A step-by-step automatic material discharging method and system

Abstract

The present application is applied to the technical field of pellet production, and shows a method and system for step-by-step automatic unloading. The present application monitors the locomotive carriage through the automatic unloading system, and sets the loading bin of the pellet finished product bin according to the monitoring information; controls the loading bin to unload materials according to the forward position of the locomotive, and predicts the loading volume of the locomotive carriage in real time, predicts the material weight according to the loading volume of the carriage, and realizes automatic unloading operation by step-by-step progressive control; the technical solution shown in the present application can provide a step-by-step progressive control method and device with high automation and high loading efficiency, and judges the underload, full load, overload or overflow of the material level according to the height distribution state, which is convenient for the loading of pellets.

Description

Technical Field

[0001] The invention belongs to the technical field of pellet production, and in particular relates to a step-by-step automatic material discharging method and system. Background Art

[0002] The unloading process of the pellet finished product warehouse is as follows: the transport locomotive is loaded manually based on visual inspection and experience. When the transport locomotive is loaded, the load is monitored by the track scale. If the detection is within the allowable error range, it is allowed to be released. If the loading error is large, it returns to the unloading room for unloading or replenishment. In most cases, it takes about two round trips, which takes 2-3 hours. The loading efficiency is low and the locomotive capacity is wasted.

[0003] Although there are automatic loading systems for finished pellets in the existing technology, the method adopted is to stop the locomotive under the mobile distributor, use flow monitoring to measure the flow rate of the finished pellets and then control the loading amount. The existing technology cannot realize loading during the operation of the locomotive, nor can it timely determine the material distribution status, which easily leads to underloading, full loading, overloading or overflow of materials.

[0004] Therefore, there is an urgent need to provide a method and system that can control the loading of materials in steps while the locomotive is moving forward, and can timely monitor the material status, and can determine the material level of underload, full load, overload or overflow, so as to facilitate the loading of pellets. Summary of the invention

[0005] Based on the above problems, the present invention provides a method and system for step-by-step automatic material discharge, which can load materials while the locomotive is moving forward, and can timely monitor the material status and judge the material level status such as underload, full overload or overflow, so as to facilitate the loading of pellets.

[0006] In the first aspect, the present application shows a step-by-step automatic discharging method for a pellet finished product warehouse, the method comprising:

[0007] S1: When the locomotive moves along the track toward the pellet finished product warehouse, the automatic unloading system obtains the locomotive car number information and the car rated load information.

[0008] S2: The automatic unloading system sets the loading bin of the pellet finished product bin according to the carriage number information; the pellet finished product bin includes N (N≥1, N is a natural number) bins, and the loading bins are X bins selected from the N bins (1≤X≤N, X is a natural number); the loading bins include: a first loading bin, a second loading bin, ..., an Xth loading bin.

[0009] S3: When the locomotive carriage enters the first loading bin, the automatic unloading system obtains the carriage position information and unloads the material according to the carriage position information. During the unloading process, the automatic unloading system obtains the material surface vector image information; predicts the material volume according to the material surface vector image information, and obtains the material weight information according to the material density and the predicted material volume.

[0010] S4: The automatic discharging system compares the material weight information with the rated load information of the carriage. If the material weight exceeds the rated load of the carriage, an alarm is issued; if the material weight does not exceed the rated load of the carriage, the locomotive carriage enters the second loading bin for refilling; the material weight information after refilling is obtained; the automatic discharging system compares the material weight information after refilling with the rated load information of the carriage. If the material weight does not exceed the rated load of the carriage, the locomotive carriage enters the third loading bin for refilling; the above steps are repeated until the locomotive carriage enters the Xth loading bin for refilling; if the material weight is within the error range of the rated load of the carriage, the refilling is ended.

[0011] S5: When the locomotive carriage finishes refueling, the next carriage of the carriage repeats the above steps S1 to S4.

[0012] In a possible design, the first loading bin includes: a first discharge port, a second discharge port, ..., an Mth discharge port (M is a natural number).

[0013] When the locomotive carriage enters the first loading bin, the method in which the automatic unloading system obtains the carriage position information and unloads the material according to the carriage position information is as follows:

[0014] When the locomotive carriage moves to the first unloading port, the automatic unloading system controls the first unloading port to open; when the locomotive carriage moves to the second unloading port, the automatic unloading system controls the second unloading port to open, and so on. When the locomotive carriage moves to the Mth unloading port, the automatic unloading system controls the Mth unloading port to open.

[0015] When the rear of the locomotive carriage is about to pass through the first unloading port, the automatic unloading system controls the first unloading port to close; when the rear of the locomotive carriage is about to pass through the second unloading port, the automatic unloading system controls the second unloading port to close; and so on, when the rear of the locomotive carriage is about to pass through the Mth unloading port, the automatic unloading system controls the Mth unloading port to close.

[0016] In a possible design, the method for the automatic material unloading system to obtain the material surface vector image information is:

[0017] The automatic material unloading system obtains the cross-sectional profile and the longitudinal cross-sectional profile of the locomotive carriage, and obtains the material surface vector image information according to the cross-sectional profile and the longitudinal cross-sectional profile of the carriage.

[0018] In a possible design, the method for predicting the volume of a material according to the vector image information of the material surface is:

[0019] The unit volume is obtained by multiplying the cross-sectional profile area of ​​the carriage by the longitudinal scanning point distance, and the unit volumes are summed to obtain the fully loaded volume of the carriage.

[0020] Subtract the volume from the bottom of the car to the track from the full load volume of the car to get the predicted material volume;

[0021] The calculation formula of the cross-sectional profile area is:

[0022]

[0023] Where i∈[0,n]; S j is the cross-sectional area, y i is the height value of the i-th scanning point of the vehicle body, x i is the width value of the i-th scanning point of the vehicle body, and n is the number of scanning points in the cross section of the vehicle body.

[0024] The calculation method of the fully loaded volume of the carriage is:

[0025]

[0026] Among them, V f is the fully loaded volume of the carriage, S j is the jth cross-sectional area of ​​the vehicle body, Z j is the mileage of the jth longitudinal scanning point of the vehicle body along the driving direction.

[0027] The calculation method of the predicted material volume is:

[0028] V l =V f -V e ;

[0029] Among them, V l To predict the material volume, V e is the volume from the vehicle bottom to the track.

[0030] In a possible design, among the X silos selected from the N silos, X is preferably 3.

[0031] On the second aspect, the present application shows a step-by-step automatic discharging system for a pellet finished product warehouse, characterized in that the automatic discharging system includes: a central processor, a main controller, a laser radar, an ultrasonic probe and a vehicle number recognition module.

[0032] The vehicle number recognition module is used to obtain the vehicle number information and the rated load information of the locomotive carriage.

[0033] The main controller is used to set the loading bin of the pellet finished product bin according to the carriage number information.

[0034] The laser radar includes: a transverse laser radar and a longitudinal laser radar; the transverse laser radar is used to scan the cross-sectional profile of the locomotive carriage, and the longitudinal laser radar is used to scan the longitudinal section profile of the locomotive carriage; vector image information of the material surface can be obtained according to the cross-sectional profile and the longitudinal section profile of the carriage.

[0035] The longitudinal laser radar and ultrasonic probe are used to obtain the position information of the vehicle compartment.

[0036] The central processor is used to receive the carriage position information and the set pellet finished product warehouse loading silo information and control the loading silo to unload materials according to the carriage position information. The central processor is also used to receive material surface vector image information and predict the material volume according to the material surface vector image information, and obtain the material weight information according to the material density and the predicted material volume; the central processor is also used to compare the material weight information with the carriage rated load information. If the material weight exceeds the carriage rated load, the central processor will issue an alarm.

[0037] In a possible design, the laser radar is preferably configured as 1 transverse laser radar and 2 longitudinal laser radars for each silo, and the ultrasonic probe is preferably configured as 5 for each silo, and the transverse laser radar is configured perpendicular to the longitudinal laser radar.

[0038] The beneficial effects of this application are:

[0039] The technical solution shown in the present application can load the materials in the locomotive carriage step by step through a step-by-step method during the locomotive's forward movement, and the material status can be monitored in real time by the step-by-step method; since multiple material discharges are adopted, the locomotive loading status can be recorded in time during each material discharge process, the material level height inside the carriage can be obtained, and the material level status such as underload, full load, overload or overflow can be judged, and the gate can be controlled to start and stop in time to ensure driving safety during the discharge period and make the locomotive loading efficiency high. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solution of the application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0041] Figure 1A schematic diagram of a step-by-step automatic material discharging system shown in this application;

[0042] Figure 2 A schematic diagram of the vehicle number recognition module shown in this application obtaining the vehicle number information and the rated load information of the vehicle;

[0043] Figure 3 A schematic diagram of radar scanning shown in this application;

[0044] Figure 4 A schematic diagram of a step-by-step automatic material discharging method shown in this application;

[0045] Figure 5 This is a schematic diagram of a locomotive about to enter the first loading silo shown in this application;

[0046] Figure 6 This is a schematic diagram of a locomotive entering a first loading bin and starting a first unloading port as shown in the present application;

[0047] Figure 7 This is a schematic diagram of the locomotive shown in the present application entering the second loading bin and starting the second unloading port;

[0048] Figure 8 This is a schematic diagram of a method for predicting the volume of a material based on the vector image information of the material surface shown in the present application. DETAILED DESCRIPTION

[0049] See also Figure 1 , Figure 1 A step-by-step automatic discharging system is shown, which is used for a pellet finished product warehouse. The automatic discharging system includes: a central processor 1 (also called a central controller), a main controller 2, a laser radar 3, an ultrasonic probe 4 and a vehicle number recognition module 5.

[0050] In a feasible embodiment, the automatic unloading system relies on the original structural design of the pellet finished product warehouse. The system is installed using the existing space without the need for additional excavation, without damaging the on-site support structure and track subgrade, thereby ensuring safety while saving construction costs and reducing construction difficulty. In the description of this application, Figure 1 A space coordinate system is shown, with the side along the x-axis direction being the left side of the locomotive, and the side along the z-axis direction being the front side of the locomotive.

[0051] See also Figure 2 , Figure 2 The figure shows the arrangement of the vehicle number recognition module in a feasible embodiment. The vehicle number recognition module 5 is arranged at a position where it is easy to photograph the side of the car, and is used to obtain the locomotive car number information and the car rated load information; the vehicle number recognition module can be arranged on a fixed carrier such as a wall, a column, a wooden pole, etc.

[0052] The main controller 2 is arranged at the pellet finished product warehouse site to facilitate personnel operation and is used to set the loading bin of the pellet finished product warehouse according to the carriage number information.

[0053] See also Figure 3 , Figure 3 A schematic diagram of radar scanning is shown, wherein the laser radar 3 comprises: a transverse laser radar 31 and a longitudinal laser radar 32; due to the use of laser radar, the measurement accuracy can be effectively improved, and the influence of fog in winter can be avoided, so that all-weather measurement can be achieved.

[0054] The transverse laser radar 31 is arranged at the front end of the steel frame and is used to scan the cross-sectional profile of the locomotive compartment.

[0055] The longitudinal laser radar 32 is arranged on the side of the steel frame and is used to scan the longitudinal section profile of the locomotive compartment.

[0056] In a possible design, the laser radar is preferably configured as one transverse laser radar and two longitudinal laser radars for each silo, and the longitudinal laser radar 32 includes: a first longitudinal laser radar 321 and a second longitudinal laser radar 322 .

[0057] The transverse laser radar 31 is arranged vertically to the longitudinal laser radar 32. The transverse laser radar 31 is arranged at the middle position of the front end of the steel frame. As the locomotive moves in the forward direction, the transverse laser radar 31 can record all material cross-sectional information of the materials in the locomotive compartment and transmit the cross-sectional information to the central processor. The first longitudinal laser radar 321 is arranged at the middle position on the left side of the steel frame, and can monitor the moving position of the left side wall of the locomotive compartment and the longitudinal cross-sectional information of the materials on the left side of the locomotive and transmit it to the central processor. The second longitudinal laser radar 322 is arranged at the middle position on the right side of the steel frame, and can monitor the moving position of the right side wall of the locomotive compartment and the longitudinal cross-sectional information of the materials on the right side of the locomotive and transmit it to the central processor.

[0058] The ultrasonic probe 4 is arranged on the inner side of the steel frame to obtain the position information of the carriage and record the height information of the material in the carriage; in a possible design, the number of ultrasonic probes for each silo is preferably 5, and the ultrasonic probe 4 includes: a first ultrasonic probe, a second ultrasonic probe, a third ultrasonic probe, a fourth ultrasonic probe and a fifth ultrasonic probe, and the first to fifth ultrasonic probes are evenly arranged on the inner side of the steel frame.

[0059] The central processor 1 can be set up indoors or in any convenient place for operation, and is used to receive the car position information and the set pellet finished product warehouse loading silo information and control the loading silo to unload materials according to the car position information. The central processor 1 is also used to receive material surface vector image information and predict the material volume according to the material surface vector image information, and obtain the material weight information according to the material density and the predicted material volume; the central processor 1 is also used to compare the material weight information with the car rated load information. If the material weight exceeds the car rated load, the central processor 1 will issue an alarm.

[0060] See also Figure 4 , Figure 4 A step-by-step automatic discharging method is shown, which is used in a pellet finished product bin, and the method comprises:

[0061] S1: When the locomotive moves along the track toward the pellet finished product warehouse, the car number recognition module in the automatic unloading system obtains the locomotive car number information and the car rated load information;

[0062] S2: In the automatic unloading system, the main controller sets the loading bin of the pellet finished product bin according to the carriage number information; the pellet finished product bin includes N (N≥1, N is a natural number) bins, and the loading bins are X bins selected from the N bins (1≤X≤N, X is a natural number); the loading bins include: a first loading bin, a second loading bin, ..., an Xth loading bin.

[0063] In one possible design, the pellet finished product silo includes 5 silos, and the loading silos are 3 silos selected from the 5 silos, which are selected according to the existing car model and the storage capacity of the silos. Under normal circumstances, 3 loading silos can fill one car. Therefore, the loading silos are preferably: the first loading silo to the third loading silo. The technical solution shown in this application can also be applied to any model of car and any loading amount of silos.

[0064] See also Figure 5 , Figure 5 It shows a schematic diagram of a locomotive about to enter the first loading bin.

[0065] S3: When the locomotive car enters the first loading bin, the automatic unloading system obtains the car position information through the laser radar and ultrasonic probe and transmits the position information to the central processor. The central processor unloads the material according to the car position information. During the unloading process, the central processor obtains the surface vector image information of the material; predicts the material volume according to the surface vector image information of the material, and obtains the material weight information according to the material density and the predicted material volume.

[0066] Since the longitudinal laser radar is set on the side of the steel frame and the ultrasonic probe is set on the inside of the steel frame, when the locomotive car enters the first loading bin, the longitudinal laser radar and the ultrasonic probe can monitor the moving position information of the car. When the longitudinal laser radar and the ultrasonic probe monitor the moving position information of the car, they immediately transmit the position information to the central processor, and the central processor unloads materials according to the car position information.

[0067] The first loading bin includes: a first discharge port, a second discharge port, ..., an Mth discharge port (M is a natural number).

[0068] The method for unloading materials according to the carriage position information is as follows:

[0069] See also Figure 6 , Figure 6 A schematic diagram is shown of a locomotive entering a first loading bin and starting a first unloading port. When the locomotive carriage advances to the first unloading port, the central processor controls the first unloading port to open.

[0070] See also Figure 7 , Figure 7 It shows a schematic diagram of a locomotive entering the first loading bin and starting the second unloading port.

[0071] When the locomotive carriage moves forward to the second unloading port, the central processor controls the second unloading port to open, and so on, when the locomotive carriage moves forward to the Mth unloading port, the central processor controls the Mth unloading port to open.

[0072] When the rear of the locomotive carriage is about to pass through the first material discharge port, the central processor controls the first material discharge port to close; when the rear of the locomotive carriage is about to pass through the second material discharge port, the central processor controls the second material discharge port to close; and so on, when the rear of the locomotive carriage is about to pass through the Mth material discharge port, the central processor controls the Mth material discharge port to close.

[0073] The method for the automatic unloading system to obtain the vector image information of the material surface is:

[0074] The automatic material unloading system obtains the cross-sectional profile and the longitudinal cross-sectional profile of the locomotive carriage, and obtains the material surface vector image information according to the cross-sectional profile and the longitudinal cross-sectional profile of the carriage.

[0075] The specific way to obtain it is:

[0076] The transverse laser radar is arranged perpendicularly to the longitudinal laser radar. The transverse laser radar is arranged at the middle position of the front end of the steel frame. As the locomotive moves in the forward direction, the transverse laser radar can record all material cross-sectional information of the materials in the locomotive compartment and transmit the cross-sectional information to the central processor. The first longitudinal laser radar is arranged at the middle position on the left side of the steel frame, and can monitor the moving position of the left side wall of the locomotive compartment and the longitudinal cross-sectional information of the materials on the left side of the locomotive and transmit them to the central processor. The second longitudinal laser radar is arranged at the middle position on the right side of the steel frame, and can monitor the moving position of the right side wall of the locomotive compartment and the longitudinal cross-sectional information of the materials on the right side of the locomotive and transmit them to the central processor.

[0077] The ultrasonic probe is arranged on the inner side of the steel frame to obtain the position information of the carriage and record the height information of the material in the carriage; in a possible design, the number of ultrasonic probes for each silo is preferably 5, and the ultrasonic probes include: a first ultrasonic probe, a second ultrasonic probe, a third ultrasonic probe, a fourth ultrasonic probe and a fifth ultrasonic probe, and the first to fifth ultrasonic probes are evenly arranged on the inner side of the steel frame.

[0078] Since both the radar and the ultrasonic probe have the ranging function, they can obtain the material level height in the car and get the material level height distribution. Therefore, they can judge the underload, full load, overload or overflow status of the material level according to the material level height distribution status; since the lateral laser radar can obtain the cross-sectional profile of the car, and the longitudinal laser radar can obtain the longitudinal cross-sectional profile of the car, the corresponding longitudinal position of the car body can be calculated for each cross-sectional profile. In the process of the locomotive passing through the radar, the cumulative superposition of each frame of the cross-sectional profile scanning points forms a surface vector image of the car.

[0079] See also Figure 8 , Figure 8 The method for predicting the volume of a material based on the vector image information of the material surface is shown as follows:

[0080] The cross-sectional area of ​​the carriage is multiplied by the longitudinal scanning point distance to obtain the unit volume, and the unit volumes are summed to obtain the full-load volume of the carriage. The volume from the bottom of the carriage to the track is subtracted from the full-load volume of the carriage to obtain the predicted material volume.

[0081] During the material loading process, the loading bin is unloaded from top to bottom, and the scanning surface of the cross-section of the material loaded in the carriage is an irregular curve. Since the loading position is in the middle, in most cases, the scanning surface is an arc that is high in the middle and low on both sides. The scanning surface of the lidar is composed of multiple scanning points. Therefore, the cross-sectional area of ​​the vehicle body can be approximated as the sum of multiple trapezoids, and the number of trapezoids in the cross-section is the number of scanning points where the radar crosses the vehicle body.

[0082] The calculation formula of the cross-sectional profile area is:

[0083]

[0084] Where i∈[0,n]; S j is the cross-sectional area, y i is the height value of the i-th scanning point of the vehicle body, x i is the width value of the i-th scanning point of the vehicle body, and n is the number of scanning points in the cross section of the vehicle body.

[0085] The calculation method of the fully loaded volume of the carriage is:

[0086]

[0087] Among them, V f is the fully loaded volume of the carriage, S j is the jth cross-sectional area of ​​the vehicle body, Z j is the mileage of the jth longitudinal scanning point of the vehicle body along the driving direction.

[0088] The calculation method of the predicted material volume is:

[0089] V l =V f -V e ;

[0090] Among them, V l To predict the material volume, V e is the volume from the vehicle bottom to the track.

[0091] S4: The automatic discharging system compares the material weight information with the rated load information of the carriage. If the material weight exceeds the rated load of the carriage, an alarm is issued; if the material weight does not exceed the rated load of the carriage, the locomotive carriage enters the second loading bin for refilling; the material weight information after refilling is obtained; the automatic discharging system compares the material weight information after refilling with the rated load information of the carriage. If the material weight does not exceed the rated load of the carriage, the locomotive carriage enters the third loading bin for refilling; the above steps are repeated until the locomotive carriage enters the Xth loading bin for refilling; if the material weight is within the error range of the rated load of the carriage, the refilling is ended.

[0092] S5: When the locomotive carriage finishes refueling, the next carriage of the carriage repeats the above steps S1 to S4.

[0093] The technical solution shown in this application can ensure that the loading volume measurement error is ≤0.5m 3 ; Due to the pellet density ≈ 2.3T (tons) / m 3; Therefore, the load error is less than 2T (tons), which meets the operating standards; the locomotive carriage can be loaded with materials step by step through a step-by-step method during the locomotive's advancement. The step-by-step method can monitor the material status in real time. Due to multiple material discharges, the locomotive loading status can be recorded in time during each material discharge, the material level height inside the carriage can be obtained, and the material level can be judged to be underloaded, full loaded, overloaded or overflowing. The gate can be controlled to start and stop in time to ensure driving safety during material discharge and make the locomotive loading efficiency high.

[0094] The present application is described in detail above in conjunction with specific embodiments and exemplary examples, but these descriptions cannot be understood as limiting the present application. Those skilled in the art understand that, without departing from the spirit and scope of the present application, a variety of equivalent substitutions, modifications or improvements can be made to the technical solution of the present application and its implementation methods, all of which fall within the scope of the present application, and the scope of protection of the present application shall be subject to the attached claims.

Claims

1. A step-by-step automatic discharging method for a pellet finished product warehouse, characterized in that: The method comprises: S1: When the locomotive moves along the track toward the pellet finished product warehouse, the automatic unloading system obtains the locomotive carriage number information and the carriage rated load information; S2: The automatic unloading system sets the loading bin of the pellet finished product bin according to the carriage number information; the pellet finished product bin includes N (N≥1, N is a natural number) bins, and the loading bins are X bins selected from the N bins (1≤X≤N, X is a natural number); the loading bins include: a first loading bin, a second loading bin, ..., an Xth loading bin; S3: When the locomotive carriage enters the first loading bin, the automatic unloading system obtains the carriage position information and unloads the material according to the carriage position information. During the unloading process, the automatic unloading system obtains the material surface vector image information; predicts the material volume according to the material surface vector image information, and obtains the material weight information according to the material density and the predicted material volume; wherein the method for the automatic unloading system to obtain the material surface vector image information is as follows: the automatic unloading system obtains the cross-sectional profile and the longitudinal cross-sectional profile of the locomotive carriage, and obtains the material surface vector image information according to the carriage cross-sectional profile and the longitudinal cross-sectional profile; The method for predicting the volume of the material according to the material surface vector image information is as follows: multiplying the cross-sectional contour area of ​​the carriage by the longitudinal scanning point distance to obtain a unit volume, and summing the unit volumes to obtain the full load volume of the carriage; The predicted volume of the material is obtained by subtracting the volume from the bottom of the car to the track from the full-load volume of the car; The calculation formula of the cross-sectional profile area is: Where i∈[0,n]; S j is the cross-sectional profile area, y i is the height value of the i-th scanning point of the vehicle body, x i is the width value of the i-th scanning point of the vehicle body, and n is the number of scanning points in the cross section of the vehicle body; The calculation method of the fully loaded volume of the carriage is: Among them, V f is the fully loaded volume of the carriage, S j is the jth cross-sectional area of ​​the vehicle body, Z j is the mileage of the jth longitudinal scanning point of the vehicle body along the driving direction; The predicted volume of the material is calculated as follows: V l =V f -V e ; Among them, V l is the predicted volume of the material, V e is the volume from the vehicle bottom to the track; S4: The automatic unloading system compares the material weight information with the rated load information of the carriage. If the material weight exceeds the rated load of the carriage, an alarm is sounded; if the material weight does not exceed the rated load of the carriage, the locomotive carriage enters the second loading bin for refilling; the weight information of the material after refilling is obtained; the automatic unloading system compares the material weight information after refilling with the rated load information of the carriage. If the material weight does not exceed the rated load of the carriage, the locomotive carriage enters the third loading bin for refilling; the above steps are repeated until the locomotive carriage enters the Xth loading bin for refilling; if the material weight is within the error range of the rated load of the carriage, refilling is terminated; S5: When the locomotive carriage finishes refueling, the next carriage of the carriage repeats the above steps S1 to S4.

2. A step-by-step automatic discharging method according to claim 1, used in a pellet finished product warehouse, characterized in that: The first loading bin includes: a first unloading port, a second unloading port, ..., an Mth unloading port (M is a natural number); When the locomotive carriage enters the first loading bin, the method in which the automatic unloading system obtains the carriage position information and unloads the material according to the carriage position information is as follows: When the locomotive carriage moves forward to the first unloading port, the automatic unloading system controls the first unloading port to open; when the locomotive carriage moves forward to the second unloading port, the automatic unloading system controls the second unloading port to open, and so on, when the locomotive carriage moves forward to the Mth unloading port, the automatic unloading system controls the Mth unloading port to open; When the rear of the locomotive carriage is about to pass through the first unloading port, the automatic unloading system controls the first unloading port to close; when the rear of the locomotive carriage is about to pass through the second unloading port, the automatic unloading system controls the second unloading port to close; and so on, when the rear of the locomotive carriage is about to pass through the Mth unloading port, the automatic unloading system controls the Mth unloading port to close.

3. A step-by-step automatic discharging system for pellet finished product warehouse, characterized in that: The automatic unloading system comprises: a central processor (1), a main controller (2), a laser radar (3), an ultrasonic probe (4) and a vehicle number recognition module (5); The vehicle number recognition module (5) is used to obtain the vehicle number information and the rated load information of the locomotive carriage; The main controller (2) is used to set the loading bin of the pellet finished product bin according to the carriage number information; The laser radar (3) comprises: a transverse laser radar (3) (1) and a longitudinal laser radar (3) (2); the transverse laser radar (3) (1) is used to scan the cross-sectional profile of a locomotive carriage, and the longitudinal laser radar (3) (2) is used to scan the longitudinal cross-sectional profile of a locomotive carriage; vector image information of the material surface can be obtained according to the cross-sectional profile and the longitudinal cross-sectional profile of the carriage; The longitudinal laser radar (3) (2) and ultrasonic probe (4) are used to obtain the position information of the carriage; The central processor (1) is used to receive the carriage position information and the set pellet finished product warehouse loading silo information and control the loading silo to unload materials according to the carriage position information. The central processor (1) is also used to receive the material surface vector image information and predict the material volume according to the material surface vector image information, and obtain the material weight information according to the material density and the predicted material volume; the central processor (1) is also used to compare the material weight information with the carriage rated load information. If the material weight exceeds the carriage rated load, the central processor (1) issues an alarm. The method for the central processor (1) to predict the material volume according to the material surface vector image information is: multiplying the carriage cross-sectional contour area by the longitudinal scanning point distance to obtain the unit volume, and summing the unit volumes to obtain the full load volume of the carriage; The predicted volume of the material is obtained by subtracting the volume from the bottom of the car to the track from the full-load volume of the car; The calculation formula of the cross-sectional profile area is: Where i∈[0,n]; S j is the cross-sectional profile area, y i is the height value of the i-th scanning point of the vehicle body, x i is the width value of the i-th scanning point of the vehicle body, and n is the number of scanning points in the cross section of the vehicle body; The calculation method of the fully loaded volume of the carriage is: Among them, V f is the fully loaded volume of the carriage, S j is the jth cross-sectional area of ​​the vehicle body, Z j is the mileage of the jth longitudinal scanning point of the vehicle body along the driving direction; The predicted volume of the material is calculated as follows: V l =V f -V e ; Among them, V l is the predicted volume of the material, V e is the volume from the vehicle bottom to the track.

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