frame ship center line and a normal vector of a ship deck on the basis of the real-time ship point cloud data; obtaining a real-time ship body deviation value on the basis of the current frame ship center line and the initial frame ship hold center line; obtaining a real-time ship body inclination angle on the basis of the normal vector of the ship deck; correcting coordinates of the discharge planning point on the basis of the real-time ship body deviation value and the real-time ship body inclination angle to obtain coordinates of a real-time discharge planning point, and acquiring coordinates of a current discharge point of a chute mechanism (5); a superordinate computer (1) controlling, on the basis of the coordinates of the real-time discharge planning point and the current discharge point, a ship loader to complete current discharge operation. The present application enables a ship loader to complete operation accurately, and enhances the safety and efficiency of operation of the ship loader.

The invention discloses a granulator conveyor, and relates to the technical field of conveying, the granulator conveyor comprises a mounting underframe, the bottom of the mounting underframe is provided with a plurality of displacement moving wheel mechanisms, the mounting underframe is provided with an active driving mechanism and a height adjusting mechanism, and the active driving mechanism and the height adjusting mechanism are symmetrically arranged on the mounting underframe; a plurality of conveying assemblies are arranged on the active driving mechanism and the height adjusting mechanism, each conveying assembly comprises a mounting frame mechanism, a driving belt mechanism, a lifting positioning mechanism, a vibration shifting wheel mechanism, a fixing roller and an auxiliary shifting belt mechanism, the mounting frame mechanisms are arranged on the active driving mechanism and the height adjusting mechanism, and the driving belt mechanisms are arranged on the mounting frame mechanisms; the lifting positioning mechanism is arranged on the mounting frame mechanism, the vibration dial wheel mechanism and the fixed roller are arranged on the mounting frame mechanism, the adjusting dial belt mechanism is arranged on the vibration dial wheel mechanism and the fixed roller, the displacement moving wheel mechanism is arranged to achieve overall moving positioning, and the material conveying efficiency of the pelletizer is improved.

The invention discloses a self-loading and unloading type diesel generating set structure, and belongs to the technical field of diesel generating sets, the self-loading and unloading type diesel generating set structure comprises a case for installing a diesel generator component, a rack is fixedly installed outside the case, and supporting steel frames are fixedly installed at four corners of the rack; an upper pull rod and a lower pull rod are sequentially and rotationally connected into the supporting steel frame from top to bottom, rectangular columns are rotationally connected to the sides of the upper pull rod and the lower pull rod, the upper pull rod and the lower pull rod are arranged on the supporting steel frame, the inclination between the rectangular columns is the same, and supporting vertical rods are slidably arranged in the rectangular columns in a sleeved mode. A supporting mechanism for keeping the lifting, loading and unloading balance of the case is arranged between the supporting vertical rod and the rectangular column, and the supporting vertical rod lifts to adjust and control the supporting mechanism to automatically stretch and fold for storage; the case can be supported and buffered in the lifting loading and unloading process through the supporting mechanism, the case can stably fall to the ground, loading and unloading vibration of the case is avoided, and the service life of the case is prolonged.

Systems using sensors to monitor spillage of harvested crop. For example, some embodiments include an unloading conveyor configured to transfer agricultural material as well as one or more sensors configured to generate movement information associated with the agricultural material flowing out of the conveyor. Such embodiments can include a computing system, configured to predict an amount of the agricultural material that is likely to flow outside of a targeted area based on the movement information, and in response to the prediction, generate a signal that communicates an alert that the amount of the agricultural material is likely to flow outside of the targeted area or that controls an unloading process to change direction of the flow of the agricultural material to reduce an extent that agricultural material flows outside of the targeted area.

The invention relates to the technical field of cabin loading and unloading automation, and provides a multi-sensor fusion cabin loading and unloading equipment cooperative positioning method and system. A laser radar is used for scanning a cabin, laser radar point cloud data are generated, and a laser radar coordinate system and a point cloud map are constructed; a monocular camera is adopted to obtain an operation area image of loading and unloading equipment, camera image data is generated, and a camera coordinate system is constructed; performing anti-interference processing on the laser radar point cloud data; performing illumination change influence resistance processing on the camera image data; fusing the laser radar point cloud data with the camera image data to obtain fused positioning information; calculating the distance and angle of loading and unloading equipment according to the fused positioning information, generating a moving instruction, and driving the loading and unloading equipment to perform cooperative positioning; a dynamic object in a cabin is detected through a laser radar and a monocular camera, multi-modal verification is carried out on a detection result, the dynamic object is filtered, and a point cloud map is updated in real time. The problems of insufficient positioning precision, GPS failure and large dynamic environment interference of a single sensor are solved.

The invention discloses a heat preservation box and processing equipment thereof, and belongs to the technical field of heat preservation boxes. The heat preservation box comprises a box body and a box cover, the box body is formed by wrapping a heat preservation layer with an inner shell and an outer shell, and the heat preservation layer is wrapped with a box cover shell. An aerogel groove and a vacuum plate groove which are overlapped are formed in the heat preservation layer and filled with aerogel particles and a vacuum heat insulation plate respectively, and the surface of the heat preservation layer is sprayed with a nanometer aerogel coating and provided with a reflecting film. The box body is connected with the box cover through a supporting hinge, and is provided with a supporting piece, a roller, a limiting sinking groove, a flow guide channel and a residual volume space measuring system. The processing equipment comprises a bracket, a rotary power source, a rotary platform, a vibration unit and a filling device, and can realize uniform filling and compaction of aerogel particles. The problems that a traditional heat preservation box is poor in heat preservation performance, pressure is accumulated, and transportation is inconvenient are solved, and the heat preservation box is suitable for cold-chain transportation and other scenes.

A cargo device, cargo management system and method of managing cargo are provided. A cargo device includes a platform having a top side configured to support cargo thereon; a cassette attached to the platform, the cassette configured to engage with at least one corresponding rail in a surface, and electrically communicate with the at least one corresponding rail to receive power and / or data related to the cargo from a controller to actuate the wheels, the cassette, or both; and wheels attached to the platform, the cassette, or both, the wheels being configured to move the platform along the surface. One or both of the cassette and the wheels are retractable based on the data such that the cassettes are moved between an engaged position with the corresponding rail and a disengaged position with the corresponding rail.

The invention discloses an operation method and device for a dry bulk cargo shipping wharf and electronic equipment, and relates to the technical field of port logistics, and the method comprises the steps: carrying out the unit grid processing of a bulk cargo storage yard, and updating the storage yard state of each storage yard basic unit in real time through laser point cloud scanning, according to the state of the storage yard and the working state of each unloading device, executing a wharf unloading operation process on the storage yard basic unit; according to the state of the storage yard and the idle state of each ship loader, a material taking operation process is executed on the stacked goods of the storage yard basic unit; and dynamically adjusting stockpiling and material taking operation states of the storage yard basic units by adopting a pre-constructed simulation model framework of the dry bulk cargo shipping wharf, and adjusting wharf berth distribution and storage yard cargo stockpiling and taking strategies. The technical problems that the real-time state of the storage yard cannot be reflected in real time and the scheduling response speed is reduced due to the fact that a dry bulk cargo shipping wharf operation management system only depends on static resource management in the prior art are solved.

The invention provides a railway automatic goods yard loading and unloading operation method, and relates to the technical field of railway goods yards, and the method is characterized in that a railway automatic goods yard goods loading and unloading operation system comprises a loading and unloading machine tool positioning system, a goods positioning system and a loading and unloading machine tool management system; the railway freight yard is provided with a freight car loading and unloading operation area, a warehouse operation area and a railway freight car loading and unloading operation area, and goods are loaded and unloaded in different areas. The loading and unloading machine tool management system controls the loading and unloading machine tools to carry out truck unloading operation and truck loading operation in the truck loading and unloading area, carry out warehousing operation and ex-warehouse operation in the warehousing operation area and carry out railway loading operation and railway unloading operation in the railway loading and unloading area. According to the method, rapid loading and unloading, efficient stacking and intelligent management of goods can be achieved, and the efficiency and competitiveness of railway transportation are improved; meanwhile, labor cost can be reduced, operation risks are reduced, and the automation degree of the railway freight yard is improved.

A powder handling device is provided, along with apparatus and methods of its use. The powder handling device includes a mounting portion defining a plane and comprising a mounting interface; a fixture device configured to mount the mounting portion over an opening of a powder container at a mounting interface; and a powder suction unit attached to the mounting portion and passing through the plane. The powder suction unit is movable relative to the mounting portion with at least one degree of freedom. The powder handling device may be mounted onto an opening of a powder container.

The embodiment of the invention discloses a loading and unloading positioning method, device and equipment based on an eagle-eye system and a medium, applied to the eagle-eye system, and the eagle-eye system comprises an input module, an identification module and an output module; comprising the steps that an input module collects point cloud data and image data through sensors in multiple directions; the recognition module recognizes detection targets of loading and unloading through a deep learning network model based on the image data, and the detection targets comprise trays, vehicles and obstacles; the identification module identifies the position information of the detection target based on the point cloud data; and the output module sends the position information of the detection target to the cloud, so that the cloud sends a corresponding loading and unloading instruction based on the position information of the detection target, and automatically completes a corresponding loading and unloading task based on the loading and unloading instruction.

Systems using sensors to monitor spillage of harvested crop. For example, some embodiments include an unloading conveyor configured to transfer agricultural material as well as one or more sensors configured to generate movement information associated with the agricultural material flowing out of the conveyor. Such embodiments can include a computing system, configured to predict an amount of the agricultural material that is likely to flow outside of a targeted area based on the movement information, and in response to the prediction, generate a signal that communicates an alert that the amount of the agricultural material is likely to flow outside of the targeted area or that controls an unloading process to change direction of the flow of the agricultural material to reduce an extent that agricultural material flows outside of the targeted area.

The invention discloses a bucket wheel anti-collision system and an anti-collision method, and relates to the technical field of bucket wheel anti-collision. The system comprises a data acquisition module used for acquiring operation data, environment data and historical collision data of the bucket wheel machine, the operation data comprises the position, the speed, the angle and the operation mode of the bucket wheel machine, and the environment data comprises a coal yard three-dimensional map, obstacle coordinates and meteorological data; the historical collision data comprises accident records and false alarm analysis. The state and environment of the bucket wheel machine are mastered in real time through high-precision positioning and multi-mode sensing, collision is effectively prevented in combination with intelligent graded alarm, and safety is remarkably improved. The risk is predicted through big data analysis and machine learning, the operation path is dynamically adjusted, operation is optimized, the maintenance cost is reduced, and the service life of equipment is prolonged. Meanwhile, the cloud monitoring and the mobile terminal APP support remote operation and real-time information pushing, the convenience and applicability of the system are enhanced, and the management efficiency is improved.

The invention discloses a continuous overturning and pouring device for saggars, which relates to the related technical field of material conveying and blanking and comprises an overturning unit, a driving unit and a cover pushing unit. The overturning unit comprises a rotating motor, a rotating roller is arranged at the output end of the rotating motor, a baffle is arranged at one end of the peripheral side of the rotating roller, a bottom supporting plate is arranged at one end of the baffle, and a top supporting plate is arranged at the other end. The driving units are arranged on the two sides of the baffle in a mirroring mode, each driving unit comprises a second linear mechanism arranged at one end of the peripheral side of the rotating roller, a vertical L-shaped plate is arranged at the output end of the first linear mechanism, a transverse L-shaped plate is arranged at the upper end of the vertical L-shaped plate, and a cover blocking block further extends from the upper end of one short side of the C-shaped clamp. The cover pushing unit is arranged below a driving unit, a transverse rod is arranged at the output end of the fourth linear mechanism, and a pair of triangular blocks with right-triangle-shaped sections is arranged on one side of the transverse rod. According to the saggar overturning and discharging device, the saggar can be automatically overturned and discharged, and the saggar can be automatically overturned and put back to the roller conveyor.

The invention discloses a dust suppression method and system for railway track dry bulk cargo loading. The method comprises the steps that if it is detected that loading operation is started on an iron road trunk line, an area to be subjected to dust suppression is determined based on loading operation field data; acquiring environment information corresponding to the region to be subjected to dust suppression, wherein the environment information comprises wind direction information; determining a to-be-loaded article based on the loading field operation data, and determining the moisture content corresponding to the to-be-loaded article; and a control strategy corresponding to the spraying system is determined based on the wind direction information, the water content and the area corresponding to the area to be subjected to dust suppression, and operation parameters corresponding to the spraying system are adjusted based on the control strategy so as to perform dust suppression treatment on the loading operation process. According to the invention, accurate treatment of railway track loading flying dust pollution is realized, limitation of traditional fixed dust suppression is broken through, and pollution prevention and control efficiency and resource utilization efficiency are remarkably improved.

The invention provides a ship unloader grab bucket system and method based on multi-modal perception and artificial intelligence semantic segmentation. According to the system, point cloud data and image data are synchronously collected through a laser radar and an RGB camera, feature level alignment and fusion are conducted through an image fusion module, an artificial intelligence semantic segmentation network is combined with attention gating to restrain dust interference, grab bucket boundary information is output, and a position and posture estimation module solves the grab bucket position and posture based on the boundary information and geometric constraints. The path planning module combines reinforcement learning and model prediction control to generate a trajectory instruction, and the compensation module implements hierarchical correction according to the pose deviation and drives an execution device to realize high-precision positioning and stable control under severe working conditions.

The invention discloses a dynamic anti-swing control method of a grab ship unloader, a storage medium and computer equipment, and the method comprises the following steps: acquiring real-time operation state information of the grab ship unloader during operation through a multi-source sensor mounted on the grab ship unloader; a target feedback gain matrix corresponding to the grab ship unloader is determined through a gain scheduling table according to the real-time steel wire rope length and the real-time load in the real-time operation state information, and the gain scheduling table comprises an optimal feedback gain matrix corresponding to the combination of various steel wire rope degrees and loads; determining a target control law based on the target feedback gain matrix, and determining a target control signal of the grab ship unloader according to the target control law and the real-time operation state information; and driving the grab ship unloader to move according to the target control signal. Dynamic anti-swing can be achieved, and the operation precision and efficiency are improved.

The invention relates to the technical field of conveying detection, and provides an industrial vision-based raw material conveying device for preparing an alkali-activated cementing material from pulverized coal ash, which comprises a conveying mechanism, a material distributing mechanism is fixedly mounted on the right side of the upper end of the conveying mechanism, and a controller is arranged on the left side of the material distributing mechanism; a scattering mechanism is fixedly mounted in the middle of the upper end of the conveying mechanism, a visual detection mechanism is fixedly connected to the middle of the scattering mechanism, and an impurity removal mechanism is fixedly mounted on the left side of the middle of the upper end of the conveying mechanism. Pulverized coal ash is scraped through the scraping mechanism, blocked cakes and impurities on the lower layer of the pulverized coal ash are scraped out, the cakes and the impurities in the pulverized coal ash can be recognized by the visual detection mechanism, the cakes are synchronously extruded, crushed and cut up through the scraping mechanism in the pulverized coal ash scraping process, no obvious cake residues exist in the pulverized coal ash, and the coal ash scraping efficiency is improved. Meanwhile, the cutter stirs the pulverized coal ash, so that impurities on the lower layer are easy to turn out, and the purity of raw materials is guaranteed.

The invention discloses an unattended screw ship unloader material and ship control method and system, and the method comprises the steps: collecting multi-dimensional sensing data including visual images, material weight, material types and spatial poses in real time through multiple types of sensors disposed on a screw ship unloader; performing space-time registration and fusion processing on the acquired multi-dimensional sensing data to obtain an operation scene situation sensing result for comprehensively representing the real-time state of the ship unloading operation scene; based on the operation scene situation perception result, driving a screw ship unloader digital twin model to perform real-time simulation to obtain a simulation result including a future material accumulation spatial form, equipment operation performance parameters and / or potential risk probability; and according to a simulation result of the digital twinborn model, an optimization control instruction is generated based on a preset decision rule, so that self-adaptive adjustment of ship unloading operation parameters and intelligent disposal of abnormal working conditions are realized.