Truss grain-unloading apparatus

Abstract

Disclosed in the present invention is a truss grain-unloading apparatus in the field of grain warehousing, comprising a truss, and a grain suction mechanism, a grain conveying mechanism, and a controller which are arranged on the truss. The grain suction mechanism comprises a pneumatic conveying apparatus, a grain suction pipe, and a direction adjusting mechanism; the tail end of the grain suction pipe is flexibly connected to a feeding port of the pneumatic conveying apparatus, and the middle of the grain suction pipe is connected to the pneumatic conveying apparatus by means of the direction adjusting mechanism; and the grain conveying mechanism comprises a belt conveyor arranged on the truss. The present invention utilizes the grain suction mechanism and the grain conveying mechanism, which are supported by the truss, to suction and convey grain in a carriage, so that the grain unloading operation is directly preformed above the carriage, thus achieving convenience and quickness; the unloaded grain can be directly conveyed to a subsequent cleaning device from a high position, simplifying a conventional warehousing process; the pneumatic conveying apparatus can reduce dust pollution; and the whole apparatus can achieve highly automated control by means of an image recognition technology and a multi-sensor fusion technology, greatly reducing the labor intensity, and improving the grain unloading efficiency.

Description

Truss unloading device TECHNICAL FIELD

[0001] The present application relates to the field of grain storage, in particular to a truss unloading device. BACKGROUND

[0002] At present, the general methods used in the process of bulk grain unloading operation include using hydraulic flap machine to unload, bulk grain side unloading machine to unload and manual unloading. Among them, the hydraulic flap machine unloading is to use large hydraulic equipment to lift the vehicle, increase the inclination of the vehicle, and when the vehicle reaches a certain angle, the grain will slide out of the carriage under the action of gravity to achieve the purpose of unloading. The bulk grain side unloading machine is to use chain scraper to mechanically transport the grain out of the carriage. Manual unloading mostly uses the method of opening the door on the side of the carriage, manually shoveling the grain to the open door position and then sliding to the conveyor belt.

[0003] These unloading methods have the following problems: the hydraulic flap machine occupies a large area and requires a high site, and the unloading speed is difficult to control; the bulk grain side unloading machine needs to move the equipment frequently or relies on manual shoveling of grain to the feeding area, and the remaining grain needs to be manually cleaned and moved, and both of them need to open the carriage door panel, which is easy to cause grain collapse, endangering personal safety, and both of them have the problem of large dust, which causes great harm to the health of unloading operation personnel. On the other hand, due to the low degree of automation of these methods, multiple people are needed to cooperate to complete the unloading operation, the operation efficiency is low and the labor cost is high. In addition, the outlets of the three unloading methods are below, and when connecting the subsequent cleaning equipment, a grain lifting device needs to be added, which undoubtedly increases the length of the operation line. In order to protect the health of the operation personnel and improve the unloading operation efficiency, reduce the occupation of the site, it is urgent to use unloading technology with high degree of automation.

[0004] SUMMARY

[0005] In order to overcome the above-mentioned deficiencies of the existing unloading methods, the technical problem to be solved by the present application is to provide a truss unloading device which can improve the unloading efficiency.

[0006] The technical scheme adopted by the present application to solve its technical problem is:

[0007] The truss unloading device comprises a truss, a grain suction mechanism, a grain conveying mechanism and a controller arranged on the truss, a passageway for a truck is arranged below the truss along the length direction of the truss, the grain suction mechanism comprises a pneumatic conveying device arranged on the top of the truss, a grain suction pipeline and a direction adjusting mechanism, the tail end of the grain suction pipeline is flexibly connected with the feeding port of the pneumatic conveying device, the middle part of the grain suction pipeline is connected with the pneumatic conveying device through the direction adjusting mechanism, the direction adjusting mechanism enables the grain suction head at the front end of the grain suction pipeline to extend into the truck compartment below the truss and adjusts the position of the grain suction head in the truck compartment, the grain conveying mechanism comprises a belt conveyor arranged on the truss, the feeding end of the belt conveyor is located below the discharging port of the pneumatic conveying device, and the discharging end of the belt conveyor is connected with external equipment, and the controller is electrically connected with the grain suction mechanism and the grain conveying mechanism.

[0008] Further, the top of the truss is provided with a first track and a second track along the length direction, a support frame is arranged on the first track in a sliding mode, the pneumatic conveying device is arranged above the support frame, the direction adjusting mechanism is connected between the grain suction pipeline and the support frame, the feeding end of the belt conveyor is fixed below the support frame, a roller rolling along the second track is arranged on the base of the belt conveyor, and the support frame slides along the first track through the drive controlled by the controller.

[0009] Further, one side of the support frame close to the grain suction pipeline is provided with a sensor electrically connected with the controller and used for detecting the height of the grain surface in the truck compartment, and the sensor comprises an image acquisition device and a laser radar system.

[0010] Further, a metering device for detecting the flow or weight of grain is arranged at the discharging port of the pneumatic conveying device or on the belt conveyor, and the metering device is electrically connected with the controller.

[0011] Further, the direction adjusting mechanism comprises two hydraulic rods, the telescopic ends of the two hydraulic rods are hinged with the grain suction pipeline, and the other ends are respectively hinged with the top and the side of the support frame.

[0012] Further, the grain suction head of the grain suction pipeline is provided with an anti-collision sensor electrically connected with the controller.

[0013] Further, the belt conveyor is a telescopic belt conveyor, and the discharging end of the belt conveyor is provided with a grain throwing head with an adjustable grain throwing angle.

[0014] Further, the truss comprises four telescopic columns, and a flatness detection sensor is arranged on the top of the truss, the controller adjusts the height of the column according to the information fed back by the image acquisition device or the laser radar system, adjusts the telescopic length of the column according to the information fed back by the flatness detection sensor, and ensures that the first track and the second track are horizontal.

[0015] Further, the column bottom is provided with a walking mechanism electrically connected with the controller, the walking mechanism includes three driving wheels, two of which are located at both ends of one side of the truss, and the other is located at the middle of the other side of the truss, the inside of the column is provided with a distance sensor electrically connected with the controller for preventing the vehicle from colliding with the column and detecting the parking information of the vehicle.

[0016] Further, during unloading, the controller controls the components according to the following steps:

[0017] Step one, drive the vehicle that needs to be unloaded in the channel under the truss, in the driving process, the distance sensor inside the column detects the distance in the width direction of the vehicle, and alarms when the distance is too small, when the distance sensor on the column near the tail of the vehicle detects the tail information of the vehicle, alarms the vehicle to stop moving;

[0018] Step two, during the movement of the vehicle, the image acquisition device and the laser radar system are used to scan the data of the vehicle compartment, obtain the size of the vehicle compartment, the type of grain and the height distribution information of the grain surface, and send them to the controller;

[0019] Step three, the controller determines the initial position of the grain suction according to the information of step two, plans the grain suction path, and adjusts the relative connection of the belt machine and the external equipment;

[0020] Step four, start the grain suction mechanism, the grain conveying mechanism and the walking mechanism, the controller controls the suction head to move according to the grain height information through the walking mechanism and the direction adjusting mechanism, and sucks the grain;

[0021] Step five, after completing the grain suction operation according to the path, the image acquisition device and the laser radar system are used again to obtain the remaining grain information, and the suction head performs the remaining grain cleaning work;

[0022] Step six, when the grain suction mechanism reaches the structural position limit and there is still grain in the vehicle compartment, the whole truss moves to a new grain taking point position according to the operation mode setting, and the belt machine moves reversely and equidistantly during the movement, so that the relative position with the external equipment is always kept unchanged;

[0023] Step seven, repeat steps four to six until the manual confirmation of the completion of the grain suction operation.

[0024] The beneficial effects of the present application are: the grain suction mechanism and the grain conveying mechanism supported by the truss are used to suck and transport the grain in the carriage, the grain unloading operation is directly carried out from above the carriage, manual opening of the carriage door plate is not needed, the possibility of safety accidents is eliminated, the unloaded grain can be directly conveyed to the subsequent cleaning equipment from a high place, the traditional warehousing process is simplified, and the site occupation is reduced; the grain suction mechanism adopts a pneumatic conveying device, and the site basically realizes dust-free and unmanned operation, thereby reducing the harm to the environment and the health of personnel; the entire device can be highly automatically controlled through image recognition technology and multi-sensor fusion technology, thereby greatly reducing the labor intensity of workers and improving the grain unloading efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0025] Fig. 1 is a schematic diagram of the overall structure of the present application;

[0026] Fig. 2 is a schematic diagram of the structure of the present application during grain unloading;

[0027] Fig. 3 is a control principle diagram of the controller of the present application;

[0028] Fig. 4 is a control flow diagram of the controller of the present application.

[0029] In the figure, 1 is a truss, 2 is a controller, 3 is a pneumatic conveying device, 4 is a grain suction pipeline, 5 is a direction adjusting mechanism, 6 is a belt conveyor, 7 is a truck, 8 is a support frame, 9 is a cleaning equipment, 11 is a first track, 12 is a second track, 13 is a driving wheel, 14 is a vertical column, 15 is a flatness detection sensor, 16 is a distance sensor, 41 is a grain suction head, 42 is an anti-collision sensor, 61 is a grain throwing head, 62 is a roller, 71 is a carriage, 81 is an image acquisition device, and 82 is a laser radar system. DETAILED DESCRIPTION

[0030] The present application will be further described below in conjunction with the drawings.

[0031] It should be noted that if the present application involves directional indication language, such as up, down, left, right, front, back, and directional language, it is for the purpose of describing the relative position relationship between components, not for the absolute position specification of the related components and the position relationship between components. It is only used to explain the relative position relationship between components, movement conditions, etc. in a certain posture. If the specific posture changes, the directional indication also changes accordingly. If the present application involves quantity language, such as "many", "multiple", "several", etc., it specifically refers to two or more than two.

[0032] As shown in FIG. 1, FIG. 2, the truss unloading device provided by the application comprises a truss 1, and a suction mechanism, a feeding mechanism and a controller 2 arranged on the truss 1; a passageway for a truck 7 is arranged below the truss 1 along the length direction of the truss 1; the suction mechanism comprises a pneumatic conveying device 3 arranged on the top of the truss 1, a suction pipeline 4 and a direction adjusting mechanism 5, the tail end of the suction pipeline 4 is flexibly connected with the feeding port of the pneumatic conveying device 3, the middle part of the suction pipeline 4 is connected with the pneumatic conveying device 3 through the direction adjusting mechanism 5, the direction adjusting mechanism 5 enables the suction head 41 at the front end of the suction pipeline 4 to extend into the carriage 71 of the truck 7 below the truss 1 and adjust the position of the suction head 41 in the carriage 71; the feeding mechanism comprises a belt conveyor 6 arranged on the truss 1, the feeding end of the belt conveyor 6 is located below the discharging port of the pneumatic conveying device 3, and the discharging end of the belt conveyor 6 is connected with external equipment; the controller 2 is electrically connected with the suction mechanism and the feeding mechanism.

[0033] The application utilizes the truss 1 to erect the suction mechanism and the feeding mechanism above the truck 7, directly performs the unloading operation from above the carriage 71, and does not need to manually open the door plate of the carriage 71 or utilize the hydraulic plate to tilt the vehicle, so that the operation is convenient and the safety is high. The whole truss 1 only needs to be slightly wider than the width of the commonly used truck 7, so that the occupied plane space is small, and the height of the truss 1 can be set in an adjustable height form, so as to adapt to carriages 71 of different heights. The suction mechanism utilizes the pneumatic conveying device 3 and the suction pipeline 4 to suck the grain, and dust pollution is not generated. During the suction process, the position of the suction head 41 is adjusted by the direction adjusting mechanism 5, so that omnidirectional suction is realized and the grain is ensured to be completely sucked. The sucked grain is directly conveyed to the external cleaning equipment 9 through the belt conveyor 6 from a high place, the material does not need to be lifted again, the cleaning and subsequent warehouse entering process can be simplified, the site occupation is reduced, and the unloading efficiency is improved.

[0034] In the grain suction process, for the shorter car 71, the whole car can be covered directly by using the direction adjusting mechanism 5; for the slightly longer car 71, when the grain suction range exceeds the range that can be adjusted by the direction adjusting mechanism 5, the grain suction position can be adjusted by moving the truss 1 or the truck 7, or a small amount of grain can be manually cleaned to the grain suction range of the grain suction head 41. For the longer car 71, in order to reduce the moving frequency of the truss 1 or the truck 7, the application provides a preferred scheme. The top of the truss 1 is provided with a first track 11 and a second track 12 along the length direction, the support frame 8 is slidingly arranged on the first track 11, the pneumatic conveying device 3 is arranged above the support frame 8, the direction adjusting mechanism 5 is connected between the grain suction pipeline 4 and the support frame 8, the feeding end of the belt conveyor 6 is fixed below the support frame 8, the base of the belt conveyor 6 is provided with a roller 62 rolling along the second track 12, and the support frame 8 slides along the first track through the drive controlled by the controller. The grain suction mechanism and the grain conveying mechanism are connected into a whole through the support frame 8, the first track 11 supports the support frame 8, and the second track 12 supports the belt conveyor 6, so as to ensure the stability of the structure and the smooth operation. In the grain suction process, the grain suction head 41 is first controlled by the direction adjusting mechanism 5 to perform the grain suction operation on a grain suction area, then the position of the pneumatic conveying device 3 is changed by moving the support frame 8 to adjust the grain suction area, the grain suction is continued, and finally the grain suction area is adjusted again by moving the whole truss 1 or the truck 7. At present, the longest car 71 of the truck 7 is about 14m long, therefore, the truss 1 can be arranged to be about 7m long, so that the unloading work of the whole car 71 can be completed by moving the truss 1 or the truck 7 only once.

[0035] Further, in order to realize automatic control, the preferred scheme of the application is that one side of the support frame 8 close to the grain suction pipeline 4 is provided with a sensor electrically connected with the controller 2 for detecting the grain surface height in the car 71, such as an image acquisition device 81 and a laser radar system 82. The image acquisition device 81 and the laser radar system 82 are both prior arts, which respectively use image recognition and laser scanning to detect the grain surface height, so that the control system can control the movement of the grain suction head 41 according to the grain surface height. The specific process is that before unloading, the initial height of the grain surface is determined by using the image acquisition device 81 and the laser radar system 82, in the grain suction process, whether the grain suction head 41 moves downward and whether the limit depth of the car is reached are determined by the real-time grain surface height information, so as to realize continuous grain suction and determine whether the grain suction operation of a region is completed, and after the determination is completed, the grain suction head 41 is moved to the next region, so as to realize the automatic control of unloading.

[0036] In addition, the flow or weight of the grain can be combined to improve the accuracy of the determination. Specifically, a metering device for detecting the flow or weight of the grain is arranged at the discharge port of the pneumatic conveying device 3 or the belt conveyor 6, and the metering device is electrically connected to the controller. The metering device is not limited to a belt scale or a flowmeter, because the contact area of the suction head 41 with the grain surface is positively correlated with the suction flow. When the metering device detects that the flow of the grain decreases, it can be determined that the contact area of the suction head 41 with the grain surface decreases, and the controller 2 can control the suction head 41 to move downward. In this way, through the two determination systems, it can be ensured that the suction head 41 can follow the grain surface to move, and the continuity of the suction of the grain can be ensured.

[0037] For the direction adjusting mechanism 5, the scheme adopted by the present application is that the direction adjusting mechanism 5 includes two hydraulic rods, the telescopic ends of the two hydraulic rods are hinged to the suction pipe 4, and the other ends are respectively hinged to the top and side of the support frame 8. The hydraulic rod connected to the top of the support frame 8 is used to adjust the upward and downward movement of the suction head 41 in the vertical plane, and the hydraulic rod connected to the side of the support frame 8 is used to adjust the left and right movement of the suction head 41 in the horizontal plane. The two hydraulic rods are used in cooperation to flexibly adjust the spatial position of the suction head 41 in the carriage 71. Of course, other telescopic mechanisms can be used to replace the hydraulic rods, such as linear motors, screw motors or air pressure rods, etc.

[0038] In order to avoid hard contact between the suction head 41 and the carriage 71 during movement and damage, a collision avoidance sensor 42 electrically connected to the controller 2 is arranged on the suction head 41 of the suction pipe 4. The collision avoidance sensor 42 can be a pressure sensor arranged at the front end of the suction head 41. When the collision avoidance sensor 42 detects that the pressure is too large, a signal can be fed back to the controller 2 to avoid further movement of the suction head 41.

[0039] Because the external cleaning device 9 is generally fixed, when the belt conveyor 6 moves with the support frame 8, it cannot be ensured that the grain enters the cleaning device 9 stably. Therefore, the preferred scheme is that the belt conveyor 6 is a telescopic belt conveyor, and the discharge end of the belt conveyor 6 is provided with a grain throwing head 61 with adjustable throwing angle. When the support frame 8 is moved, the belt conveyor 6 can be controlled to be synchronized with the telescopic movement to ensure that the position of the grain throwing head 61 does not change. The grain throwing head 61 should be provided with adjustable pitch angle to better send the grain into the cleaning device 9.

[0040] In order to improve the stability of the overall structure, the truss 1 includes four telescopic columns 14, and the top of the truss 1 is provided with a flatness detection sensor 15. The controller 2 first adjusts the height of the column 14 according to the information fed back by the image acquisition device 81 or the laser radar system 82 to make the suction mechanism close to the carriage 71 as much as possible, and then adjusts the telescopic column 14 according to the information fed back by the flatness detection sensor 15 to ensure that the first track 11 and the second track 12 are horizontal.

[0041] For the convenience of moving the whole device, a walking mechanism electrically connected with the controller 2 is arranged at the bottom of the column 14, the walking mechanism includes three driving wheels 13, two of which are located at the two ends of one side of the truss 1, and the other is located at the middle of the other side of the truss 1, the inner side of the column 14 is provided with a distance sensor 16 electrically connected with the controller 2, which is used for preventing the vehicle from colliding with the column 14 and detecting the information of the vehicle parking in place, the distance sensor 16 can adopt ordinary infrared, laser or sound wave ranging sensor to avoid collision between the column and the truck 7 during movement.

[0042] Further, the control principle of the whole device is shown in FIG. 3, the grain data in the sampling process is transmitted to the controller by the external system, and the operating table can be a remote controller, which is convenient for the staff to unload the grain in a remote place. The controller controls the operation of the grain suction mechanism, the grain conveying mechanism and the walking mechanism according to the metering sensor, the anti-collision sensor, the position sensor, the distance sensor, the image acquisition device and the laser radar system. Among them, the grain suction mechanism includes the overall movement of the grain suction mechanism, the lifting of the grain suction head, the swing of the grain suction head and the start-stop of the pneumatic conveying device; the grain conveying mechanism includes the start-stop of the belt conveyor and the extension control of the belt conveyor.

[0043] When unloading the grain, the specific control process of the controller 2 is shown in FIG. 4, which includes the following steps:

[0044] Step one, the system is ready, the truck 7 that needs to unload the grain is driven into and parked in the channel below the truss 1, in the driving process, the distance sensor 16 inside the column 14 detects the distance in the width direction of the vehicle, and alarms when the distance is too small, when the distance sensor on the column 14 near the tail of the truck 7 on the truss 1 detects the information of the tail of the truck 7, the vehicle stops moving;

[0045] Step two, when the vehicle is moving, the image acquisition device 81 and the laser radar system 82 are used to scan the data of the carriage 71, to obtain the carriage size, grain type and grain height distribution information, and send them to the controller 2;

[0046] Step three, the controller 2 determines the initial position of the grain suction according to the information of step two, plans the grain suction path, and adjusts the relative connection of the belt conveyor 6 and the external equipment;

[0047] Step four, start the grain suction mechanism, the grain conveying mechanism and the walking mechanism, the controller 2 controls the grain suction head 41 to move according to the grain height information through the walking mechanism and the direction adjusting mechanism 5, and sucks the grain;

[0048] Step five, after completing the grain suction operation according to the path, the image acquisition device 81 and the laser radar system 82 are used again to obtain the residual grain information, and the grain suction head 41 performs the residual grain cleaning work;

[0049] Step six, when the suction mechanism reaches the structural position limit, and there is still grain in the car, the entire truss 1 moves to a new grain taking point according to the operation mode setting, and the belt conveyor 6 moves reversely and equidistantly during the movement, so as to keep the relative position with the external equipment unchanged;

[0050] Step seven, repeat steps four to six until the artificial confirms that the suction operation is completed, and the unloading device is reset and stopped.

[0051] In order to reduce the moving times of the truss 1 and the support frame 8, when planning the suction path, the suction pipe 4 is moved first, then the support frame 8 is moved, and finally the truss 1 is moved. The residual grain cleaning work in step five refers to making the suction head 41 quickly and comprehensively suck the grain along the bottom of the car, and if it is not clean once, it will be done again. Usually one or two times can ensure the completion of the cleaning.

Claims

1. A truss unloader characterized by: The invention discloses a grain suction and conveying device, which comprises a truss (1), a grain suction mechanism, a grain conveying mechanism and a controller (2) arranged on the truss (1); a passageway for a truck (7) is arranged below the truss (1) along the length direction of the truss (1); the grain suction mechanism comprises a pneumatic conveying device (3) arranged on the top of the truss (1), a grain suction pipeline (4) and a direction adjusting mechanism (5); the tail end of the grain suction pipeline (4) is flexibly connected with the feeding port of the pneumatic conveying device (3); the middle part of the grain suction pipeline (4) is connected with the pneumatic conveying device (3) through the direction adjusting mechanism (5); the direction adjusting mechanism (5) enables the grain suction head (41) at the front end of the grain suction pipeline (4) to extend into the carriage (71) of the truck (7) below the truss (1) and adjusts the position of the grain suction head (41) in the carriage (71); the grain conveying mechanism comprises a belt conveyor (6) arranged on the truss (1); the feeding end of the belt conveyor (6) is located below the discharging port of the pneumatic conveying device (3); the discharging end of the belt conveyor (6) is connected with external equipment; the controller (2) is electrically connected with the grain suction mechanism and the grain conveying mechanism; the top of the truss (1) is provided with a first track (11) and a second track (12) along the length direction of the truss (1); a support frame (8) is slidably arranged on the first track (11); the pneumatic conveying device (3) is arranged above the support frame (8); the direction adjusting mechanism (5) is connected between the grain suction pipeline (4) and the support frame (8); the feeding end of the belt conveyor (6) is fixed below the support frame (8); a roller (62) rolling along the second track (12) is arranged on the base of the belt conveyor (6); the support frame (8) slides along the first track through the drive controlled by the controller.

2. A catenary unloading device as claimed in claim 1, characterized in that: A sensor for detecting the height of the grain surface in the carriage (71) is arranged on one side of the support frame (8) close to the grain suction pipeline (4) and electrically connected with the controller (2); the sensor comprises an image acquisition device (81) and a laser radar system (82).

3. A catenary unloader as claimed in claim 2, wherein: A metering device for detecting the flow or weight of the grain is arranged at the discharging port of the pneumatic conveying device (3) or on the belt conveyor (6); the metering device is electrically connected with the controller.

4. The unloading device according to claim 1, wherein: The direction adjusting mechanism (5) comprises two hydraulic rods; the telescopic ends of the two hydraulic rods are hingedly connected with the grain suction pipeline (4); the other ends are hingedly connected with the top and side of the support frame (8) respectively.

5. A catenary unloader as claimed in claim 4, wherein: A collision avoidance sensor (42) electrically connected with the controller (2) is arranged on the grain suction head (41) of the grain suction pipeline (4).

6. A catenary unloader as claimed in claim 1 wherein: The belt conveyor (6) is a telescopic belt conveyor; a grain throwing head (61) with adjustable throwing angle is arranged at the discharging end of the belt conveyor (6).

7. A catenary unloading device according to any one of claims 2 to 6, wherein: The truss (1) comprises four telescopic columns (14); a flatness detection sensor (15) is arranged on the top of the truss (1); the controller (2) adjusts the height of the column (14) according to the information fed back by the image acquisition device (81) or the laser radar system (82) and adjusts the telescopic length of the column (14) according to the information fed back by the flatness detection sensor (15) to ensure that the first track (11) and the second track (12) are horizontal.

8. A catenary unloader as claimed in claim 7 wherein: The bottom of the column (14) is provided with a walking mechanism electrically connected with the controller (2), the walking mechanism includes three drive wheels (13), two of which are located at both ends of one side of the truss (1), and the other is located at the middle of the other side of the truss (1), the inside of the column (14) is provided with a distance sensor (16) electrically connected with the controller (2) for preventing the vehicle from colliding with the column (14) and detecting the vehicle parking information.

9. A catenary unloader as claimed in claim 8 wherein: When unloading, the controller (2) controls the components to work according to the following steps: Step one, drive the truck (7) that needs to unload in the channel under the truss (1), in the process of driving, the distance sensor (16) inside the column (14) detects the distance in the width direction of the vehicle and gives an alarm, when the distance sensor on the column (14) near the tail of the truck (7) on the truss (1) detects the information of the tail of the truck (7), the alarm prompts the vehicle to stop moving; Step two, when the vehicle is moving, use the image acquisition device (81) and laser radar system (82) to scan the data of the car body (71), get the car body size, grain type and grain height distribution information, and send it to the controller (2); Step three, the controller (2) determines the initial position of the suction according to the information of step two, plans the suction path, and adjusts the belt machine (6) to the relative interface of the external equipment; Step four, start the suction mechanism, the feeding mechanism and the walking mechanism, the controller (2) controls the suction head (41) to move according to the suction path according to the grain height information through the walking mechanism and the direction adjusting mechanism (5), and sucks the grain; Step five, after completing the suction work according to the path, use the image acquisition device (81) and laser radar system (82) to obtain the remaining grain information again, and control the suction head (41) to execute the remaining grain cleaning work; Step six, when the suction mechanism reaches the structural position limit and there is still grain in the car box, the whole truss (1) moves to a new grain taking point position according to the operation mode setting, and the belt machine (6) moves reversely and equidistantly during the movement, so as to keep the relative position with the external equipment unchanged; Step seven, repeat steps four to six until the artificial confirms that the suction operation is completed, and the unloading device resets and stops.

Images