A sampling machine system

Abstract

The present invention discloses a sampling machine system, comprising a single-arm rotary grain sampling machine, which is controlled by a three-axis servo drive motor of A, B, and C. The A and B axes realize horizontal freedom control, and the C axis realizes vertical freedom control. The swing arm driven by the A axis rotates horizontally on the load-bearing rod of the single-arm rotary grain sampling machine, and the rotation space is 0° to 180°. The trolley driven by the B axis performs linear motion on the swing arm driven by the A axis, and the sampling rod driven by the C axis is carried on the trolley driven by the B axis and performs up and down motion. When the single-arm rotary grain sampling machine receives a sampling command, it drives the sampling rod of the single-arm rotary grain sampling machine to be lowered to perform a sampling action. The present invention provides a sampling machine system that ensures system accuracy and stability, can perform relevant protection actions when encountering abnormal hard objects, and ensures system safety and stability.

Description

[0001] This solution is a divisional application of patent number 2020113787684, Automatic Identification and Control Prototyping System Technical Field

[0002] The present invention relates to the field of sampling machines, and more particularly to a sampling machine system. Background Art

[0003] Currently, sampling is primarily controlled by non-intelligent methods such as manually controlling the position of the sampling machine, manually inputting truck parameters, or using IC card recognition. This leads to disadvantages such as manual fraud, low efficiency, and high labor costs. To liberate productivity and improve sampling efficiency, achieving intelligent sampling, fully automatic identification, and fully automatic sampling technology is an urgent issue that needs to be addressed. Existing sampling machines on the market have a low level of intelligence, and manual sampling is subject to fraud and low efficiency. Other so-called intelligent sampling machines are also inefficient and cannot accurately generate random sampling points. The system also has low intelligence and stability. Summary of the Invention

[0004] The present invention overcomes the deficiencies of the prior art and provides an automatic identification and control sampling machine system that ensures system accuracy and stability, can take relevant protective actions when encountering abnormal hard objects, and ensures system safety and stability.

[0005] The technical solutions of the present invention are as follows:

[0006] An automatic identification and control sampling machine system includes a single-arm rotary grain sampling machine, which is controlled by three-axis servo drive motors: A, B, and C. The A and B axes realize horizontal freedom control, and the C axis realizes vertical freedom control. The A-axis driven swing arm rotates horizontally on the load-bearing rod of the single-arm rotary grain sampling machine, with a rotation range of 0° to 180°. The B-axis driven trolley performs linear motion on the A-axis driven swing arm, and the C-axis driven sampling rod is mounted on the B-axis driven trolley and performs up and down motion. When the single-arm rotary grain sampling machine receives a sampling command, it drives the sampling rod of the single-arm rotary grain sampling machine to lower and perform sampling.

[0007] The specific process is as follows:

[0008] 101) Measurement steps: Measure the position of the vehicle under the single-arm rotary grain sampler, the length, width, height, and the coordinates of the vehicle compartment; through the rotation of the swing arm and the horizontal movement of the trolley on the swing arm, the a and b axes move in coordination through interpolation. The trolley is equipped with a laser ranging sensor, which scans and measures the vehicle under the single-arm rotary grain sampler, and reads the sensor feedback value in real time to ensure measurement accuracy;

[0009] 102) Calculation step: Calculate the length, width, and height of the vehicle under test, convert the overall coordinates of the vehicle body tilt, perform regional modeling, calculate random sampling points, and generate final sampling points based on the series of coordinate points obtained in step 101);

[0010] 103) Sampling steps: Sampling is performed through the sampling points randomly generated by this system. When the sampling rod of the single-arm rotary grain sampler encounters a hard object, it automatically returns to protection to ensure that the sampling rod is not damaged; when all sampling points are sampled, the sampling process is completed and the system automatically resets the single-arm rotary grain sampler to its original state.

[0011] Furthermore, the scanning measurement of the vehicle is performed as follows: the 180° direction or 0° direction of the rotating arm of the single-arm rotating grain sampler is defined as the horizontal coordinate x-axis, and the 90° direction of the rotating arm of the single-arm rotating grain sampler is defined as the vertical coordinate y-axis. The position and length and width of the vehicle parked in the preset area are measured. The vehicle needs to be moved from left to right in a straight line parallel to the x-axis in the coordinate system, and from bottom to top in a straight line perpendicular to the x-axis to complete the measurement.

[0012] Furthermore, the laser ranging sensor on the trolley of the single-arm rotating grain sampling machine detects the length, width and height information of the measured vehicle and the corresponding coordinate position in the geometric coordinate system. The motion trajectory of the trolley in the spatial coordinate system needs to be approximately a straight line parallel to the x-axis. Therefore, the rotating swing arm and the trolley movement on the two a and b axes require a two-axis linkage interpolation method to ensure that the motion trajectory of the trolley in the spatial coordinate system is a straight line to complete the measurement of the vehicle length and positioning of the vehicle.

[0013] To measure the width of a vehicle, the vehicle needs to be measured from a motion trajectory perpendicular to the x-axis;

[0014] Combined with the results of measuring the length and width of the vehicle, the vehicle specifications and parking position are deduced based on the measured parameters.

[0015] Furthermore, during the vehicle scanning switch, a coordinate point at the far end below the width measurement is read, and during the width measurement process, the coordinates of another point are recorded. The function calculation is performed through the coordinates of the two points to obtain the parking tilt angle α of the measured vehicle.

[0016] Furthermore, the specific length of the trolley trajectory is a straight line between points E and F parallel to the x-axis. Let the coordinates of point E be (X1, Y1) and the coordinates of point F be (X2, Y2). The straight line calculation formula between the two points can be obtained:

[0017]

[0018] Because the trajectory of the b-axis car is parallel to the x-axis, it can be concluded that the vertical coordinate between points E and F is Y1=Y2, so

[0019]

[0020] L is the total length of the vehicle under test, where there is a known reserved length l1, so L is derived as:

[0021] L=l2+l1=|X1-X2|+l1 Formula (3)

[0022] The obtained L length is compared with the system's preset parameters. Within the preset error range, the system can determine the model of the truck being tested based on the parameters.

[0023] Furthermore, the specific width of the trolley trajectory is a straight line between points G and H perpendicular to the x-axis. Let the coordinates of point G be (X3, Y3) and the coordinates of point H be (X4, Y4). The straight line calculation formula between the two points can be used to obtain W:

[0024]

[0025] Because the running trajectory is perpendicular to the x-axis, the vertical coordinate between points G and H is X3=X4, so we can deduce

[0026]

[0027] Furthermore, the parking position of the measured vehicle will have an inclination angle α°. Specifically, two points G and R are randomly selected on the scanned vehicle length. The coordinates of point G are (X3, Y3) and the coordinates of point R are (X5, Y5). k is the slope of the straight line function between points G and R:

[0028] k = tanα = (Y5 - Y3) / (X5 - X3) Formula (6)

[0029]

[0030] After α is obtained, the actual length L' and width W' can be obtained based on the length L obtained parallel to the x-axis and the width W perpendicular to the x-axis in the geometric coordinate system.

[0031] The advantages of the present invention over the prior art are:

[0032] This system utilizes a high-performance PLC for two-axis linear interpolation control, ensuring system accuracy and stability. Multi-point laser coordinate scanning and recording allows for more accurate calculation of the vehicle's actual position. The system calculates and models the effective sampling area based on relevant vehicle parameters, and uses the software to create more accurate and secure random sampling points. Servo motor current feedback allows real-time detection of any hard object encountered by the sampling head during sampling, enabling appropriate protective actions to ensure system safety and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a schematic diagram of the abstract structure of the invented single-arm rotary grain pick prototype;

[0034] Figure 2 This is a schematic diagram of the scanning area of ​​the invented single-arm rotating grain sampling machine;

[0035] Figure 3 A flow chart of the invented system;

[0036] Figure 4 A schematic diagram of the vehicle length measurement of the invention;

[0037] Figure 5 A schematic diagram of the vehicle width measurement for the invention;

[0038] Figure 6 A schematic diagram of the vehicle tilt angle measurement method of the invention;

[0039] Figure 7 Add a reserved length diagram for the vehicle length measurement of the invention;

[0040] Figure 8 A width diagram is provided for measuring the width of the vehicle of the invention;

[0041] Figure 9 A schematic diagram of measurements of the invented vehicle under actual conditions;

[0042] Figure 10 A schematic diagram of actual sampling of the invented vehicle;

[0043] Figure 11 A framework diagram of the invention;

[0044] Figure 12 The circuit diagram of the current detection module of the invention;

[0045] Figure 13 This is the circuit diagram of the voltage detection module invented. DETAILED DESCRIPTION

[0046] The technical solution of the present invention will be further described in detail below through specific embodiments and in conjunction with the accompanying drawings. It should be understood that the implementation of the present invention is not limited to the following embodiments, and any form of modification and / or change made to the present invention will fall within the scope of protection of the present invention.

[0047] like Figures 1 to 13 As shown, the automatic identification and control sampling machine system includes a single-arm rotary grain sampling machine, which is controlled by a three-axis servo drive motor of a, b, and c; among them, the a-axis and b-axis realize horizontal freedom control, and the c-axis realizes free control in the vertical direction; the swing arm driven by the a-axis rotates horizontally on the load-bearing rod of the single-arm rotary grain sampling machine, and the rotation space is 0° to 180°, the trolley driven by the b-axis performs linear motion on the swing arm driven by the a-axis, and the sampling rod driven by the c-axis is carried on the trolley driven by the b-axis and performs up and down motion; when the single-arm rotary grain sampling machine receives a sampling command, it drives the sampling rod of the single-arm rotary grain sampling machine to be lowered for sampling action.

[0048] There are three standard specifications of grain trucks, with lengths of 13m, 9.6m and 6.8m respectively. The effective working length of the swing arm of the single-arm rotary grain sampler is 5m. When the truck is parked in the designated area, combined with the working radius of the sampler, such as Figure 2 As shown. As can be seen from the figure, the actual effective sampling areas of the three standard truck compartments, the working radius of the rotating a-axis of the single-arm rotary grain sampler is 5m, and the intersection with the truck compartments of various lengths has a certain area of ​​sampling dead angle, and most areas can be effectively sampled. Due to the limitation of mechanical characteristics, the swing arm of the sampler cannot be too long. If the swing arm is too long, it can completely scan all areas of the truck compartment, but the trolley and sampling rod on the swing arm have a certain weight. When it reaches the end of the swing arm, the rotating swing arm will sink horizontally to a certain extent, resulting in system instability, so the reasonable swing arm length is rotated to ensure the stability of the system. This solution can quickly and effectively measure the sampling area of ​​the truck vehicle being tested, establish a more accurate sampling area, and ensure the stability of the system. As Figure 3 As shown in the figure, when the sampling process starts, the vehicle to be tested is parked in the preset parking area below the sampling machine to wait for sampling (the preset parking area is relatively larger than the actual truck to facilitate parking for the driver). The specific steps include the following:

[0049] 101) Measurement steps: Measure the position of the vehicle under the single-arm rotary grain sampler, the length, width, height, and the coordinates of the vehicle compartment; through the rotation of the swing arm and the horizontal movement of the trolley on the swing arm, the a and b axes move in coordination through interpolation. The trolley is equipped with a laser ranging sensor, which scans and measures the vehicle under the single-arm rotary grain sampler, and reads the sensor feedback value in real time to ensure measurement accuracy;

[0050] 102) Calculation step: Calculate the length, width, and height of the vehicle under test, convert the overall coordinates of the vehicle body tilt, perform regional modeling, calculate random sampling points, and generate final sampling points based on the series of coordinate points obtained in step 101);

[0051] 103) Sampling steps: Sampling is performed through the sampling points randomly generated by this system. When the sampling rod of the single-arm rotary grain sampler encounters a hard object, it automatically returns to protection to ensure that the sampling rod is not damaged; when all sampling points are sampled, the sampling process is completed and the system automatically resets the single-arm rotary grain sampler to its original state.

[0052] The biggest difficulty of the intelligent control system of the sample picker is the measurement and scanning of the vehicle compartment. In order to simplify the more abstract spatial movement, the scanning measurement of the vehicle is performed as follows: the 180° direction or 0° direction of the rotating arm of the single-arm rotary grain sampler is defined as the horizontal coordinate x-axis, and the 90° direction of the rotating arm of the single-arm rotary grain sampler is defined as the vertical coordinate y-axis. The position and length and width of the vehicle parked in the preset area are measured. The car needs to move in a straight line from left to right parallel to the x-axis in this coordinate system, and move in a straight line from bottom to top perpendicular to the x-axis to complete the measurement.

[0053] The laser ranging sensor on the trolley of the single-arm rotary grain sampling machine detects the length, width and height information of the measured vehicle and the corresponding coordinate position in the geometric coordinate system. The motion trajectory of the trolley in the spatial coordinate system needs to be approximately a straight line parallel to the x-axis. Therefore, the rotating swing arm and the trolley movement on the a and b axes require a two-axis linkage interpolation method to ensure that the motion trajectory of the trolley in the spatial coordinate system is a straight line to complete the measurement of the vehicle length and positioning of the vehicle.

[0054] Measuring the vehicle's width requires the vehicle to be measured perpendicular to the x-axis. Combining the length and width measurements, the vehicle's specifications and parking position can be deduced based on these parameters. This single measurement, without requiring repeated measurements, allows the exact coordinates of the vehicle's projection beneath the probe in this coordinate system to be determined.

[0055] During vehicle scanning switching, a coordinate point at the far end below the width measurement is read, and during the width measurement process, the coordinates of another point are recorded. The function calculation is performed through the coordinates of the two points to obtain the parking tilt angle α of the measured vehicle.

[0056] The specific length of the trolley trajectory is a straight line between points E and F parallel to the x-axis. Let the coordinates of point E be (X1, Y1) and the coordinates of point F be (X2, Y2). The straight line calculation formula between the two points can be obtained:

[0057]

[0058] Because the trajectory of the b-axis car is parallel to the x-axis, it can be concluded that the vertical coordinate between points E and F is Y1=Y2, so

[0059]

[0060] L is the total length of the vehicle under test, where there is a known reserved length l1, so L is derived as:

[0061] L=l2+l1=|X1-X2|+l1 Formula (3)

[0062] The obtained L length is compared with the system's preset parameters. Within the preset error range, the system can determine the model of the truck being tested based on the parameters.

[0063] The specific width of the trolley trajectory is a straight line between points G and H perpendicular to the x-axis. Let the coordinates of point G be (X3, Y3) and the coordinates of point H be (X4, Y4). The straight line calculation formula between the two points can be used to obtain W:

[0064]

[0065] Because the running trajectory is perpendicular to the x-axis, the vertical coordinate between points G and H is X3=X4, so we can deduce

[0066]

[0067] The parking position of the measured vehicle will have an inclination angle α°. Specifically, take two points G and R on the scanned vehicle length. The coordinates of point G are (X3, Y3) and the coordinates of point R are (X5, Y5). k is the slope of the straight line function between points G and R:

[0068] k = tanα = (Y5 - Y3) / (X5 - X3) Formula (6)

[0069]

[0070] After α is obtained, the actual length L' and width W' can be obtained based on the length L obtained parallel to the x-axis and the width W perpendicular to the x-axis in the geometric coordinate system.

[0071]

[0072]

[0073] From the above calculation, we can know that the effective sampling range of the sampling machine is shown in the figure, where the shaded area is the effective sampling range, which can be composed of a circular function and the intersection of several straight line functions.

[0074] The length of the swing arm of the a-axis of the sample machine is r, and the coordinate axis is centered on the a-axis as the rotation axis, which is also the coordinate origin o. From this, the functional relationship can be obtained:

[0075] x 2 +y 2 =r 2 Formula (10)

[0076] From the linear function y=kx+m, we can get the function in the length direction, and we can deduce m1. Given that the coordinates of point H are (X4, Y4), we can substitute them into the formula and get:

[0077]

[0078] so

[0079] So the length direction function relationship is:

[0080]

[0081] The function of the width direction can be used to deduce m2. Given that the coordinates of point E are (X1, Y1), we can substitute them into the formula and get:

[0082] Y1=tan(π / 2+α)*X1+m2=-cotα*X1+m2 Formula (14)

[0083] so

[0084] So the width direction function relationship is:

[0085]

[0086] Therefore, the coordinates of the randomly generated sampling points must satisfy the following three relationships:

[0087]

[0088] Only when the coordinates of the randomly generated sampling points satisfy the above relationship can the sampling operation be carried out quickly, so as to quickly and effectively measure the sampling area of ​​the truck being tested, establish a more accurate sampling area, and ensure the stability of the system.

[0089] The automatic identification and control system for the sampler includes a main control PLC, an analog detection module, a communication module, a high-speed pulse control module, a digital I / O control module, a fan, a limit sensor, an alarm module, a wireless receiver, and a sampler rotation control module. The main control PLC is electrically connected to the analog detection module, the communication module, the high-speed pulse control module, and the digital I / O control module; the fan, the limit sensor, the alarm module, and the wireless receiver are electrically connected to the digital I / O control module; and the analog detection module includes a laser rangefinder. Existing technologies can be used for the specific electrical connections and controls.

[0090] The communication module includes 485 bus and Ethernet interface. The Ethernet interface is used for human-computer interaction connection, and the 485 bus is used for data collection of the sample machine rotation control module.

[0091] The rotation control module of the sampling machine includes the axis servo system for the trolley lifting and lowering, the rotation axis servo system for the single-arm control of the trolley movement, and the rotation swing arm system of the sampling machine; the axis servo system for the trolley lifting and lowering, the rotation axis servo system for the single-arm control of the trolley movement, and the rotation swing arm system of the sampling machine are electrically connected to the high-speed pulse control module and are controlled by it.

[0092] The limit sensor, alarm module, and wireless receiver all include batteries and are independently powered by them. The digital I / O control module includes a current detection module and a charging voltage detection module to achieve precise control. The current detection module is electrically connected to the fan, limit sensor, alarm module, and wireless receiver, while the charging voltage detection module is electrically connected to the battery. The natural sampling machine rotation control module can also be connected to the current detection module.

[0093] The specific current detection module includes a current sensing amplifier U5, a current sensing amplifier U8, a resistor R11, a resistor R12, a resistor R13, a resistor R14, a capacitor C4, a capacitor C9, a capacitor C10 and a capacitor C13; a resistor R11 is connected between pins 1 and 3 of the current sensing amplifier U5, and one end of the resistor R11 is connected to the power module, and the other end is connected to the USB module in the interface module. Pin 2 of the current sensing amplifier U5 is grounded, and pin 5 of the current sensing amplifier U5 is connected to one end of the capacitor C4, and is connected to the interface module and the buzzer; the other end of the capacitor C4 is grounded. Pin 4 of the current sensing amplifier U5 is connected to one end of the resistor R12, one end of the resistor R13, and pin 1 of the current sensing amplifier U8. The other end of the resistor R12 is connected to one end of the capacitor C9 and is connected to the central processing module; the other end of the capacitor C9 is grounded;

[0094] Pin 2 of current sensing amplifier U8 is grounded. Pin 3 of current sensing amplifier U8 and the other end of resistor R13 are both grounded. Pin 4 of current sensing amplifier U8 is connected to one end of resistor R14, and the other end of resistor R14 is connected to one end of capacitor C13, which is also connected to the central processing module. The other end of capacitor C13 is grounded. Pin 5 of current sensing amplifier U8 is connected to one end of capacitor C10, which is also connected to pin 5 of current sensing amplifier U5. The other end of capacitor C10 is grounded.

[0095] The current detection module of this solution realizes large-scale and high-precision current detection, effectively matching this system for precise monitoring.

[0096] The charging voltage detection module includes resistors R19, R23, R24, R27, and capacitor C19. One end of resistor R19 is connected to the USB module of the interface module. The other end of resistor R19 is connected to one end of resistor R23 and one end of resistor R27. The other end of resistor R27 is grounded. The other end of resistor R23 is connected to one end of resistor R24 ​​and one end of capacitor C19. The other end of capacitor C19 is grounded. The other end of resistor R24 ​​is connected to the central processing module (CPU). The CPU is the main control PLC. By monitoring the charging voltage, the corresponding components are prevented from charging beyond their rated range, which effectively extends and protects each component and improves the product's service life.

[0097] The embodiment described above is only a preferred solution of the present invention and does not limit the present invention in any form. Other variations and modifications are possible without exceeding the technical solution described in the claims.

Claims

1. A sampling machine system, characterized in that: It includes a main control PLC, an analog detection module, a communication module, a high-speed pulse control module, a digital IO control module, a fan, a limit sensor, an alarm module, a wireless receiver, and a sampling machine rotation control module; the main control PLC is electrically connected to the analog detection module, the communication module, the high-speed pulse control module, and the digital IO control module; the fan, the limit sensor, the alarm module, the wireless receiver and the digital IO control module are electrically connected; the analog detection module includes a laser ranging sensor; The limit sensor, alarm module, and wireless receiver all include batteries and are independently powered by the batteries. The digital IO control module includes a current detection module and a charging voltage detection module to achieve precise control. The current detection module is electrically connected to the fan, limit sensor, alarm module, and wireless receiver. The charging voltage detection module is electrically connected to the battery. The sampling machine rotation control module is connected to the current detection module. The specific current detection module includes a current sensing amplifier U5, a current sensing amplifier U8, a resistor R11, a resistor R12, a resistor R13, a resistor R14, a capacitor C4, a capacitor C9, a capacitor C10 and a capacitor C13; a resistor R11 is connected between pins 1 and 3 of the current sensing amplifier U5, and one end of the resistor R11 is connected to the power module, and the other end is connected to the USB module in the interface module; pin 2 of the current sensing amplifier U5 is grounded, pin 5 of the current sensing amplifier U5 is connected to one end of the capacitor C4, and is connected to the interface module and the buzzer; the other end of the capacitor C4 is grounded; pin 4 of the current sensing amplifier U5 is connected to one end of the resistor R12, one end of the resistor R13, and pin 1 of the current sensing amplifier U8; the other end of the resistor R12 is connected to one end of the capacitor C9 and is connected to the central processing module; the other end of the capacitor C9 is grounded; Pin 2 of the current sensing amplifier U8 is grounded, pin 3 of the current sensing amplifier U8 and the other end of the resistor R13 are grounded together, pin 4 of the current sensing amplifier U8 is connected to one end of the resistor R14, and the other end of the resistor R14 is connected to one end of the capacitor C13, and this end is connected to the central processing module, and the other end of the capacitor C13 is grounded; pin 5 of the current sensing amplifier U8 is connected to one end of the capacitor C10, and this end is connected to pin 5 of the current sensing amplifier U5; the other end of the capacitor C10 is grounded; The specific structure includes a single-arm rotary grain sampler, which is controlled by a three-axis servo drive motor, a, b, and c. The a-axis and b-axis realize horizontal freedom control, and the c-axis realizes vertical freedom control. The a-axis driven swing arm rotates horizontally on the load-bearing rod of the single-arm rotary grain sampler, and the rotation space is 0° to 180°. The b-axis driven trolley performs linear motion on the a-axis driven swing arm, and the c-axis driven sampling rod is mounted on the b-axis driven trolley and performs up and down motion. When the single-arm rotary grain sampler receives a sampling command, it drives the sampling rod of the single-arm rotary grain sampler to lower and perform sampling action. The specific process is as follows: 101) Measurement steps: Measure the position of the vehicle under the single-arm rotary grain sampler, the length, width, height, and the coordinates of the vehicle compartment; the sampler rotates through the swing arm and the trolley on the swing arm moves horizontally, and the a and b axes move in coordination through interpolation. The trolley is equipped with a laser ranging sensor, which scans and measures the vehicle under the single-arm rotary grain sampler, and reads the sensor feedback value in real time to ensure measurement accuracy; 102) Calculation step: Calculate the length, width, and height of the vehicle under test, convert the overall coordinates of the vehicle body tilt, perform regional modeling, calculate random sampling points, and generate final sampling points based on the series of coordinate points obtained in step 101); 103) Sampling steps: Sampling is performed at the sampling points generated by random sampling point calculation. When the sampling rod of the single-arm rotary grain sampler encounters a hard object, it automatically returns to protection to ensure that the sampling rod is not damaged. When all sampling points are sampled, the sampling process is completed and the system automatically resets the single-arm rotary grain sampler to its original state.

2. A sampling machine system according to claim 1, characterized in that: The scanning measurement of the vehicle is as follows: define the 180° direction or 0° direction of the rotating arm of the single-arm rotary grain sampler as the horizontal coordinate x-axis, and the 90° direction of the rotating arm of the single-arm rotary grain sampler as the vertical coordinate y-axis. Measure the position and length and width of the vehicle parked in the preset area. The vehicle needs to move from left to right in a straight line parallel to the x-axis in this coordinate system, and move from bottom to top in a straight line perpendicular to the x-axis to complete the measurement.

3. A sampling machine system according to claim 2, characterized in that: The laser rangefinder on the single-arm rotary grain sampling machine trolley detects the length, width, and height of the vehicle being measured, as well as the corresponding coordinate position in the geometric coordinate system. The trolley's motion trajectory in the spatial coordinate system needs to be approximately a straight line parallel to the x-axis. Therefore, the rotating swing arm and the trolley's movement of the a and b axes require a two-axis linkage interpolation method to ensure that the trolley's motion trajectory in the spatial coordinate system is a straight line, completing the measurement of the vehicle's length and positioning. To measure the width of a vehicle, the vehicle needs to be measured from a motion trajectory perpendicular to the x-axis; Combined with the results of measuring the length and width of the vehicle, the vehicle specifications and parking position are deduced based on the measured parameters.

4. A sampling machine system according to claim 3, characterized in that: During vehicle scanning switching, a coordinate point at the far end below the width measurement is read, and during the width measurement process, the coordinates of another point are recorded. The function calculation is performed through the coordinates of the two points to obtain the parking tilt angle α of the measured vehicle.

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