Automated Sampling Machine System

Abstract

The present invention discloses an automated grain sampling machine system, which includes a single-arm rotating grain sampling machine. The single-arm rotating grain sampling machine is controlled by a, b, and c-axis servo drive motors. Among them, the a-axis and b-axis achieve horizontal degree-of-freedom control, and the c-axis achieves 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 rotating grain sampling machine, and the rotation space is from 0° to 180°. The trolley driven by the b-axis moves linearly on the swing arm driven by the a-axis. The sampling rod driven by the c-axis is carried on the trolley driven by the b-axis and moves up and down. When the single-arm rotating grain sampling machine receives a sampling command, it drives the sampling rod of the single-arm rotating grain sampling machine to lower for sampling operation. The present invention provides an automated grain sampling machine system that ensures the accuracy and stability of the system. When encountering abnormal hard objects, it can perform relevant protection actions to ensure the safety and stability of the system.

Description

[0001] This solution is a divisional application of the automatic identification and control sampling machine system with the patent number 2020113787684. Technical Field

[0002] The present invention relates to the field of sampling machines, and more specifically, it relates to an automated sampling machine system. Background Art

[0003] Currently, when controlling a sampling machine to take samples in the market, it is mainly achieved through non-intelligent methods such as manually controlling the position of the sampling machine, manually inputting truck parameters, or IC card identification. There are disadvantages such as human cheating, low efficiency, and high labor costs. In order to liberate productivity and improve sampling efficiency, how to achieve intelligent sampling, full-automatic identification, and full-automatic sampling technology is an urgent problem to be solved today. The existing sampling machines in the market have a low degree of intelligence, and there are problems such as cheating and low efficiency in manual sampling. Other so-called intelligent sampling machines have low efficiency, cannot generate random sampling points very accurately, have a low degree of system intelligence, and a low degree of system 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 make relevant protection actions when encountering abnormal hard objects, and ensures system safety and stability.

[0005] The technical solution of the present invention is as follows:

[0006] An automatic identification and control sampling machine system includes a single-arm rotating grain sampling machine, and the single-arm rotating grain sampling machine is controlled by a, b, and c three-axis servo drive motors; among them, the a-axis and b-axis achieve horizontal degree-of-freedom control, and the c-axis achieves vertical freedom control; the swing arm driven by the a-axis rotates in a horizontal rotation manner on the load-bearing rod of the single-arm rotating grain sampling machine, and the rotation space is from 0° to 180°. The trolley driven by the b-axis moves linearly on the swing arm driven by the a-axis. The sampling rod driven by the c-axis is carried on the trolley driven by the b-axis and moves up and down; when the single-arm rotating grain sampling machine receives a sampling command, it drives the sampling rod of the single-arm rotating grain sampling machine to lower for sampling actions.

[0007] The specific process is as follows:

[0008] 101) Measurement step: Measure the position of the vehicle to be measured below the single-arm rotating grain sampling machine, the length, width, and height of the vehicle to be measured, and the coordinates of the carriage; through the rotational movement of the swing arm and the horizontal movement of the trolley on the swing arm, the a-axis and b-axis cooperate in an interpolation manner. Among them, a laser distance sensor is mounted on the trolley, which scans and measures the vehicle below the single-arm rotating grain sampling machine, and reads the sensor feedback value in real time to ensure measurement accuracy.

[0009] 102) Calculation steps: Perform calculations on the length, width, and height of the vehicle to be measured, conversion of the overall coordinates of the vehicle body tilt, regional modeling, calculation of random sampling points, and generation of final sampling points for the series of coordinate points obtained in step 101).

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

[0011] Furthermore, the vehicle is scanned and measured as follows: Define the 180° direction or 0° direction of the rotating swing arm of the single-arm rotating grain sampler as the x-axis of the abscissa, and the 90° direction of the rotating swing arm of the single-arm rotating grain sampler as the y-axis of the ordinate. To measure the position, length, and width of the vehicle parked in the preset area, the trolley needs to move in a straight line parallel to the x-axis from left to right and in a straight line perpendicular to the x-axis from bottom to top to complete the measurement.

[0012] Furthermore, the laser distance sensor on the trolley of the single-arm rotating grain sampler detects the length, width, and height information of the vehicle to be measured and the corresponding coordinate positions in the geometric coordinate system. Among them, the movement trajectory of the trolley in the space coordinate system needs to approximate a straight line parallel to the x-axis. Therefore, two-axis linkage interpolation is required for the two a and b axes of the rotating swing arm and the trolley movement to ensure that the movement trajectory of the trolley in the space coordinate system is a straight line to complete the measurement of the vehicle length and the positioning of the vehicle position.

[0013] To measure the width of the vehicle, the trolley needs to measure from the movement trajectory perpendicular to the x-axis.

[0014] Combining the results of measuring the length and width of the vehicle, deduce the specifications and parking position of the vehicle based on the measured parameters.

[0015] Furthermore, during the vehicle scan switch, read a coordinate point at the far end below the width measurement, and record the coordinates of another point during the width measurement process. Perform function calculations through the coordinates of the two points to obtain the parking tilt angle α of the vehicle to be measured.

[0016] Furthermore, the specific length trolley trajectory is a straight line between two 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). According to the straight line calculation formula between two points, we can get:

[0017]

[0018] Since the running track of the b-axis trolley is parallel to the x-axis, it can be concluded that the ordinates Y1 = Y2 between points E and F, and then it is deduced that

[0019]

[0020] Let L be the total length of the carriage of the vehicle to be measured, and there is a known reserved length l1 among them, so it is deduced that L:

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

[0022] According to the obtained length L, it is compared with the parameters preset by the system. Within the preset error range, the system can know the model of the vehicle to be measured according to this parameter.

[0023] Furthermore, the specific width trolley track is a straight line between two 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). According to the straight line calculation formula between two points, W can be obtained:

[0024]

[0025] Since the running track is perpendicular to the x-axis, it can be concluded that the abscissas X3 = X4 between points G and H, and then it is deduced that

[0026]

[0027] Furthermore, there will be an inclination angle α° at the parking position of the vehicle to be measured. Specifically, any two points G and R are taken on the length of the vehicle scanned. 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] When α is obtained, according to the length L parallel to the x-axis and the width W perpendicular to the x-axis in the geometric coordinate system, the actual length L' and width W' can be obtained.

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

[0032] The present invention uses a high-performance PLC for two-axis linear interpolation control to ensure the accuracy and stability of the system. By using multi-point laser coordinate scanning and recording, the actual position of the vehicle to be measured can be calculated more accurately. Through the calculation of relevant parameters of the vehicle to be measured, the effective sampling area is modeled and analyzed, and more accurate and safe random sampling points are made in the software. By judging the current feedback of the servo motor in real time during sampling, it can be determined whether the sampling head encounters abnormal hard objects during sampling, and relevant protection actions are taken to ensure the safety and stability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 FIG. is a schematic diagram of the abstract structure of the single-arm rotating grain sampler of the invention;

[0034] Figure 2 FIG. is a schematic diagram of the scanning area of the single-arm rotating grain sampler of the invention;

[0035] Figure 3 FIG. is a system flow chart of the invention;

[0036] Figure 4 FIG. is a schematic diagram of vehicle length measurement of the invention;

[0037] Figure 5 FIG. is a schematic diagram of vehicle width measurement of the invention;

[0038] Figure 6 FIG. is a schematic diagram of vehicle tilt angle measurement of the invention;

[0039] Figure 7 FIG. is a schematic diagram of the reserved length added for vehicle length measurement of the invention;

[0040] Figure 8 FIG. is a schematic diagram of the width marked for vehicle width measurement of the invention;

[0041] Figure 9 FIG. is a schematic diagram of vehicle measurement under actual conditions of the invention;

[0042] Figure 10 FIG. is a schematic diagram of actual vehicle sampling of the invention;

[0043] Figure 11 FIG. is a framework diagram of the invention;

[0044] Figure 12 FIG. is a circuit diagram of the current detection module of the invention;

[0045] Figure 13 FIG. is a circuit diagram of the voltage detection module of the invention. DETAILED DESCRIPTION OF THE INVENTION

[0046] The technical solution of the present invention is 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 protection scope 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, b, and c three-axis servo drive motors; wherein 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 sampling machine, 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 carried 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 be lowered for sampling action.

[0048] There are currently three standard specifications for 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 reserved 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 forms a certain area of blind sampling. 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 have a certain degree of horizontal sinking, resulting in system instability. Therefore, a 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 tested truck vehicle, establish a more accurate sampling area, and ensure the stability of the system. 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, which is convenient for the driver to park). The specific steps include the following:

[0049] 101) Measurement steps: measuring 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, wherein the trolley is equipped with a laser rangefinder 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 the measurement accuracy;

[0050] 102) Calculation steps: Perform calculations on the length, width, and height of the vehicle under test, conversion of the overall coordinates of the vehicle body tilt, regional modeling, calculation of random sampling points, and generation of final sampling points for the series of coordinate points obtained in step 101).

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

[0052] The biggest difficulty in the intelligent control system of the sampler is the measurement and scanning of the vehicle carriage. To simplify the relatively abstract spatial movement, the vehicle is scanned and measured as follows: Define the 180° direction or 0° direction of the rotating swing arm of the single-arm rotating grain sampler as the abscissa x-axis, and the 90° direction of the rotating swing arm of the single-arm rotating grain sampler as the ordinate y-axis. To measure the position, length, and width of the vehicle parked in the preset area, the trolley needs to move in a straight line parallel to the x-axis from left to right and in a straight line perpendicular to the x-axis from bottom to top to complete the measurement.

[0053] The laser distance sensor on the trolley of the single-arm rotating grain sampler detects the length, width, and height information of the vehicle under test and the corresponding coordinate positions in the geometric coordinate system. Among them, the movement trajectory of the trolley in the space coordinate system needs to approximate a straight line parallel to the x-axis. Therefore, a two-axis linkage interpolation method is required for the two a and b axes of the rotating swing arm and the trolley movement to ensure that the movement trajectory of the trolley in the space coordinate system is a straight line to complete the measurement of the vehicle length and the positioning of the vehicle position.

[0054] To measure the width of the vehicle, the trolley needs to measure from the movement trajectory perpendicular to the x-axis. Combining the results of measuring the length and width of the vehicle, the specifications and parking position of the vehicle can be deduced based on the measured parameters. Through this single measurement without repeated measurement, the specific position coordinates of the projection of the vehicle under the sampler in this coordinate system can be located.

[0055] During the vehicle scan switch, read a coordinate point at the far end below the width measurement, and record the coordinates of another point during the width measurement. Through function calculations using the coordinates of the two points, the parking tilt angle α of the vehicle under test is obtained.

[0056] The specific length 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). According to the straight line calculation formula between two points, we can get:

[0057]

[0058] Since the running track of the b-axis trolley is parallel to the x-axis, it can be concluded that the ordinates Y1 = Y2 between points E and F, and then it is deduced that

[0059]

[0060] Let L be the total length of the carriage of the vehicle to be measured, and there is a known reserved length l1. So it is deduced that L:

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

[0062] According to the obtained length L, it is compared with the parameters preset by the system. Within the preset error range, the system can know the model of the vehicle to be measured according to this parameter.

[0063] The specific width trolley track is a straight line between two 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). From the straight line calculation formula between two points, W can be obtained:

[0064]

[0065] Since the running track is perpendicular to the x-axis, it is concluded that the abscissas X3 = X4 between points G and H, and then it is deduced that

[0066]

[0067] There will be an inclination angle α° at the parking position of the vehicle to be measured. Specifically, any two points G and R are taken on the length of the vehicle scanned. 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 obtaining α, according to the length L parallel to the x-axis and the width W perpendicular to the x-axis in the geometric coordinate system, the actual length L' and width W' can be obtained.

[0071]

[0072]

[0073] From the above calculations, it can be seen that the effective sampling range of the sampler is as shown in the figure. The shaded area is the effective sampling range, which can be composed of the intersection of the circle function and several straight line functions.

[0074] The swing arm length of the a-axis of the sampling machine is r, and the coordinate axis takes the center of the a-axis as the rotation axis center as the origin, 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, the function in the length direction can be obtained, and m1 can be deduced. Given that the coordinates of point H are (X4, Y4), substituting into the formula, we can get:

[0077]

[0078] So

[0079] Therefore, the functional relationship in the length direction is:

[0080]

[0081] The function in the width direction can deduce m2. Given that the coordinates of point E are (X1, Y1), substituting into the formula, we can get:

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

[0083] So

[0084] Therefore, the functional relationship in the width direction is:

[0085]

[0086] So 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 relationships can rapid sampling operations be carried out. In order to quickly and effectively measure the sampling area of the truck to be measured, establish a more accurate sampling area, and ensure the stability of the system.

[0089] Automatic recognition and control system for a sampling machine, including a main control PLC, an analog quantity detection module, a communication module, a high-speed pulse control module, a digital quantity IO control module, a fan, a limit sensor, an alarm warning module, a wireless receiver, and a sampling machine rotation control module; the main control PLC is electrically connected to the analog quantity detection module, the communication module, the high-speed pulse control module, and the digital quantity IO control module; the fan, the limit sensor, the alarm warning module, and the wireless receiver are electrically connected to the digital quantity IO control module; the analog quantity detection module includes a laser distance sensor. For specific connections and controls, existing technologies can be used for corresponding electrical connections and controls.

[0090] The communication module includes a 485 bus and an Ethernet interface. The Ethernet interface is used for human-machine interaction connection, and the 485 bus is used for data acquisition of the sampling machine rotation control module.

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

[0092] Among them, the limit sensor, the alarm warning module, and the wireless receiver all include a storage battery and are independently powered by the storage battery; the digital quantity 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, the limit sensor, the alarm warning module, and the wireless receiver; the charging voltage detection module is electrically connected to the storage battery. Naturally, the sampling machine rotation control module can also be connected to the current detection module.

[0093] The specific current detection module includes a current induction amplifier U5, a current induction amplifier U8, resistors R11, R12, R13, R14, capacitors C4, C9, C10, and C13; a resistor R11 is connected between the 1st pin and the 3rd pin of the current induction amplifier U5, and one end of the resistor R11 is connected to the power supply module and the other end is connected to the USB module in the interface module. The 2nd pin of the current induction amplifier U5 is grounded, and the 5th pin of the current induction 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. The 4th pin of the current induction amplifier U5 is connected to one end of the resistor R12, one end of the resistor R13, and the 1st pin of the current induction 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] The second pin of the current sensing amplifier U8 is grounded. The third pin of the current sensing amplifier U8 and the other end of the resistor R13 are grounded together. The fourth pin 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. The fifth pin of the current sensing amplifier U8 is connected to one end of the capacitor C10, and this end is connected to the fifth pin of the current sensing amplifier U5; the other end of the capacitor C10 is grounded.

[0095] The current detection module of this solution realizes current detection with a large range and high precision, effectively matches this system, and conducts precise monitoring.

[0096] The charging voltage detection module includes the resistor R19, the resistor R23, the resistor R24, the resistor R27, and the capacitor C19; one end of the resistor R19 is connected to the USB module of the interface module, the other end of the resistor R19 is connected to one end of the resistor R23 and one end of the resistor R27, the other end of the resistor R27 is grounded, the other end of the resistor R23 is connected to one end of the resistor R24 and one end of the capacitor C19, the other end of the capacitor C19 is grounded, and the other end of the resistor R24 is connected to the central processing module. The central processing module is the main control PLC. By monitoring the charging voltage, the charging of the corresponding components is prevented from exceeding the corresponding rated range, which better extends and protects each component and improves the service life of the product.

[0097] The above-described embodiments are only a preferred solution of the present invention, and do not impose any form of limitation on the present invention. There are other variations and modifications without exceeding the technical solutions recorded in the claims.

Claims

1. An automated sampling machine system, characterized in that, It includes a main control PLC, an analog quantity detection module, a communication module, a high-speed pulse control module, a digital quantity IO control module, a fan, a limit sensor, an alarm warning module, a wireless receiver, and a sampler rotation control module; the main control PLC is electrically connected to the analog quantity detection module, the communication module, the high-speed pulse control module, and the digital quantity IO control module; the fan, the limit sensor, the alarm warning module, and the wireless receiver are electrically connected to the digital quantity IO control module; the analog quantity detection module includes a laser ranging sensor; The communication module includes a 485 bus and an Ethernet interface. The Ethernet interface is used for human-machine interaction connection, and the 485 bus is used for data acquisition of the sampler rotation control module; The sampler rotation control module includes a shaft servo system for the lifting of the trolley, a rotary shaft servo system for controlling the movement of the single-arm control trolley, and a sampler rotary swing arm system; the shaft servo system for the lifting of the trolley, the rotary shaft servo system for controlling the movement of the single-arm control trolley, and the sampler rotary swing arm system are electrically connected to the high-speed pulse control module and are controlled by it; Specifically, it includes a single-arm rotary grain sampler, which is controlled by a, b, and c axis servo drive motors; among them, the a-axis and b-axis achieve horizontal degree-of-freedom control, and the c-axis achieves vertical freedom control; the swing arm driven by the a-axis rotates horizontally on the load-bearing rod of the single-arm rotary grain sampler, and the rotation space is 0° to 180°. The trolley driven by the b-axis moves linearly on the swing arm driven by the a-axis. The sampling rod driven by the c-axis is carried on the trolley driven by the b-axis and moves up and down; 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 for sampling; The specific process is as follows: 101) Measurement step: Measure the position of the vehicle to be measured below the single-arm rotary grain sampler, the length, width, and height of the vehicle to be measured, and the coordinates of the carriage; the sampler moves through the rotational movement of the swing arm and the horizontal movement of the trolley on the swing arm. The a-axis and b-axis cooperate through interpolation. Among them, a laser ranging sensor is carried on the trolley, which scans and measures the vehicle below the single-arm rotary grain sampler and reads the sensor feedback value in real time to ensure the measurement accuracy; 102) Calculation step: Perform calculations on the length, width, and height of the vehicle to be measured, conversion of the overall coordinates of the vehicle body inclination, regional modeling, calculation of random sampling points, and generation of the final sampling points for the series of coordinate points obtained in step 101); 103) Sampling step: Perform sampling actions on the sampling points generated by the calculation of random sampling points. When the sampling rod of the single-arm rotary grain sampler encounters a hard object, it automatically returns for 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. The automated sampling machine system according to claim 1, wherein The vehicle is scanned and measured as follows: Define the 180° direction or 0° direction of the rotating arm of the single-arm rotating grain sampler as the abscissa x-axis, and the 90° direction of the rotating arm of the single-arm rotating grain sampler as the ordinate y-axis. Measure the position, length, and width of the vehicle parked in the preset area. The trolley needs to move in a straight line parallel to the x-axis from left to right and perpendicular to the x-axis from bottom to top in this coordinate system to complete the measurement.

3. The automated sampling machine system according to claim 2, wherein The laser distance sensor on the trolley of the single-arm rotating grain sampler detects the length, width, and height information of the vehicle to be measured and the corresponding coordinate positions in the geometric coordinate system. Among them, the movement trajectory of the trolley in the space coordinate system needs to be approximately a straight line parallel to the x-axis. Therefore, the two a and b axes of the rotating arm and the trolley movement need to be interpolated in a two-axis linkage mode to ensure that the movement trajectory of the trolley in the space coordinate system is a straight line, so as to complete the measurement of the vehicle length and the positioning of the vehicle position. To measure the width of the vehicle, the trolley needs to measure from the movement trajectory perpendicular to the x-axis. Combining the results of measuring the length and width of the vehicle, the specifications and parking positions of the vehicle are deduced according to the measured parameters.

4. The automated sampling machine system according to claim 3, wherein During the vehicle scan switch, read a coordinate point at the far end below the width measurement, and record the coordinates of another point during the width measurement process. Calculate the function through the coordinates of the two points to obtain the parking tilt angle α of the vehicle to be measured.

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