A multifunctional shallow silo and material dropping control method

Abstract

The present invention discloses a multifunctional shallow circular silo and a material dropping control method, which relate to the technical field of silo unloading, including a shallow circular silo, a distribution silo at a material inlet position above the shallow circular silo, a central material dropping pipe being arranged at the bottom of the distribution silo, the central material dropping pipe being communicated with a chamber of the distribution silo, the material outlet of the central material dropping pipe being directly opposite to the middle position in the shallow circular silo, the central material dropping pipe being used for paving the bottom of the shallow circular silo, a plurality of side chute pipes being arranged on the side wall of the distribution silo obliquely downward around an axis, a pneumatic valve one and a pneumatic valve two being respectively arranged at the positions where the central material dropping pipe and the side chute are connected to the distribution silo, and a pneumatic valve three being arranged on the side chute at the position corresponding to the material dropping port; a material dropping control system is also included, including a data acquisition module, an AI data analysis processor, a PLC controller, and a pneumatic valve execution unit; the central material dropping pipe and the side chute are used to cooperate with the material dropping control system to perform automatic material dropping control, so as to achieve uniform material stacking and reduce the serious material grading and silo wall unbalance problems existing in the original single material dropping point.

Description

Technical Field

[0001] The invention relates to the technical field of silo unloading, and in particular to a multifunctional shallow circular silo and a material unloading control method. Background Art

[0002] In the field of material storage, as a common storage device, shallow silos are widely used in the storage of materials such as grain and chemical raw materials. However, traditional shallow silos often have some problems in the feeding process, such as uneven material distribution and difficult to control feeding speed. These problems not only affect the efficiency and safety of material storage, but also increase management costs. In order to solve these problems, the existing shallow silos have been improved in structure, such as setting up sub-bins and multiple side chute pipes to achieve uniform distribution of materials. However, although these improvements have improved the feeding effect to a certain extent, there are still some limitations. For example, it is impossible to monitor and control the height and distribution of materials in the shallow silo in real time and dynamically, resulting in the inability to adjust the feeding strategy in time according to actual conditions. In addition, with the rapid development of technologies such as the Internet of Things, big data and artificial intelligence, these advanced technologies have made it possible for intelligent management in the field of material storage. By using these technologies, real-time collection and analysis of information such as the height and distribution of materials in the shallow silo can be achieved, thereby achieving precise control of the feeding process. Therefore, the development of a multifunctional shallow silo and its control system that can monitor and control the feeding of materials in the shallow silo in real time and dynamically is of great significance for improving the efficiency and safety of material storage and reducing management costs. Summary of the invention

[0003] The purpose of the present invention is to provide a multifunctional shallow circular silo and a material dropping control method to solve the problems raised in the above-mentioned background technology, and to utilize a central dropping pipe and a side chute in conjunction with a material dropping control system to perform automatic material dropping control, thereby achieving uniform material stacking and reducing the serious material grading and silo wall unbalanced loading problems existing in the original single dropping point.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] A multifunctional shallow circular silo comprises a shallow circular silo, a sub-silo at a material inlet position above the shallow circular silo, a central material dropping pipe is arranged at the bottom of the sub-silo, the central material dropping pipe is connected with a chamber of the sub-silo, the material outlet of the central material dropping pipe is directly opposite to the middle position in the shallow circular silo, the central material dropping pipe is used to lay the bottom of the shallow circular silo, a plurality of side chute pipes are arranged on the side wall of the sub-silo obliquely downward around an axis, the side chute pipes are connected with the chamber of the sub-silo, the free end of the side chute pipes extends toward the side wall of the shallow circular silo, a plurality of material dropping openings are opened on the side chute along the length direction, a pneumatic valve 1 and a pneumatic valve 2 are arranged at the positions where the central material dropping pipe and the side chute are connected with the sub-silo, and a pneumatic valve 3 is arranged at the position corresponding to the material dropping opening on the side chute;

[0006] It also includes a material drop control system, which includes a data acquisition module, an AI data analysis processor, a PLC controller, and a pneumatic valve execution unit;

[0007] The data collection module includes a collection end and a data collection gateway. The collection end is a laser 3D scanner, which is used to detect the 3D data of the top surface of the material in the shallow silo. The data collection gateway is used to dynamically collect the 3D data of the top surface of the material in the shallow silo detected by the laser 3D scanner in real time (the point cloud data fed back by the laser 3D scanner). The point cloud data includes position data and time data.

[0008] The AI ​​data analysis processor is used to draw a 3D rendering of the materials in the silo based on the data collected by the data acquisition module, and to dynamically display the feeding situation in the shallow circular silo in real time; at the same time, according to the feeding situation in the shallow circular silo, the AI ​​data analysis processor automatically sends control instructions to the PLC controller, or opens the corresponding pneumatic valve of the feeding port, or reduces the corresponding pneumatic valve of the feeding port, or closes the corresponding pneumatic valve of the feeding port, etc.;

[0009] A PLC controller for controlling the pneumatic valve actuator unit according to the instructions of the AI ​​data analysis processor;

[0010] Pneumatic valve actuator unit; used to control the opening size and opening and closing status of pneumatic valve 1, pneumatic valve 2 and pneumatic valve 3 of the multi-functional shallow cylindrical silo.

[0011] In order to further optimize the present invention, the following technical solutions may be preferably used:

[0012] Preferably, the point cloud data in the material drop control system refers to a data set of spatial points on the material surface in the shallow circular silo obtained by scanning feedback from a laser three-dimensional scanner, and each point cloud contains three-dimensional coordinates (XYZ) and microwave reflection intensity (Intensity), wherein the intensity information is related to the surface material and roughness of the target object, the angle of incidence, the wavelength, and the energy density of the radar; the point cloud is obtained by a microwave scanning system emitting microwave signals to the surroundings, and then collecting the reflected microwave signals, and measuring the distance information of the target object through the speed of light and the time information from the microwave emission to the return, and then calculating the three-dimensional coordinate information and distance information of the target object in front in combination with the IMU, odometer, and GNSS information.

[0013] Preferably, the method in which the AI ​​data analysis processor in the material drop control system draws a 3D rendering of the material in the warehouse using the point cloud data comprises the following steps:

[0014] S1: Data preprocessing: De-noising and filtering the original point cloud data to eliminate errors and redundant information in the data;

[0015] S2: Data registration: Align point cloud data acquired from different perspectives or at different times to ensure that they can be accurately stitched together;

[0016] S3: Surface reconstruction: Based on the processed point cloud data, the surface model of the object is generated using triangulation and Poisson reconstruction algorithms;

[0017] S4: Model optimization: Perform detail enhancement and smoothing optimization operations on the generated 3D model.

[0018] Preferably, the laser three-dimensional scanner is a dust-proof and explosion-proof laser level meter, and multiple of them are distributed at the top of the shallow round silo to periodically detect the height of the grain surface in the silo.

[0019] Preferably, the distribution bin is arranged in the middle of the shallow circular bin, and the side slide pipes are evenly distributed around the distribution bin axis.

[0020] Preferably, a hanger is provided in the shallow silo at a position above the corresponding side slide pipe, the bottom of the hanger is hingedly connected to the side slide pipe, and the top of the hanger is hingedly connected to the shallow silo.

[0021] A material drop control method based on a multifunctional shallow silo includes the following steps: according to the feedback data of the 3D radar scanner, the highest material level, lowest material level, average material level, volume, mass, and parameters of the material can be drawn. The automatic control module controls according to the height difference between the lowest material level and the highest material level, and the height difference between the lowest material level, the highest material level and the average material level. There are two control modes: the first control mode closes the pneumatic valve of the inlet corresponding to the highest material point, reduces the pneumatic valve adjacent to the highest material point, opens the valve corresponding to the lowest material point to the maximum limit, and increases the size of the valve adjacent to the lowest material point; the second control mode: close and reduce part of the pneumatic valves corresponding to the inlet of the highest material point, open the valves corresponding to the lowest material point and nearby material points to the maximum limit, dynamically detect the highest and lowest material level differences, and thus dynamically and comprehensively control the opening size of the pneumatic valves of each inlet. The multi-point unloading device of the shallow silo of the present invention realizes the uniform stacking and unloading of materials in the shallow silo through a series of innovative designs, thereby significantly improving the efficiency and quality of grain storage. Specifically, its beneficial effects are mainly reflected in the following aspects:

[0022] First, by setting up a material distribution bin, a central material drop pipe and multiple side chute pipes, the present invention realizes multi-point unloading, effectively solving the material classification problem caused by fewer discharge points in traditional shallow round silos. Multi-point unloading allows the material to be more evenly distributed in the silo, avoiding material accumulation and unbalanced loading problems, thereby improving the use effect of the material and the structural safety of the silo.

[0023] Secondly, by optimizing the design of the side chute, such as setting it downwardly at an angle around the axis, extending the free end toward the side wall of the shallow silo, and opening multiple drop openings along the length direction, the present invention further enhances the uniformity and flexibility of unloading. This design enables the material to flow more smoothly to various positions in the silo, reducing the blockage and accumulation of the material during the flow process. In addition, the present invention also achieves precise control of the unloading process by introducing control elements such as pneumatic valves. The pneumatic valve can open or close the corresponding drop opening as needed, thereby adjusting the flow rate and flow direction of the material to ensure the uniform distribution of the material in the silo. This precise control not only improves the unloading efficiency, but also reduces energy consumption and labor costs. Finally, the present invention also realizes the periodic detection of the height of the grain surface in the silo by adding monitoring equipment such as a laser level meter. This helps to timely discover and solve problems such as material accumulation or overloading, and improves the intelligent level of storage management. At the same time, the design of the side chute and the central drop pipe spliced ​​with unit pipes also facilitates the disassembly and maintenance of the device, reducing maintenance costs. In summary, the shallow circular silo multi-point unloading device of the present invention has significant beneficial effects in improving grain storage efficiency, ensuring material quality, enhancing the safety of the silo structure and reducing operation and maintenance costs, and is of great significance for promoting the sustainable development of the grain storage industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the overall structure inside the shallow silo;

[0025] Figure 2 This is a top view of the interior of the shallow silo;

[0026] Figure 3 It is the overall structural schematic diagram of the unloading device;

[0027] Figure 4 It is a structural schematic diagram of the central blanking tube;

[0028] Figure 5 This is the flow chart of the blanking control system;

[0029] Figure 6 This is a byte diagram of a complete radar data packet;

[0030] Figure 7 It is a schematic diagram of part of the data packet;

[0031] Figure 8 Calculate the three-dimensional coordinates of the target object point cloud;

[0032] Fig. 9 :Storage real-time detection data collection flow chart

[0033] Fig.10 It is a control flow diagram.

[0034] In the figure: 1. Shallow circular silo; 2. Feed inlet; 3. Distribution silo; 4. Installation cavity; 5. Hanger; 6. Center drop pipe; 7. Side slide pipe; 8. Discharge port; 9. Pneumatic valve one; 10. Pneumatic valve two; 11. Pneumatic valve three; 12. Drop port; 13. Unit drop pipe; 14. Unit side slide pipe. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0037] In the description of this patent, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "set" should be understood in a broad sense, for example, it can be fixedly connected or set, or it can be detachably connected or set, or connected or set in one piece. For ordinary technicians in this field, the specific meanings of the above terms in this patent can be understood according to specific circumstances.

[0038] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "several" is two or more, unless otherwise clearly and specifically defined.

[0039] See also Figure 1-Figure 4 As shown, a technical solution provided by the present invention is:

[0040] A multifunctional shallow circular silo comprises a distribution silo 3 installed at a feed inlet 2 above the shallow circular silo 1, a central drop pipe is installed at the bottom of the distribution silo 3, the central drop pipe is connected to the chamber of the distribution silo, a discharge port 8 of the central drop pipe 6 is directly opposite to the middle position in the shallow circular silo, the central drop pipe 6 is used to pave the bottom of the shallow circular silo, a plurality of side chute pipes are installed on the side wall of the distribution silo around an axis and tilted downward, the side chute pipes are connected to the chamber of the distribution silo, the free ends of the side chute pipes extend toward the side wall of the shallow circular silo, a plurality of drop openings are opened on the side chute along the length direction, pneumatic valve one 9 and pneumatic valve two 10 are respectively installed at the connecting positions of the side chute, the central drop pipe and the distribution silo, wherein a pneumatic valve three 11 is installed on the side chute corresponding to the drop opening 12; wherein the distribution silo is installed in the middle position in the shallow circular silo, and the side chute pipes are evenly installed around the axis of the distribution silo.

[0041] A hanger 5 is installed at a position above the side chute in the shallow silo 1, wherein the bottom of the hanger 5 is hingedly connected to the side chute, and the top of the hanger is hingedly connected to the shallow silo.

[0042] In addition, multiple laser level meters are installed on the top of the shallow round silo to periodically detect the height of the grain surface in the silo, which enables periodic detection of the height of the grain surface in the silo. This helps to promptly discover and solve problems such as material accumulation or overloading, and improves the level of intelligent storage management; the bottom of the central drop pipe extends to the bottom of the shallow round silo, which facilitates the accurate position of the bottom of the silo at the beginning and reduces the drop difference.

[0043] In this embodiment, the side chute is composed of multiple unit side chute pipes 14, and the central drop pipe is composed of multiple unit drop pipes 13, which is convenient for disassembly and maintenance of the device, reduces maintenance costs, and is convenient for assembly according to the specifications of the specific shallow cylindrical silo to meet diversified customization needs.

[0044] In summary, the present device firstly realizes multi-point unloading by installing a distribution bin, a central drop pipe and a plurality of side chute pipes 7, and effectively solves the material grading phenomenon caused by the small number of discharge points in the traditional shallow circular bin. Multi-point unloading enables the material to be more evenly distributed in the bin, avoiding the problems of material accumulation and overloading, thereby improving the use effect of the material and the structural safety of the bin body; secondly, by optimizing the design of the side chute, such as installing it downwardly around the axis, extending the free end to the side wall of the shallow circular bin, and opening a plurality of drop openings along the length direction, the present invention further enhances the uniformity and flexibility of unloading. This design enables the material to flow more smoothly to various positions in the bin, reducing the blockage and accumulation of the material during the flow process. In addition, the present invention also realizes precise control of the unloading process by introducing control elements such as pneumatic valves; each pneumatic valve can open or close the corresponding drop opening as needed, thereby adjusting the flow rate and flow direction of the material to ensure the uniform distribution of the material in the bin.

[0045] The blanking process of this device is:

[0046] In the initial state, the pneumatic valve 1 on the side of the distribution bin is completely closed, and the pneumatic valve 2 at the bottom of the distribution bin is opened. The grain first flows into the central drop pipe through the pneumatic valve 2 at the bottom of the distribution bin, and then falls to the bottom of the bin after slowing down through the central drop pipe to be laid on the bottom. After the bottom is laid, the laser level meter installed on the top of the shallow circular bin periodically detects the height of the grain surface in the bin and transmits a signal to the control system. The control system selects to open the pneumatic valve 1 around the distribution bin and the pneumatic valve 3 on the side slide pipe until the grain surface height in the bin reaches the predetermined height to achieve uniform distribution.

[0047] In addition, in order to realize the intelligent and automatic control of the above-mentioned blanking, a blanking control system is also included, which includes a data acquisition module, an AI data analysis processor, a PLC controller, and a pneumatic valve execution unit;

[0048] The data collection module includes a collection end and a data collection gateway. The collection end is a laser three-dimensional scanner, which is used to detect the height data of the material in the shallow circular silo. The data collection gateway is used to dynamically collect the three-dimensional data of the top surface of the material in the shallow circular silo detected by the laser three-dimensional scanner (the point cloud data fed back by the laser three-dimensional scanner) in real time. The point cloud data includes position data and time data.

[0049] The AI ​​data analysis processor is used to draw a 3D rendering of the materials in the silo based on the data collected by the data acquisition module, and to dynamically display the feeding situation in the shallow circular silo in real time; at the same time, according to the feeding situation in the shallow circular silo, the AI ​​data analysis processor automatically sends control instructions to the PLC controller, or opens the corresponding pneumatic valve of the feeding port, or reduces the corresponding pneumatic valve of the feeding port, or closes the corresponding pneumatic valve of the feeding port, etc.;

[0050] A PLC controller for controlling the pneumatic valve actuator unit according to the instructions of the AI ​​data analysis processor;

[0051] Pneumatic valve actuator unit; used to control the opening size and opening and closing status of pneumatic valve 1, pneumatic valve 2 and pneumatic valve 3 of the multi-functional shallow cylindrical silo.

[0052] The above-mentioned blanking control system function realization principle is summarized as follows:

[0053] A dust-proof and explosion-proof 3D solid scanner device is installed on the top of the warehouse. The data acquisition gateway deployed on the duty room or computer room server collects the three-dimensional data of the top surface of the materials in the warehouse detected by the 3D solid scanner in real time and dynamically. The point cloud data returned by the 3D solid scanner contains detailed data such as three-dimensional coordinates X, Y, Z, color, classification value, intensity value, time, etc.

[0054] The AI ​​data analysis processor analyzes and organizes the collected data in detail, and performs the following two tasks after data analysis:

[0055] (1) Draw a 3D rendering of the materials in the warehouse and display the material loading situation in real time.

[0056] (2) According to the system setting rules, the AI ​​data analysis processor automatically sends control instructions to the PLC, and the PLC finally controls the pneumatic valve execution unit to control the opening size and opening and closing status of the pneumatic valve.

[0057] 1. Acquisition of 3D point cloud data

[0058] Point cloud refers to a data set of spatial points scanned by a 3D radar device. Each point cloud contains 3D coordinates (XYZ) and microwave reflection intensity (Intensity), where the intensity information is related to the surface material and roughness of the target, the angle of incidence, the wavelength, and the energy density of the radar. The point cloud is obtained by the microwave scanning system emitting microwave signals to the surroundings and then collecting the reflected microwave signals. The distance information of the target is measured through information such as the speed of light and the time from microwave emission to return, and then the 3D coordinate information and distance information of the target in front are calculated by combining information such as IMU, odometer, and GNSS.

[0059] 2. Radar point cloud data processing

[0060] The original point cloud data of the radar will be stored in a data packet (pcap). At this time, the data in the data packet is a series of byte symbols and cannot be used directly. The reception of the original point cloud data is mainly through the UDP (User Datagram Protocol) to send data to the network. Specifically, after setting up the radar's web terminal or setting up through the command line, the data acquisition gateway matches the IP address of the laser radar with its own UDP port number at the receiving end, so that the original point cloud data can be received.

[0061] Data Pack Introduction

[0062] 1. Refer to the VLP16 manual for the data packet structure. The following is a complete data packet of the radar. During the parsing process, the bottom layer will filter out the 42-byte UDP header. Therefore, the actual received data length is 1206 bytes.

[0063] 2. Each data packet has 12 data blocks, each data block has a 2-byte 0xFFEE data marker, 2 bytes of azimuth data, and 2 data columns. Each data column contains a total of 48 bytes of 16-line point distance information (each point distance information occupies 3 bytes - 2 bytes of distance information, 1 byte of reflectivity information).

[0064] in accordance with Figure 7The leftmost part of the data packet is 00000h, which indicates the row identifier. The red line in the first line of the left picture indicates the beginning of the data packet. The two bytes of E063 hexadecimal indicate the current selected angle. The first two bytes of B6072A indicate the detection distance information of the radar laser, and 2A indicates the laser reflection intensity. The last six bytes of the red line in the right picture indicate the timestamp of the data frame and the radar information parameters, where 6D69940F indicates the timestamp and 3722 indicates the parameter information of the radar.

[0065] 1. Calculation of rotation angle value

[0066] For example, the rotation angle of the first data packet in the attached figure is 0xE0, 0x63

[0067] a. Reverse two bytes to get hexadecimal 63E0

[0068] b. Convert 63E0 to unsigned decimal 25568

[0069] c. Subtract 25568 from 100.0 to get 255.68, and the value 255.68 is the current rotation angle value.

[0070] 2. Distances measured by 16 laser lines

[0071] For example, the distance of the first laser line of the first data packet in the previous figure is B6072A

[0072] a. B6072A, where B607 is the distance and 2A is the reflection intensity. First, reverse the bytes of the two distances to become 07B6

[0073] b. Convert 07B6 to unsigned decimal 1974

[0074] c. The resolution of this radar model is 2.0mm, so the distance measured by the laser beam is 1974*2mm=3948mm

[0075] d. 3948 mm converted to meters equals 3.948 m

[0076] 3. Get the frame timestamp and radar model parameters

[0077] For example, the last six bytes of data in the previous figure are 6D69940F3722

[0078] a. The first four bytes of data are timestamp 6D69940F, and then reverse the order 0F94696D

[0079] b. The unsigned decimal value of 0F94696D is 261384557, in us.

[0080] c. Divide 261384557 by 1000000 to get the current time (in seconds)

[0081] d. The last two bytes 3722 represent the model and parameters of the radar. The specific meanings are shown in the following table:

[0082]

[0083] 4. Convert the angle and distance information into three-dimensional coordinate XYZ values, such as Figure 8 As shown:

[0084] 3. Real-time Position Detection

[0085] The data acquisition gateway dynamically collects three-dimensional data of the top surface of materials in the warehouse in real time at a set frequency, and the AI ​​data server performs raw data analysis and processing.

[0086] The data access function module stores the data in the database based on the data collection time point for use by other sub-function modules, such as early warning and dynamic display.

[0087] The warehouse warning function module compares the newly stored data in real time, analyzes the data change trend, draws a material height change curve, and generates over-limit warning information based on the preset threshold.

[0088] 4. 3D Image Rendering

[0089] Point cloud data modeling

[0090] While displaying the three-dimensional image on the 3D imaging visualization software platform interface, five sets of important data such as the highest material level, the lowest material level, the average material level, the volume, and the mass can be presented.

[0091] The process of converting point cloud data into a 3D model usually includes the following steps:

[0092] 1. Data preprocessing: De-noising and filtering are performed on the original point cloud data to eliminate errors and redundant information in the data.

[0093] 2. Data registration: Align point cloud data acquired from different perspectives or at different times to ensure that they can be accurately stitched together.

[0094] 3. Surface reconstruction: Based on the processed point cloud data, the surface model of the object is generated using algorithms such as triangulation and Poisson reconstruction.

[0095] 4. Model optimization: Perform optimization operations such as detail enhancement and smoothing on the generated 3D model to make the model more realistic and detailed.

[0096] Advantages of Point Cloud Modeling

[0097] 1. High-precision measurement: Point cloud modeling can provide very high-precision 3D coordinate data. Compared with traditional measurement methods, point cloud modeling is not limited by line of sight and can accurately capture every detail of an object, including complex geometric shapes and subtle surface changes.

[0098] 2. High efficiency: Traditional surveying methods often require a lot of manpower and time. Point cloud modeling technology can quickly obtain a large amount of data, and through automated data processing and analysis software, it can greatly improve work efficiency.

[0099] 3. Non-contact measurement: Point cloud modeling usually does not require physical contact with the object being measured, which avoids errors caused by contact and possible object damage.

[0100] 4. Rich information acquisition: In addition to the three-dimensional coordinates of the object, point cloud data can also contain rich information such as color and texture, which is very beneficial for subsequent model processing and application.

[0101] 5. Flexible application scenarios: Whether indoors or outdoors, whether large buildings or small cultural relics, point cloud modeling technology can adapt to different application scenarios, showing its strong adaptability.

[0102] 5. Automatic control

[0103] In the process of production practice, it is often necessary to comprehensively control other linkage equipment based on the feedback data from on-site sensors. This system uses the AI ​​intelligent analysis and processing function module based on the feedback data from the 3D radar scanner to automatically and comprehensively control the closing and opening size of the pneumatic valve at the feed inlet.

[0104] According to the feedback data from the 3D radar scanner, the highest material level, lowest material level, average material level, volume, mass, etc. of the material can be drawn.

[0105] If the height difference between the lowest material level and the highest material level, the height difference between the lowest material level, the highest material level and the average material level and other parameters are comprehensively judged: the automatic control module uses AI intelligent judgment to formulate a variety of control strategies, such as:

[0106] The first method: close the pneumatic valve corresponding to the highest material point, reduce the size of the pneumatic valve near the highest material point, open the valve corresponding to the lowest material point to the maximum, and increase the size of the valve near the lowest material point.

[0107] The second method: close and reduce some of the pneumatic valves corresponding to the highest material point, open the valves corresponding to the lowest material point and nearby material points to the maximum limit, dynamically detect the difference between the highest and lowest material levels, and thus dynamically integrate the opening size of the pneumatic valves at each material inlet.

[0108] Action rules of pneumatic valve at the inlet:

[0109] (1): When the difference between the highest level of the material surface in the bin and the average height reaches 30cm, the opening and closing degree of the pneumatic valve corresponding to the material inlet can be reduced.

[0110] (2): When the difference between the highest level of the material surface in the bin and the average height reaches 60cm, the pneumatic valve corresponding to the material inlet can be closed.

[0111] (3): When the difference between the highest level of the material surface in the bin and the average height reaches 90cm, the corresponding pneumatic valve near the feed inlet can be closed.

[0112] (4): When the difference between the lowest level of the material surface in the bin and the average height reaches 30 cm, the opening and closing degree of the pneumatic valve corresponding to the material inlet can be increased.

[0113] (5): When the difference between the lowest level of the material surface in the bin and the average height reaches 60cm, the pneumatic valve corresponding to the maximum material inlet can be opened.

[0114] (6): When the difference between the lowest level of the material surface in the bin and the average height reaches 90cm, the corresponding pneumatic valve near the feed inlet can be opened.

[0115] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A multifunctional shallow silo, comprising a shallow silo, characterized in that: A distribution bin is provided at the feeding port position above the shallow circular silo, a central feeding pipe is provided at the bottom of the distribution bin, the central feeding pipe is connected with the chamber of the distribution bin, the discharge port of the central feeding pipe is facing the middle position in the shallow circular silo, the central feeding pipe is used for paving the bottom of the shallow circular silo, a plurality of side chute pipes are also provided on the side wall of the distribution bin obliquely around the axis downward, the side chute pipes are connected with the chamber of the distribution bin, the free end of the side chute extends toward the side wall of the shallow circular silo, a plurality of feeding openings are opened on the side chute along the length direction, pneumatic valve one and pneumatic valve two are respectively provided at the communication position between the central feeding pipe and the side chute and the distribution bin, and pneumatic valve three is provided at the corresponding feeding opening position on the side chute; It also includes a material drop control system, which includes a data acquisition module, an AI data analysis processor, a PLC controller, and a pneumatic valve execution unit; The data acquisition module includes an acquisition terminal and a data collection gateway. The acquisition terminal is a laser 3D scanner, which is used to detect the 3D data of the top surface of the material in the shallow silo. The data collection gateway is used to dynamically acquire the 3D data of the top surface of the material in the shallow silo detected by the laser 3D scanner, that is, the point cloud data fed back by the laser 3D scanner in real time. The point cloud data includes position data and time data. The AI ​​data analysis processor is used to draw a 3D rendering of the materials in the silo based on the data collected by the data acquisition module, and to dynamically display the feeding situation in the shallow circular silo in real time; at the same time, according to the feeding situation in the shallow circular silo, the AI ​​data analysis processor automatically sends control instructions to the PLC controller to open, reduce or close the corresponding pneumatic valve of the feeding port; A PLC controller for controlling the pneumatic valve actuator unit according to the instructions of the AI ​​data analysis processor; Pneumatic valve actuator unit; used to control the opening size and opening and closing status of pneumatic valve 1, pneumatic valve 2 and pneumatic valve 3 of the multi-functional shallow cylindrical silo.

2. A multifunctional shallow silo according to claim 1, characterized in that: The point cloud data in the blanking control system is a data set of spatial points on the material surface in the shallow circular silo obtained by scanning feedback from a laser three-dimensional scanner. Each point cloud data contains three-dimensional coordinates XYZ and microwave reflection intensity, where the intensity information is related to the surface material and roughness of the target object, the angle of incidence, the wavelength, and the energy density of the radar; the point cloud data is emitted by the microwave scanning system to the surrounding area, and then the reflected microwave signals are collected, and the distance information of the target object is measured through the speed of light and the time information from the microwave emission to the return, and then the three-dimensional coordinate information and distance information of the target object in front are calculated in combination with the IMU, odometer, and GNSS information.

3. A multifunctional shallow silo according to claim 2, characterized in that: The method in which the AI ​​data analysis processor in the material drop control system uses point cloud data to draw a 3D rendering of the material in the warehouse includes the following steps: S1: Data preprocessing: De-noising and filtering the original point cloud data to eliminate errors and redundant information in the data; S2: Data registration: aligning point cloud data acquired from different perspectives or at different times; S3: Surface reconstruction: Based on the processed point cloud data, the surface model of the object is generated using triangulation and Poisson reconstruction algorithms; S4: Model optimization: Perform detail enhancement and smoothing optimization operations on the generated 3D model.

4. The multifunctional shallow silo according to claim 1, characterized in that: The laser three-dimensional scanner is a dust-proof and explosion-proof laser level meter, and multiple of them are distributed on the top of the shallow circular silo and are used to periodically detect the height of the grain surface in the silo.

5. The multifunctional shallow silo according to claim 1, characterized in that: The distribution bin is arranged in the middle of the shallow round bin, and the side slide pipes are evenly distributed around the axis of the distribution bin.

6. The multifunctional shallow silo according to claim 1, characterized in that: A hanger is arranged in the shallow silo at a position corresponding to the upper side of the side slide pipe, the bottom of the hanger is hingedly connected to the side slide pipe, and the top of the hanger is hingedly connected to the shallow silo.

7. A material drop control method for the multifunctional shallow silo according to claim 1, characterized in that: The following steps are involved: According to the feedback data of the 3D radar scanner of the data acquisition module, the highest material level, lowest material level, average material level, volume, mass and parameters of the material are drawn; the automatic control module is controlled according to the height difference between the lowest material level and the highest material level, and the height difference between the lowest material level, the highest material level and the average material level. There are two control modes: in the first control mode, the pneumatic valve corresponding to the highest material point is closed, the pneumatic valve near the highest material point is reduced, the valve corresponding to the lowest material point is opened to the maximum, and the size of the valve near the lowest material point is increased; in the second control mode: the pneumatic valve corresponding to the highest material point corresponding to the material inlet is closed and reduced, the valve corresponding to the lowest material point and the nearby material point is opened to the maximum, the highest and lowest material level differences are dynamically detected, and the opening size of the pneumatic valves at each material inlet is dynamically and comprehensively controlled.

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