Method for automatically delivering and loading cement clinker in bulk by automobile

Abstract

The invention discloses a method for automatically delivering and loading cement clinker in bulk by a vehicle. The method comprises the following steps: S1, extracting vehicle information; s2, truck loading information is calculated; s3, the loading information is verified; and S4, automatic truck loading. The cement clinker loading device has the advantages that 1, cement clinker can be uniformly and quantitatively loaded, and the conditions of material scattering, vehicle tie bar collision, non-uniform loading and large weight deviation are avoided; 2, whether loading is compliant or not can be checked, automatic loading is carried out only when loading is compliant, and the condition of illegal loading is avoided; 3, in the loading process, flying dust generated in the loading process can be greatly reduced; 4, the loading times can be reasonably calculated according to the planned loading weight, the carriage height and the tie bar position, and uniform loading of the whole carriage is realized; and 5, automatic delivery and loading of cement clinker bulk are realized, the delivery efficiency is improved, the dust pollution is effectively reduced, and the operation safety in the delivery process is guaranteed.

Description

Technical field:

[0001] The invention relates to an automatic loading method, in particular to an automatic loading method for bulk cement clinker truck shipment. Background technology:

[0002] At present, the cement industry's bulk cement clinker truck shipment and loading adopts the method of manual communication of loading information, command of vehicle movement, control of loader lifting, and opening and closing of unloading valves and auxiliary machines for loading. This loading method relies on manual loading and has low efficiency. Since cement clinker is a granular solid material, the cement will not spread horizontally across the carriage by itself during the loading process. Therefore, if the loading volume at one location is too large, the local material will be higher than the height of the carriage, and uniform loading cannot be achieved, and the material may be scattered outside the carriage. At the same time, during the loading process, the loader loads at a uniform height, and it is impossible to load the loader at the lowest position according to the height of the material in the carriage, resulting in a lot of dust during the loading process. In addition, it is also prone to problems such as inaccurate weight control, tensioning collision with the loader, and long operation time of the auxiliary machine. Summary of the invention:

[0003] The purpose of the present invention is to provide a method for automatically shipping and loading cement clinker in bulk on a truck.

[0004] The present invention is implemented by the following technical solutions:

[0005] A method for automatically shipping and loading cement clinker in bulk by truck, comprising the following steps:

[0006] S1. Vehicle information extraction: The vehicle driver receives a logistics information card through the logistics management card receiving and sending system. The logistics information card stores the vehicle's license plate number, the type of materials planned to be loaded, and the planned loading weight;

[0007] Then the vehicle radar scanning system is used to collect the characteristic information of the vehicle, and the collected characteristic information is sent to the PLC control system;

[0008] S2. Calculation of loading information: The PLC control system calculates the maximum loading weight of the vehicle, the planned loading times, the loading weight corresponding to different heights of the loader, and the loading weight corresponding to different loading positions based on the received characteristic information;

[0009] S3, loading information verification: determine whether the loading compliance conditions are met. If so, execute step (4) to automatically load the vehicle; if not, update the logistics information card;

[0010] S4, automatic loading: When the loading compliance conditions of the step S3, loading information verification, are met, the automatic loading logic is started to realize automatic loading of the vehicle.

[0011] Furthermore, in the step S1, vehicle information extraction, the characteristic information includes the car bottom length CXDC, the car bottom width CXDK, the minimum height of the car railing CXLBZDGD, the number and position of the tie bars, and the real-time position information of the vehicle.

[0012] Furthermore, in the step S2, in calculating the loading information, the maximum loading weight of the vehicle is calculated using formula (1):

[0013] CLZDZCZL=(CXLBZDGD-ZCYLGD)*CXDK*CXDC*WLRZ (1)

[0014] In formula (1), CLZDZCZL is the maximum loading weight of the vehicle; CXLBZDGD is the lowest height of the carriage sideboard; ZCYLGD is the reserved height for loading; CXDK is the width of the carriage bottom; CXDC is the length of the carriage bottom; WLRZ is the bulk density of the material;

[0015] The planned loading times are calculated using formula (2):

[0016] JHZCCS=ZCCS(1)+ZCCS(2)+……+ZCCS(n+1)(2)

[0017] In formula (2), JHZCCS is the planned loading times; n is the number of reinforcement bars;

[0018] ZCCS(1): The number of loadings between the first tie bar and the front rail. If there is no tie bar, that is, n = 0, it is the number of loadings between the front and rear rails of the carriage;

[0019] …

[0020] ZCCS(n): the number of loadings between the nth tie rod and the (n-1)th tie rod;

[0021] ZCCS(n+1): the number of loading times between the last tie bar and the rear tailgate;

[0022] in:

[0023] ZCCS(1)=IF(JL(1)>ZCJZJ,ROUND(0.4+(JL(1)-ZCJZJ) / ZCZXJJ,0),0)ZCCS(2)=IF(JL(2)>ZCJZJ,ROUND(0.4+(JL(2)-ZCJZJ) / ZCZXJJ,0),0)

[0024] …

[0025] ZCCS(n+1)=IF(JL(n+1)>ZCJZJ,ROUND(0.4+(JL(n+1)-ZCJZJ) / ZCZXJJ,0),0)

[0026] Among them, ZCJZJ is the diameter of the loader; ZCZXJJ is the minimum spacing for loading;

[0027] JL1: The distance from the first tie bar to the front tailgate of the vehicle; if there is no tie bar, that is, n = 0, it is the distance between the front and rear tailgates of the vehicle;

[0028] …

[0029] JL(n): the distance from the nth tie bar to the (n-1)th tie bar;

[0030] JL(n+1): The distance from the rear tailgate of the vehicle to the last tie bar.

[0031] Furthermore, in the step S3, during the loading information verification, the loading compliance conditions need to meet the following conditions at the same time:

[0032] Condition 1: Planned loading weight ≤ maximum loading weight;

[0033] Condition 2: The license plate number of the current vehicle identified by the license plate recognition monitoring system is consistent with the license plate number stored in the logistics information card;

[0034] Condition 3: The type of materials planned to be loaded is consistent with the type of materials in the loader.

[0035] Furthermore, in the step S3, during the loading information verification, the method for updating the logistics information card is as follows: if condition 1 in the loading compliance condition is not met, the planned loading weight in the logistics information card is updated to the maximum loading weight of the vehicle obtained in the step S2, during the loading information calculation;

[0036] If condition 1 and / or condition 3 of the loading compliance conditions are not met, manually update the license plate number and / or the type of materials planned for loading in the logistics information card.

[0037] Furthermore, in the step S4, automatic loading, the automatic loading logic includes the following steps:

[0038] S41. Turn on the clinker loading dust collection system matched with the loading machine;

[0039] S42, voice prompts the driver to move the vehicle to the designated loading location;

[0040] S43, judging whether the vehicle has arrived at the designated loading location according to the real-time location information of the vehicle, if it has arrived, performing the loading operation, and then executing S44; if it has not arrived, continuing to execute S43;

[0041] S44, judging whether the lifting condition of the loader is met, if so, raising the height of the unloading port of the loader by one level, and executing S45; if not, continuing to execute S44;

[0042] S45, judging whether the vehicle movement conditions are met, if so, executing the suspension of the loading operation, and then executing S46; if not, executing S44;

[0043] S46, judging whether the loading end condition is met, if so, executing the loading end operation; if not, returning to S42.

[0044] Furthermore, in S42, the method for determining the designated loading location is as follows:

[0045] JHZCCS(1)X1=ZCJZXWZ+DYCZCJJ-CXDC

[0046] JHZCCS(1)X2=JHZCCS(1)X1+ZCZXJJ

[0047] …

[0048] JHZCCS(1)Xm=JHZCCS(1)X(m-1)+ZCZXJJ

[0049] Among them, JHZCCS(1)X1 is the X-axis coordinate of the rear tailgate of the vehicle when loading for the first time within the first loading range; ZCJZXWZ is the X-axis coordinate of the center position of the loader; DYCZCJJ is the first loading distance within the loading range; CXDC is the length of the car bottom; ZCZXJJ is the minimum distance for loading movement;

[0050] JHZCCS(1)X2 is the X-axis coordinate of the tailgate during the second loading within the first loading range;

[0051] …

[0052] JHZCCS(1)Xm is the X-axis coordinate of the tailgate of the vehicle during the mth loading within the first loading range; m = ZCCS(1);

[0053] JHZCCS(2)X1=ZCJZXWZ+DYCZCJJ-CXDC+JL(1)

[0054] JHZCCS(2)X2=JHZCCS(2)X1+ZCZXJJ

[0055] …

[0056] JHZCCS(2)Xo=JHZCCS(2)X(o-1)+ZCZXJJ

[0057] Among them, JHZCCS(2)X1 is the X-axis coordinate of the vehicle tailgate when loading for the first time in the second loading range;

[0058] JHZCCS(2)X2 is the X-axis coordinate of the tailgate during the second loading within the second loading range;

[0059] …

[0060] JHZCCS(2)Xo is the X-axis coordinate of the tailgate at the oth loading in the second loading range; o=ZCCS(2);

[0061] And so on;

[0062] JHZCCS(n+1)X1=ZCJZXWZ+DYCZCJJ-CXDC+JL(n)

[0063] JHZCCS(n+1)X2=JHZCCS(n)X+ZCZXJJ

[0064] …

[0065] JHZCCS(n+1)Xp=JHZCCS(n)X(p-1)+ZCZXJJ

[0066] Among them, JHZCCS(n+1)X1 is the X-axis coordinate of the vehicle tailgate when loading for the first time within the n+1th loading range;

[0067] JHZCCS(n+1)X2 is the X-axis coordinate of the rear tailgate during the second loading within the n+1th loading range;

[0068] …

[0069] JHZCCS(n+1)Xp is the X-axis coordinate of the tailgate during the p-th loading within the n+1-th loading range; p=ZCCS(n+1).

[0070] Furthermore, in S43, the loading operation includes the following steps:

[0071] (3) Lower the unloading port of the loader to the height of the floor of the carriage;

[0072] (4) Open the unloading valve of the loader.

[0073] Furthermore, in S44, the lifting condition of the loader is: the current material weight is weighed by the truck scale weighing system to reach the loading weight corresponding to the current height of the loader, wherein the calculation method of the loading weight corresponding to the current height of the loader is as follows:

[0074] DQGDJSZLx.r=K1*(YZBFWLZLx.r+CFTWLZLx.r+CCZCWZZLx.r+j*SC ZCWZCCZLx.r)(3)

[0075] In formula (3), DQGDJSZLx.r is the loading weight corresponding to the r-th loader height at the x-th loading position; YZBFWLZLx.r is the weight of the conical part material corresponding to the r-th loader height at the x-th loading position; CFTWLZLx.r is the weight of the rectangular material corresponding to the r-th loader height at the x-th loading position; CCZCWZZLx.r is the weight beyond the current loading range corresponding to the r-th loader height at the x-th loading position; x is the planned loading number, x = 1, 2...JHZCCS; K1 is the current height weight correction coefficient;

[0076] YZBFWLZLx.r=IF(WLGDx.r / DJJTAN>ZCYZBJ(x),π*ZCYZBJ(x) 2 *ZCYZBJ(x)*DJJTAN / 3*WLRZ,π*(WLGDx.r / DJJTAN) 2 *WLGDx.r / 3*WLRZ)

[0077] Wherein, WLGDx.r is the material height corresponding to the height of the r-th loader at the x-th loading position, WLGDx.r=ZCJGDx.r+ZCJNWLGD, ZCJGDx.r is the height of the r-th loader at the x-th loading position, ZCJNWLGD is the material height in the loader, ZCJNWLGD=ZCJBJ*DJJTAN, ZCJBJ is the radius of the loader discharge port, DJJTAN is the tangent value of the material accumulation angle; ZCYZBJ(x) is the loading cone radius corresponding to the x-th loading position, and takes half of the minimum value of the loading range ZCFW(x) and the carriage width CXKD;

[0078] CFTWLZLx.r=CXDK*ZCFW(x)*CFTGDx.r*WLRZ

[0079] Among them, CXDK is the width of the carriage bottom, and CFTGDx.r is the height of the rectangular material corresponding to the height of the r-th loader at the x-th loading position;

[0080] CFTGDx.r=IF(WLGDx.r-(ZCYZBJ(x))

[0081] *DJJTAN)>0,(WLGDx.r-(ZCYZBJ(x))*DJJTAN),0)

[0082] ZCFW(x) is the loading range corresponding to the xth loading position,

[0083]

[0084] WZ(x) is the distance between the center of the loader and the front rail at the xth loading position;

[0085] CCZCWZZLx.r is the weight beyond the current loading range corresponding to the height of the r-th loader at the x-th loading position.

[0086] CCZCWZZLx.r=CFTGDx.r / DJJTAN*CFTGDx.r / 2*CXDK*WLRZ-IF(WZC JL(x)>=CFTGDx.r / DJJTAN,0,(CFTGDx.r / DJJTAN-WZCJL(x))*(CFTGDx.r / DJJTAN-WZCJL(x))*DJJTAN*CXDK / 2*WLRZ

[0087] Among them, WZCJL(x) is the unloaded distance corresponding to the x-th loading position,

[0088]

[0089] SCZCWZCCZLx.r is the weight beyond the loading range corresponding to the height of the r-th loader at the (x-1)-th loading position, which affects the loading weight at the current position height; when x=1, j=0; when x≠1, j=1;

[0090] SCZCWZCCZLx.r=IF(WLGDx.r / DJJTAN<=ZCFW(x) / 2,

[0091] (IF((WLGDx.r / DJJTAN-(ZCFW(x) / 2-(CFTGDx-1.r) / DJJTAN))>=0,(WLGDx.r / DJJTAN-(ZCFW(x) / 2-(CFTGDx-1.r) / DJJTAN))*

[0092] (WLGDx.r / DJJTAN-(ZCFW(x) / 2-(CFTGDx-1.r) / DJJTAN)) / 2

[0093] *DJJTAN*CXDK / 2*WLRZ,0),

[0094] (IF(WLGDx.r>=WLGD(x-1).r,CCZCWZZL(x-1).r,(CFTGD(x-1).r-CFTGDx.r) / DJJTAN+ZCFW(x))*CFTGDx.r*CXDK / 2

[0095] *WLRZ+((CFTGD(x-1).r-CFTGDx.r) / DJJTAN / 2)*((CFTGD(x-1).r-CFT GDx.r) / DJJTAN / 2)*DJJTAN*CXDK / 2*WLRZ+(YZBFWLZLx.r-ZCJNWLZL-(π*(ZCFW(x) / 2-((CFTGD(x-1).r-CFTGDx.r) / DJJTAN) / 2) 2 *

[0096] (CFTGD(x-1).r-CFTGDx.r) / DJJTAN) / 2*DJJTAN*WLRZ) / 4)))

[0097] Among them, ZCJNWLZL is the weight of the material in the loader, ZCJNWLZL=π

[0098] *ZCJBJ 2 *ZCJBJ*DJJTAN / 3*WLRZ.

[0099] Furthermore, in S45, the vehicle movement condition is: the current material weight is weighed by the truck scale weighing system to reach the loading weight corresponding to the current loading position, wherein the loading weight corresponding to the current loading position is calculated by formula (4):

[0100] DQWZJSZCZL(x)=JHZCZL*ZZCFW(x) / CXDC+t*IF(JHZCZL*ZCFW(x) / CXDC>YZBFZDWLZL(x),CCZCWZZL(x),0) (4)

[0101] In formula (4), ZCFW(x) is the loading range corresponding to the x-th loading position, ZZCFW(x) is the total loading range corresponding to the x-th loading position,

[0102] YZBFZDWLZL(x) is the maximum material weight of the cone part, YZBFZDWLZL(x)=π*(ZCYZBJ(x)) 2 *ZCYZBJ(x)*DJJTAN / 3*WLRZ;

[0103] When x≠JHZCCS, t=1; when x=JHZCCS, t=0;

[0104] JHZCZL*ZCFW(x) / CXDC=K2*(YZBFZDWLZL(x)+CFTWLZL(x))

[0105] Where K2 is the correction factor;

[0106] CFTWLZL(x) is the weight of the rectangular material corresponding to the maximum loading machine height at the x-th loading position: CFTWLZL(x)=JHZCZL*ZCFW(x) / CXDC / K2-YZBFZDWLZL(x)=CXDK*ZCFW(x)*CFTGD(x)*WLRZ

[0107] CFTGD(x) is the height of the rectangular material corresponding to the maximum loading machine height at the x-th loading position: CFTGD(x) = (JHZCZL*ZCFW(x) / CXDC / K2-YZBFZDWLZL(x)) / (CXDK*ZCFW(x)*WLRZ)

[0108] The maximum loading weight of the xth loading position exceeds the current loading weight:

[0109] CCZCWZZL(x)=CFTGD(x) / DJJTAN*CFTGD(x) / 2*CXDK*WLRZ-IF(WZC JL(x)>=CFTGD(x) / DJJTAN,0,

[0110] (CFTGD(x) / DJJTAN-WZCJL(x))) 2 *DJJTAN*CXDK / 2*WLRZ

[0111] The suspension loading operation comprises the following steps:

[0112] (1) Close the discharge valve;

[0113] (2) Raise the loader to its maximum height.

[0114] Furthermore, in S46, the loading end condition is: the current material weight measured by the truck weighing system reaches the planned loading weight in the logistics information card;

[0115] The end of the loading operation comprises the following steps:

[0116] (2) Stop the clinker loading dust collection system;

[0117] (2) Send out voice, sound and light prompts to remind the driver that loading is complete;

[0118] (3) Return the logistics information card to the logistics management card receiving and sending system;

[0119] (4) The vehicle leaves the factory.

[0120] Advantages of the present invention:

[0121] 1. The maximum loading weight of the vehicle, the planned loading times, the loading weight corresponding to different loading machine heights, and the loading weight corresponding to different loading positions can be calculated based on vehicle characteristic information, material stacking angle and bulk density information, so as to achieve uniform and quantitative cement clinker loading, avoid material spillage, collision with vehicle reinforcement, uneven loading and large weight deviation; 2. The compliance of loading can be verified based on the calculated loading information and the loading information stored in the logistics information card. Automatic loading will only be carried out if the loading is compliant, avoiding illegal loading; 3. During the loading process, the height of the loader is measured at any time. When the loader is lowered to the lowest point, Stop the loader from descending and start loading, which can greatly reduce the dust generated during the loading process; 4. In order to achieve uniform loading of the carriage, it is necessary to load the carriage multiple times. The material stacking angle is used to calculate the loading height. The number of loading times can be reasonably calculated according to the planned loading weight, carriage height, and reinforcement position to achieve uniform loading of the entire carriage; 5. Since voice guidance is used to guide the driver to move the vehicle and load automatically, the facility investment caused by controlling the movement of the loader and the overall movement of the loading equipment is avoided; 6. The present invention realizes the automatic shipment and loading of bulk cement clinker, improves the shipment efficiency, effectively reduces dust pollution, and ensures the safety of operations during the shipment process. Description of the drawings:

[0122] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0123] Figure 1 is a flow chart of the method of the present invention;

[0124] Figure 2 It is a logic block diagram of the automatic loading logic in the present invention; Specific implementation method:

[0125] 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.

[0126] Embodiment 1:

[0127] like Figure 1 The method for automatically shipping and loading cement clinker in bulk by truck is characterized by comprising the following steps:

[0128] S1. Vehicle information extraction: The vehicle driver receives the logistics information card through the logistics management card receiving and sending system. The logistics information card stores the vehicle's license plate number, the type of materials planned to be loaded, and the planned loading weight. The license plate number can be automatically identified by the license plate recognition monitoring system, and the type of materials planned to be loaded and the planned loading weight can be selected by the vehicle driver.

[0129] Then the vehicle radar scanning system is used to collect the characteristic information of the vehicle, and the collected characteristic information is sent to the PLC control system;

[0130] The characteristic information includes the length of the car bottom CXDC, the width of the car bottom CXDK, the minimum height of the car railing CXLBZDGD, the number and position of the tie rods, and the real-time position information of the vehicle.

[0131] S2. Calculation of loading information: The PLC control system calculates the maximum loading weight of the vehicle, the planned loading times, the loading weight corresponding to different heights of the loader, and the loading weight corresponding to different loading positions based on the received characteristic information;

[0132] The maximum loading weight of the vehicle is calculated using formula (1):

[0133] CLZDZCZL=(CXLBZDGD-ZCYLGD)*CXDK*CXDC*WLRZ (1)

[0134] In formula (1), CLZDZCZL is the maximum loading weight of the vehicle; CXLBZDGD is the lowest height of the carriage sideboard; ZCYLGD is the reserved height for loading; CXDK is the width of the carriage bottom; CXDC is the length of the carriage bottom; WLRZ is the bulk density of the material;

[0135] The planned loading times are calculated using formula (2):

[0136] JHZCCS=ZCCS(1)+ZCCS(2)+……+ZCCS(n+1)(2)

[0137] In formula (2), JHZCCS is the planned loading times; n is the number of reinforcement bars;

[0138] ZCCS(1): The number of loadings between the first tie bar and the front rail. If there is no tie bar, that is, n = 0, it is the number of loadings between the front and rear rails of the carriage;

[0139] …

[0140] ZCCS(n): the number of loadings between the nth tie rod and the (n-1)th tie rod;

[0141] ZCCS(n+1): the number of loading times between the last tie bar and the rear tailgate;

[0142] in:

[0143] ZCCS(1)=IF(JL(1)>ZCJZJ,ROUND(0.4+(JL(1)-ZCJZJ) / ZCZXJJ,0),0)ZCCS(2)=IF(JL(2)>ZCJZJ,ROUND(0.4+(JL(2)-ZCJZJ) / ZCZXJJ,0),0)

[0144] …

[0145] ZCCS(n+1)=IF(JL(n+1)>ZCJZJ,ROUND(0.4+(JL(n+1)-ZCJZJ) / ZCZXJJ,0),0)

[0146] Among them, ZCJZJ is the diameter of the loader; ZCZXJJ is the minimum spacing for loading;

[0147] JL1: The distance from the first tie bar to the front tailgate of the vehicle, which is obtained by subtracting the coordinates of the first tie bar from the coordinates of the front tailgate of the vehicle measured by the vehicle radar scanning system; if there is no tie bar, that is, n=0, it is the distance between the front and rear tailgates of the vehicle;

[0148] …

[0149] JL(n): the distance from the nth tie bar to the (n-1)th tie bar;

[0150] JL(n+1): The distance from the rear tailgate of the vehicle to the last tie bar.

[0151] S3, loading information verification: determine whether the loading compliance conditions are met. If so, execute step (4) to automatically load the vehicle; if not, update the logistics information card;

[0152] The compliance conditions for loading must meet the following conditions at the same time:

[0153] Condition 1: Planned loading weight ≤ maximum loading weight;

[0154] Condition 2: The license plate number of the current vehicle identified by the license plate recognition monitoring system is consistent with the license plate number stored in the logistics information card;

[0155] Condition 3: The type of materials planned to be loaded is consistent with the type of materials in the loader.

[0156] The method for updating the logistics information card is as follows: if condition 1 in the loading compliance condition is not satisfied, then the planned loading weight in the logistics information card is updated to the maximum loading weight of the vehicle obtained in step S2, the loading information calculation;

[0157] If condition 1 and / or condition 3 of the loading compliance conditions are not met, manually update the license plate number and / or the type of materials planned for loading in the logistics information card.

[0158] S4, automatic loading: When the loading compliance conditions of step S3, loading information verification, are met, the automatic loading logic is started, such as Figure 2 As shown, the vehicle is automatically loaded.

[0159] The automatic loading logic includes the following steps:

[0160] S41. Turn on the clinker loading dust collection system matched with the loading machine;

[0161] S42, voice prompts the driver to move the vehicle to the designated loading location;

[0162] The method for determining the designated loading location is as follows:

[0163] JHZCCS(1)X1=ZCJZXWZ+DYCZCJJ-CXDC

[0164] JHZCCS(1)X2=JHZCCS(1)X1+ZCZXJJ

[0165] …

[0166] JHZCCS(1)Xm=JHZCCS(1)X(m-1)+ZCZXJJ

[0167] Among them, JHZCCS(1)X1 is the first loading range, that is, the X-axis coordinate of the rear tailgate of the vehicle when loading for the first time within the distance JL1 from the first tie bar to the front tailgate of the vehicle, and the X-axis is designated as the direction of vehicle travel; ZCJZXWZ is the X-axis coordinate of the center position of the loader, which is directly measured according to the relative position between the loader and the radar; DYCZCJJ is the first loading distance within the loading range; CXDC is the length of the car bottom; ZCZXJJ is the minimum distance for loading movement;

[0168] JHZCCS(1)X2 is the X-axis coordinate of the tailgate during the second loading within the first loading range;

[0169] …

[0170] JHZCCS(1)Xm is the X-axis coordinate of the tailgate of the vehicle during the mth loading within the first loading range; m = ZCCS(1);

[0171] JHZCCS(2)X1=ZCJZXWZ+DYCZCJJ-CXDC+JL(1)

[0172] JHZCCS(2)X2=JHZCCS(2)X1+ZCZXJJ

[0173] …

[0174] JHZCCS(2)Xo=JHZCCS(2)X(o-1)+ZCZXJJ

[0175] Among them, JHZCCS(2)X1 is the second loading range, that is, the X-axis coordinate of the vehicle tailgate during the first loading within the distance JL2 from the second tie bar to the first tie bar;

[0176] JHZCCS(2)X2 is the X-axis coordinate of the tailgate during the second loading within the second loading range;

[0177] …

[0178] JHZCCS(2)Xo is the X-axis coordinate of the tailgate during the oth loading in the second loading range; o=ZCCS(2);

[0179] And so on;

[0180] JHZCCS(n+1)X1=ZCJZXWZ+DYCZCJJ-CXDC+JL(n)

[0181] JHZCCS(n+1)X2=JHZCCS(n)X+ZCZXJJ

[0182] …

[0183] JHZCCS(n+1)Xp=JHZCCS(n)X(p-1)+ZCZXJJ

[0184] Among them, JHZCCS(n+1)X1 is the n+1th loading range, that is, the X-axis coordinate of the vehicle tailgate when the vehicle is first loaded within the distance JL(n+1) from the vehicle tailgate to the last tie bar;

[0185] JHZCCS(n+1)X2 is the X-axis coordinate of the rear tailgate during the second loading within the n+1th loading range;

[0186] …

[0187] JHZCCS(n+1)Xp is the X-axis coordinate of the tailgate during the p-th loading within the n+1-th loading range; p=ZCCS(n+1).

[0188] S43, judging whether the vehicle has arrived at the designated loading location according to the real-time location information of the vehicle, if it has arrived, performing the loading operation, and then executing S44; if it has not arrived, continuing to execute S43;

[0189] The loading operation includes the following steps:

[0190] (1) Lower the unloading port of the loader to the height of the floor of the carriage;

[0191] (2) Open the unloading valve of the loader.

[0192] S44, judging whether the lifting conditions of the loader are met, if so, raising the height of the unloading port of the loader by one level, 200 mm each time, preferably without generating dust or with minimum dust, and executing S45; if not, continuing to execute S44;

[0193] The lifting condition of the loader is: the current material weight is weighed by the truck scale weighing system to reach the loading weight corresponding to the current height of the loader. The calculation method of the loading weight corresponding to the current height of the loader is as follows:

[0194] DQGDJSZLx.r=K1*(YZBFWLZLx.r+CFTWLZLx.r+CCZCWZZLx.r+j*SC ZCWZCCZLx.r)(3)

[0195] In formula (3), DQGDJSZLx.r is the loading weight corresponding to the r-th loader height at the x-th loading position; YZBFWLZLx.r is the weight of the conical part of the material corresponding to the r-th loader height at the x-th loading position; CFTWLZLx.r is the weight of the rectangular material corresponding to the r-th loader height at the x-th loading position; CCZCWZZLx.r is the weight beyond the current loading range corresponding to the r-th loader height at the x-th loading position; x is the planned loading number, x = 1, 2...JHZCCS; K1 is the current height weight correction coefficient, the initial value is 1.0, and the value range is 0.5-1.5; due to the measurement and calculation deviation, and the loader can accommodate about 1000Kg of material, the K1 coefficient value is appropriately adjusted according to the dust collection effect of material unloading;

[0196] YZBFWLZLx.r=IF(WLGDx.r / DJJTAN>ZCYZBJ(x),π*ZCYZBJ(x) 2 *ZCYZBJ(x)*DJJTAN / 3*WLRZ,π*(WLGDx.r / DJJTAN) 2 *WLGDx.r / 3*WLRZ)

[0197] Among them, WLGDx.r is the material height corresponding to the height of the r-th loader at the x-th loading position, WLGDx.r=ZCJGDx.r+ZCJNWLGD, ZCJGDx.r is the height of the r-th loader at the x-th loading position, which is directly measured according to the vehicle radar scanning system; ZCJNWLGD is the material height in the loader, ZCJNWLGD=ZCJBJ*DJJTAN, ZCJBJ is the radius of the loader discharge port, which can be directly measured, about 0.6 meters, DJJTAN is the tangent value of the material accumulation angle; ZCYZBJ(x) is the loading cone radius corresponding to the x-th loading position, which is half of the minimum value of the loading range ZCFW(x) and the carriage width CXKD;

[0198] CFTWLZLx.r=CXDK*ZCFW(x)*CFTGDx.r*WLRZ

[0199] Among them, CXDK is the width of the carriage bottom, and CFTGDx.r is the height of the rectangular material corresponding to the height of the r-th loader at the x-th loading position;

[0200] CFTGDx.r=IF(WLGDx.r-(ZCYZBJ(x))

[0201] *DJJTAN)>0,(WLGDx.r-(ZCYZBJ(x))*DJJTAN),0)

[0202] ZCFW(x) is the loading range corresponding to the xth loading position,

[0203]

[0204] WZ(x) is the distance between the center of the loader and the front rail at the xth loading position;

[0205] CCZCWZZLx.r is the weight beyond the current loading range corresponding to the height of the r-th loader at the x-th loading position.

[0206] CCZCWZZLx.r=CFTGDx.r / DJJTAN*CFTGDx.r / 2*CXDK*WLRZ-IF(WZC JL(x)>=CFTGDx.r / DJJTAN,0,(CFTGDx.r / DJJTAN-WZCJL(x))*

[0207] (CFTGDx.r / DJJTAN-WZCJL(x))*DJJTAN*CXDK / 2*WLRZ

[0208] Among them, WZCJL(x) is the unloaded distance corresponding to the x-th loading position,

[0209]

[0210] SCZCWZCCZLx.r is the (x-1)th loading position, that is, the weight beyond the loading range corresponding to the rth loading machine height of the previous loading position of the current loading position (the final loading height of the previous loading position) affects the loading weight of the current position height; when x=1, j=0; when x≠1, j=1;

[0211] SCZCWZCCZLx.r=IF(WLGDx.r / DJJTAN<=ZCFW(x) / 2,

[0212] (IF((WLGDx.r / DJJTAN-(ZCFW(x) / 2-(CFTGDx-1.r) / DJJTAN))>=0,(WLGDx.r / DJJTAN-(ZCFW(x) / 2-(CFTGDx-1.r) / DJJTAN))*

[0213] (WLGDx.r / DJJTAN-(ZCFW(x) / 2-(CFTGDx-1.r) / DJJTAN)) / 2

[0214] *DJJTAN*CXDK / 2*WLRZ,0),

[0215] (IF(WLGDx.r>=WLGD(x-1).r,CCZCWZZL(x-1).r,(CFTGD(x-1).r-CFTGDx.r) / DJJTAN+ZCFW(x))*CFTGDx.r*CXDK / 2

[0216] *WLRZ+((CFTGD(x-1).r-CFTGDx.r) / DJJTAN / 2)*((CFTGD(x-1).r-CFT GDx.r) / DJJTAN / 2)*DJJTAN*CXDK / 2*WLRZ+(YZBFWLZLx.r-ZCJNWLZL-(π*(ZCFW(x) / 2-((CFTGD(x-1).r-CFTGDx.r) / DJJTAN) / 2) 2 *

[0217] (CFTGD(x-1).r-CFTGDx.r) / DJJTAN) / 2*DJJTAN*WLRZ) / 4)))

[0218] Among them, ZCJNWLZL is the weight of the material in the loader, ZCJNWLZL=π*ZCJBJ 2 *ZCJBJ*DJJTAN / 3*WLRZ.

[0219] S45, judging whether the vehicle movement conditions are met, if so, executing the suspension of the loading operation, and then executing S46; if not, executing S44;

[0220] The vehicle movement condition is: the current material weight is weighed by the truck weighing system to reach the loading weight corresponding to the current loading position, where the loading weight corresponding to the current loading position is calculated by formula (4):

[0221] DQWZJSZCZL(x)=JHZCZL*ZZCFW(x) / CXDC+t*IF(JHZCZL*ZCFW(x) / CXDC>YZBFZDWLZL(x),CCZCWZZL(x),0) (4)

[0222] In formula (4), ZCFW(x) is the loading range corresponding to the x-th loading position, ZZCFW(x) is the total loading range corresponding to the x-th loading position,

[0223] YZBFZDWLZL(x) is the maximum material weight of the cone part, YZBFZDWLZL(x)=π*(ZCYZBJ(x)) 2 *ZCYZBJ(x)*DJJTAN / 3*WLRZ;

[0224] When x≠JHZCCS, t=1; when x=JHZCCS, t=0;

[0225] The loading weight calculated for this loading range consists of three parts: the upper cone, the middle transition part ("round sky and square earth"), and the lower cuboid. Since the width of the carriage and the loading range are basically close in actual loading, the bottom rectangle is close to a square, the weight of the middle transition part is small, and its volume is smaller than that of a cuboid of the same height, the middle transition part is approximated as a cuboid for calculation, and there will be no overloading and spilling. For the convenience of calculation, the weight of the three parts of the loading range is approximately composed of the weight of the upper cone and the lower cuboid.

[0226] JHZCZL*ZCFW(x) / CXDC=K2*(YZBFZDWLZL(x)+CFTWLZL(x))

[0227] K2 is the correction coefficient, with an initial value of 1.0 and a value range of 0.5-1.5; it is adjusted according to the actual operating conditions;

[0228] CFTWLZL(x) is the weight of the rectangular material corresponding to the maximum loading machine height at the x-th loading position: CFTWLZL(x)=JHZCZL*ZCFW(x) / CXDC / K2-YZBFZDWLZL(x)=CXDK*ZCFW(x)*CFTGD(x)*WLRZ

[0229] CFTGD(x) is the height of the rectangular material corresponding to the maximum loading machine height at the x-th loading position: CFTGD(x) = (JHZCZL*ZCFW(x) / CXDC / K2-YZBFZDWLZL(x)) / (CXDK*ZCFW(x)*WLRZ)

[0230] The maximum loading weight of the xth loading position exceeds the current loading weight:

[0231] CCZCWZZL(x)=CFTGD(x) / DJJTAN*CFTGD(x) / 2*CXDK*WLRZ-IF(WZC JL(x)>=CFTGD(x) / DJJTAN,0,

[0232] (CFTGD(x) / DJJTAN-WZCJL(x))) 2 *DJJTAN*CXDK / 2*WLRZ

[0233] The suspension of loading operations includes the following steps:

[0234] (1) Close the discharge valve;

[0235] (2) Raise the loader to its maximum height.

[0236] S46, judging whether the loading end condition is met, if so, executing the loading end operation; if not, returning to S42.

[0237] The loading end condition is: the current material weight measured by the truck scale weighing system reaches the planned loading weight in the logistics information card;

[0238] The completion of the loading operation includes the following steps:

[0239] (3) Stop the clinker loading dust collection system;

[0240] (2) Send out voice, sound and light prompts to remind the driver that loading is complete;

[0241] (3) Return the logistics information card to the logistics management card receiving and sending system;

[0242] (4) The vehicle leaves the factory.

[0243] In the present invention, during the loading process, the loader is lowered to the lowest position as much as possible for loading, which can greatly reduce the dust generated during the loading process; in order to achieve uniform loading of the carriage, it is necessary to load the carriage multiple times, and the loading height is calculated using the material stacking angle. The number of loading times can be reasonably calculated based on the planned loading weight, carriage height, and tie rod position to achieve uniform loading of the entire carriage.

[0244] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for automatically shipping and loading cement clinker in bulk by truck, characterized in that: The following steps are involved: S1. Vehicle information extraction: The vehicle driver receives a logistics information card through the logistics management card receiving and sending system. The logistics information card stores the vehicle's license plate number, the type of materials planned to be loaded, and the planned loading weight; Then the vehicle radar scanning system is used to collect the characteristic information of the vehicle, and the collected characteristic information is sent to the PLC control system; S2. Calculation of loading information: The PLC control system calculates the maximum loading weight of the vehicle, the planned loading times, the loading weight corresponding to different heights of the loader, and the loading weight corresponding to different loading positions based on the received characteristic information; S3, loading information verification: determine whether the loading compliance conditions are met. If so, execute step (4) to automatically load the vehicle; if not, update the logistics information card; S4, automatic loading: When the loading compliance conditions of the step S3, loading information verification, are met, the automatic loading logic is started to realize automatic loading of the vehicle.

2. The method for automatically shipping and loading cement clinker in bulk by automobile according to claim 1, characterized in that: In the step S1, vehicle information extraction, the characteristic information includes the length of the car bottom CXDC, the width of the car bottom CXDK, the minimum height of the car railing CXLBZDGD, the number and position of the tie bars, and the real-time position information of the vehicle.

3. The method for automatically shipping and loading cement clinker in bulk by automobile according to claim 2, characterized in that: In the step S2, in calculating the loading information, the maximum loading weight of the vehicle is calculated using formula (1): CLZDZCZL=(CXLBZDGD-ZCYLGD)*CXDK*CXDC*WLRZ (1) In formula (1), CLZDZCZL is the maximum loading weight of the vehicle; CXLBZDGD is the lowest height of the carriage sideboard; ZCYLGD is the reserved height for loading; CXDK is the width of the carriage bottom; CXDC is the length of the carriage bottom; WLRZ is the bulk density of the material; The planned loading times are calculated using formula (2): JHZCCS=ZCCS(1)+ZCCS(2)+……+ZCCS(n+1)(2) In formula (2), JHZCCS is the planned loading times; n is the number of reinforcement bars; ZCCS(1): The number of loadings between the first tie bar and the front rail. If there is no tie bar, i.e. n = 0, it is the number of loadings between the front and rear rails of the carriage. …… ZCCS(n): the number of loadings between the nth tie rod and the (n-1)th tie rod; ZCCS(n+1): the number of loading times between the last tie bar and the rear tailgate; in: ZCCS(1)=IF(JL(1)>ZCJZJ,ROUND(0.4+(JL(1)-ZCJZJ) / ZCZXJJ,0),0) ZCCS(2)=IF(JL(2)>ZCJZJ,ROUND(0.4+(JL(2)-ZCJZJ) / ZCZXJJ,0),0) …… ZCCS(n+1)=IF(JL(n+1)>ZCJZJ,ROUND(0.4+(JL(n+1)-ZCJZJ) / ZCZXJJ,0),0) Among them, ZCJZJ is the diameter of the loader; ZCZXJJ is the minimum spacing for loading; JL1: The distance from the first tie bar to the front tailgate of the vehicle; if there is no tie bar, that is, n = 0, it is the distance between the front and rear tailgates of the vehicle; …… JL(n): the distance from the nth tie bar to the (n-1)th tie bar; JL(n+1): The distance from the rear tailgate of the vehicle to the last tie bar.

4. The method for automatically shipping and loading cement clinker in bulk by automobile according to claim 3, characterized in that: In the step S3, loading information verification, the loading compliance conditions need to meet the following conditions at the same time: Condition 1: Planned loading weight ≤ maximum loading weight; Condition 2: The license plate number of the current vehicle identified by the license plate recognition monitoring system is consistent with the license plate number stored in the logistics information card; Condition 3: The type of materials planned to be loaded is consistent with the type of materials in the loader.

5. The method for automatically shipping and loading cement clinker in bulk by automobile according to claim 4, characterized in that: In the step S3, during the loading information verification, the method for updating the logistics information card is as follows: if condition 1 in the loading compliance condition is not met, the planned loading weight in the logistics information card is updated to the maximum loading weight of the vehicle obtained in the step S2, during the loading information calculation; If condition 1 and / or condition 3 of the loading compliance conditions are not met, manually update the license plate number and / or the type of materials planned for loading in the logistics information card.

6. The method for automatically shipping and loading cement clinker in bulk by automobile according to claim 5, characterized in that: In the step S4, automatic loading, the automatic loading logic includes the following steps: S41. Turn on the clinker loading dust collection system matched with the loading machine; S42, voice prompts the driver to move the vehicle to the designated loading location; S43, judging whether the vehicle has arrived at the designated loading location according to the real-time location information of the vehicle, if it has arrived, performing the loading operation, and then executing S44; if it has not arrived, continuing to execute S43; S44, judging whether the lifting condition of the loader is met, if so, raising the height of the unloading port of the loader by one level, and executing S45; if not, continuing to execute S44; S45, judging whether the vehicle movement conditions are met, if so, executing the suspension of the loading operation, and then executing S46; if not, executing S44; S46, judging whether the loading end condition is met, if so, executing the loading end operation; if not, returning to S42.

7. The method for automatically shipping and loading cement clinker in bulk by automobile according to claim 6, characterized in that: In S42, the method for determining the designated loading location is as follows: JHZCCS(1)X1=ZCJZXWZ+DYCZCJJ-CXDC JHZCCS(1)X2=JHZCCS(1)X1+ZCZXJJ …… JHZCCS(1)Xm=JHZCCS(1)X(m-1)+ZCZXJJ Among them, JHZCCS(1)X1 is the X-axis coordinate of the rear tailgate of the vehicle when loading for the first time within the first loading range; ZCJZXWZ is the X-axis coordinate of the center position of the loader; DYCZCJJ is the first loading distance within the loading range; CXDC is the length of the car bottom; ZCZXJJ is the minimum distance for loading movement; JHZCCS(1)X2 is the X-axis coordinate of the tailgate during the second loading within the first loading range; …… JHZCCS(1)Xm is the X-axis coordinate of the tailgate of the vehicle during the mth loading within the first loading range; m = ZCCS(1); JHZCCS(2)X1=ZCJZXWZ+DYCZCJJ-CXDC+JL(1) JHZCCS(2)X2=JHZCCS(2)X1+ZCZXJJ …… JHZCCS(2)Xo=JHZCCS(2)X(o-1)+ZCZXJJ Among them, JHZCCS(2)X1 is the X-axis coordinate of the vehicle tailgate when loading for the first time in the second loading range; JHZCCS(2)X2 is the X-axis coordinate of the tailgate during the second loading within the second loading range; …… JHZCCS(2)Xo is the X-axis coordinate of the tailgate at the oth loading in the second loading range; o=ZCCS(2); And so on; JHZCCS(n+1)X1=ZCJZXWZ+DYCZCJJ-CXDC+JL(n) JHZCCS(n+1)X2=JHZCCS(n)X+ZCZXJJ …… JHZCCS(n+1)Xp=JHZCCS(n)X(p-1)+ZCZXJJ Among them, JHZCCS(n+1)X1 is the X-axis coordinate of the vehicle tailgate when loading for the first time within the n+1th loading range; JHZCCS(n+1)X2 is the X-axis coordinate of the rear tailgate during the second loading within the n+1th loading range; …… JHZCCS(n+1)Xp is the X-axis coordinate of the tailgate during the p-th loading within the n+1-th loading range; p=ZCCS(n+1).

8. The method for automatically shipping and loading cement clinker in bulk by automobile according to claim 6, characterized in that: In S43, the loading operation includes the following steps: (1) Lower the unloading port of the loader to the height of the floor of the carriage; (2) Open the unloading valve of the loader.

9. The method for automatically shipping and loading cement clinker in bulk by automobile according to claim 7, characterized in that: In S44, the lifting condition of the loader is: the current material weight is weighed by the truck scale weighing system to reach the loading weight corresponding to the current height of the loader, wherein the calculation method of the loading weight corresponding to the current height of the loader is as follows: DQGDJSZLx.r=K1*(YZBFWLZLx.r+CFTWLZLx.r+CCZCWZZLx.r+j*SC ZCWZCCZLx.r)(3) In formula (3), DQGDJSZLx.r is the loading weight corresponding to the r-th loader height at the x-th loading position; YZBFWLZLx.r is the weight of the conical part material corresponding to the r-th loader height at the x-th loading position; CFTWLZLx.r is the weight of the rectangular material corresponding to the r-th loader height at the x-th loading position; CCZCWZZLx.r is the weight beyond the current loading range corresponding to the r-th loader height at the x-th loading position; x is the planned loading number, x = 1, 2...JHZCCS; K1 is the current height weight correction coefficient; YZBFWLZLx.r=IF(WLGDx.r / DJJTAN>ZCYZBJ(x),π*ZCYZBJ(x) 2 *ZCYZBJ(x)*DJJTAN / 3*WLRZ,π*(WLGDx.r / DJJTAN) 2 *WLGDx.r / 3*WLRZ) Wherein, WLGDx.r is the material height corresponding to the height of the r-th loader at the x-th loading position, WLGDx.r=ZCJGDx.r+ZCJNWLGD, ZCJGDx.r is the height of the r-th loader at the x-th loading position, ZCJNWLGD is the material height in the loader, ZCJNWLGD=ZCJBJ*DJJTAN, ZCJBJ is the radius of the loader discharge port, DJJTAN is the tangent value of the material accumulation angle; ZCYZBJ(x) is the loading cone radius corresponding to the x-th loading position, and takes half of the minimum value of the loading range ZCFW(x) and the carriage width CXKD; CFTWLZLx.r=CXDK*ZCFW(x)*CFTGDx.r*WLRZ Among them, CXDK is the width of the carriage bottom, and CFTGDx.r is the height of the rectangular material corresponding to the height of the r-th loader at the x-th loading position; CFTGDx.r=IF(WLGDx.r-(ZCYZBJ(x))*DJJTAN)>0,(WLGDx.r-(ZCYZBJ(x))*DJJTAN),0) ZCFW(x) is the loading range corresponding to the xth loading position, WZ(x) is the distance between the center of the loader and the front rail at the xth loading position; CCZCWZZLx.r is the weight beyond the current loading range corresponding to the height of the r-th loader at the x-th loading position. CCZCWZZLx.r=CFTGDx.r / DJJTAN*CFTGDx.r / 2*CXDK*WLRZ-IF(WZC JL(x)>=CFTGDx.r / DJJTAN,0,(CFTGDx.r / DJJTAN-WZCJL(x))*(CFTGDx.r / DJJTAN-WZCJL(x))*DJJTAN*CXDK / 2*WLRZ Among them, WZCJL(x) is the unloaded distance corresponding to the x-th loading position, SCZCWZCCZLx.r is the weight beyond the loading range corresponding to the height of the r-th loader at the (x-1)-th loading position, which affects the loading weight at the current position height; when x=1, j=0; when x≠1, j=1; SCZCWZCCZLx.r=IF(WLGDx.r / DJJTAN<=ZCFW(x) / 2, (IF((WLGDx.r / DJJTAN-(ZCFW(x) / 2-(CFTGDx-1.r) / DJJTAN))>=0,(WLGDx.r / DJJTAN-(ZCFW(x) / 2-(CFTGD x-1.r) / DJJTAN))*(WLGDx.r / DJJTAN-(ZCFW(x) / 2-(CFTGDx-1.r) / DJJTAN)) / 2*DJJTAN*CXDK / 2*WLRZ,0), (IF(WLGDx.r>=WLGD(x-1).r,CCZCWZZL(x-1).r,(CFTGD(x-1).r-CFTGDx.r) / DJJTAN+ZCFW( x))*CFTGDx.r*CXDK / 2*WLRZ+((CFTGD(x-1).r-CFTGDx.r) / DJJTAN / 2)*((CFTGD(x-1).r-CFT GDx.r) / DJJTAN / 2)*DJJTAN*CXDK / 2*WLRZ+(YZBFWLZLx.r-ZCJNWLZL-(π*(ZCFW(x) / 2-((CFTGD(x-1).r-CFTGDx.r) / DJJTAN) / 2) 2 *(CFTGD(x-1).r-CFTGDx.r) / DJJTAN) / 2*DJJTAN*WLRZ) / 4))) Among them, ZCJNWLZL is the weight of the materials in the loader, ZCJNWLZL=π*ZCJBJ 2 *ZCJBJ*DJJTAN / 3*WLRZ.

10. The method for automatically shipping and loading cement clinker in bulk by truck according to claim 9, characterized in that: In S45, the vehicle movement condition is: the current material weight is weighed by the truck scale weighing system to reach the loading weight corresponding to the current loading position, wherein the loading weight corresponding to the current loading position is calculated by formula (4): DQWZJSZCZL(x)=JHZCZL*ZZCFW(x) / CXDC+t*IF(JHZCZL*ZCFW(x) / CXDC>YZBFZDWLZL(x),CCZCWZZL(x),0)(4) In formula (4), ZCFW(x) is the loading range corresponding to the x-th loading position, ZZCFW(x) is the total loading range corresponding to the x-th loading position, YZBFZDWLZL(x) is the maximum material weight of the cone part, YZBFZDWLZL(x)=π*(ZCYZBJ(x)) 2 *ZCYZBJ(x)*DJJTAN / 3*WLRZ; When x≠JHZCCS, t=1; when x=JHZCCS, t=0; JHZCZL*ZCFW(x) / CXDC=K2*(YZBFZDWLZL(x)+CFTWLZL(x)) Where K2 is the correction factor; CFTWLZL(x) is the weight of the rectangular material corresponding to the maximum loading machine height at the x-th loading position: CFTWLZL(x) =JHZCZL*ZCFW(x) / CXDC / K2-YZBFZDWLZL(x)=CXDK*ZCFW(x)*CFTGD(x)*WLRZ CFTGD(x) is the height of the rectangular material corresponding to the maximum loading machine height at the x-th loading position: CFTGD(x) =(JHZCZL*ZCFW(x) / CXDC / K2-YZBFZDWLZL(x)) / (CXDK*ZCFW(x)*WLRZ) The maximum loading weight of the xth loading position exceeds the current loading weight: CCZCWZZL(x)=CFTGD(x) / DJJTAN*CFTGD(x) / 2*CXDK*WLRZ-IF(WZC JL(x)>=CFTGD(x) / DJJTAN,0, <h2 style=";text-align:left;direction:ltr">(CFTGD(x) / DJJTAN-WZCJL(x))<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> *DJJTAN*CXDK / 2*WLRZ The suspension loading operation comprises the following steps: (1) Close the discharge valve; (2) Raise the loader to its maximum height.

11. The method for automatically shipping and loading cement clinker in bulk by truck according to claim 6, characterized in that: In S46, the loading end condition is: the current material weight is weighed by the truck scale weighing system to reach the planned loading weight in the logistics information card; The end of the loading operation comprises the following steps: (1) Stop the clinker loading dust collection system; (2) Send out voice, sound and light prompts to remind the driver that loading is complete; (3) Return the logistics information card to the logistics management card receiving and sending system; (4) The vehicle leaves the factory.

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